Control method and device, electronic equipment and medium
By installing two-dimensional lidar on the spreader to collect point cloud data, the problem of easy obstruction and high cost in card-collection anti-smash detection is solved, and automatic anti-smash detection of card-collection operations is realized, improving the real-time detection and reducing costs.
Patent Information
- Application Number
- CN202510466280.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2025-07-04
AI Technical Summary
In the prior art, in the operation of tire gantry cranes and rail gantry cranes, the problem of the camera's field of view is easily blocked and the cost is high.
A two-dimensional lidar set on the spreader is used to collect the outline point cloud data of the environment below the spreader, and the point cloud data is used to determine whether there is a risk of collision between the container and the truck head, and the corresponding signal is output.
It realizes automatic anti-smash detection of card collection operations, with high real-time performance, simple algorithms and not easy to be blocked, reducing costs.
Smart Images
Figure CN120246843A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of spreaders and their control, and particularly to a control method, device, electronic device, and medium. Background Art
[0002] In the operation tasks of Rubber-Tired Gantry Cranes (RTGs) / Rail Mounted Gantry Cranes (RMGs), operations related to container trucks are very common and have a higher priority. Although there are already some unmanned container trucks participating in operations, more are still manually driven container trucks. To ensure safety, anti-collision detection of container trucks is required during the operation process.
[0003] The traditional solution for anti-collision detection of container trucks is to install a camera above the lane side and combine it with a deep learning algorithm to identify the position of the container truck's head. The disadvantage of the traditional solution is that the field of view of the camera may be blocked, and in order to deploy a deep learning model for real-time detection of the head, generally, a GPU is required for accelerated inference, resulting in high costs. Summary of the Invention
[0004] In view of this, the present disclosure provides a control method, device, electronic device, and medium for at least partially solving the above technical problems.
[0005] In a first aspect, the present disclosure provides a control method, the method including: using at least one two-dimensional lidar disposed on a spreader to collect contour point cloud data of the environment below the spreader within its measurement range; determining, according to the contour point cloud data, whether there is a risk of collision between the container currently lifted by the spreader and the head of a container truck within the measurement range; and if it is determined that there is such a risk, outputting a signal indicating the existence of the risk.
[0006] In a second aspect, the present disclosure provides a control device, the device including: a data acquisition module for using at least one two-dimensional lidar disposed on a spreader to collect contour point cloud data of the environment below the spreader within its measurement range; a first determination module for determining, according to the contour point cloud data, whether there is a risk of collision between the container currently lifted by the spreader and the head of a container truck within the measurement range; and an output module for outputting a signal indicating the existence of the risk if it is determined that there is such a risk.
[0007] In a third aspect, the present disclosure provides an electronic device, the electronic device including: a processor, a communication interface, a memory, and a bus, where the processor, the communication interface, and the memory complete communication with each other through the bus;
[0008] the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the method in the first aspect.
[0009] Fourthly, the present disclosure provides a determination machine-readable storage medium, on which determination machine instructions are stored. When the determination machine instructions are executed by a processor, the processor is caused to execute the method described in the first aspect.
[0010] In an embodiment of the present disclosure, contour point cloud data of the environment located below the spreader within its measurement range is collected by a two-dimensional lidar. According to the contour point cloud data, it is determined whether there is a risk of collision between the container currently lifted by the spreader and the head of the truck within the measurement range. It can automatically and accurately perform anti-collision detection on the truck operation, with high real-time performance, simple algorithm, not easily blocked, and convenient to implement. Further, during the process of the spreader unloading the container, the second to seventh key detection points are determined in real time according to the collected contour point cloud data, and the container lifted by the spreader is controlled to approach the flatbed of the truck based on the determined second to seventh key detection points. Further, during the process of the spreader lifting the container, the eighth to eleventh key detection points are determined in real time according to the collected contour point cloud data, and the spreader is controlled to approach the container based on the determined eighth to eleventh key detection points. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 is a flowchart of a control method according to an embodiment of the present disclosure.
[0012] Figure 2 is a schematic diagram of an example state of the spreader moving above the truck according to the present disclosure.
[0013] Figure 3 is another schematic diagram of an example state of the spreader moving above the truck according to the present disclosure.
[0014] Figure 4 is a schematic diagram of an example state of controlling the spreader to lift a container according to the present disclosure.
[0015] Figure 5 is a structural diagram of a control device according to an embodiment of the present disclosure.
[0016] Figure 6 is a structural diagram of an electronic device according to an embodiment of the present disclosure.
[0017] LIST OF REFERENCE NUMERALS:
[0018] Spreader 10; Two-dimensional lidar 20;
[0019] First lidar 21; Second lidar 22;
[0020] Container 30; Truck 40;
[0021] Head 41; Flatbed 42;
[0022] Control device 500; Data acquisition module 510;
[0023] First determination module 520; Output module 530;
[0024] Electronic device 600; Processor 602;
[0025] Communication interface 604; Memory 606;
[0026] Bus 608; Program 610;
[0027] First key detection point D; Second key detection point A;
[0028] Third key detection point B; Fourth key detection point E;
[0029] Fifth key detection point F; Sixth key detection point G;
[0030] Seventh key detection point H; Eighth key detection point A';
[0031] Ninth key detection point N; Tenth key detection point P;
[0032] Eleventh key detection point B'. Detailed implementation manners
[0033] To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other technical solutions obtained by those of ordinary skill in the art based on the embodiments in the present application fall within the protection scope of the present application.
[0034] Figure 1 The flowchart of the control method according to the embodiments of the present disclosure is shown. As Figure 1 shown, the method includes: In step S110, using at least one two-dimensional lidar disposed on the spreader to collect the contour point cloud data of the environment located below the spreader within its measurement range; in step S120, determining whether there is a risk of collision between the container currently lifted by the spreader and the cab of the truck within the measurement range according to the contour point cloud data; in step S130, if it is determined that there is such a risk, output a signal indicating the existence of such a risk.
[0035] The "contour point cloud data" involved in the foregoing step S110 is, for example, Figure 2 the detection points and coordinate data between J-K, C-D, E-F, O-A, G-H, L-M in Figure 3The detection points and coordinate data among J-K, C-D, O-A, G-H, and L-M in [reference] are, for example, Figure 4 The detection points and coordinate data among J-K, C-D, D-E, E-F, A(F)-A′, A′-N, P-B′, B′-B(G), G-H, and L-M in [reference]. Exemplarily, see Figure 2 , at least one of the two-dimensional lidars in the foregoing step S110 is the second lidar 22 disposed at the first-side end of the spreader 10 along the length direction of the spreader 10. Exemplarily, the at least one two-dimensional lidar in the foregoing step S110 includes the second lidar 22 disposed at the first-side end of the spreader 10 along the length direction of the spreader 10 and the first lidar 21 disposed at the second-side end. It can be understood that the first lidar 21 and the second lidar 22 can be disposed at any position of the corresponding end, and preferably disposed at the middle position of the corresponding end.
[0036] Optionally, the foregoing step S120 can be further implemented as: S120a, determining a first distance between the first key detection point and the second key detection point in the length direction of the spreader 10 according to the contour point cloud data; S120b, determining whether there is a risk of collision between the container 30 currently lifted by the spreader 10 and the head 41 of the truck 40 within the measurement range according to the first distance; wherein, the first key detection point is the end point close to the second lidar 22 among all the detection points corresponding to the contour of the head 41 of the truck 40 detected by the second lidar 22, and the second key detection point is the end point far from the second lidar 22 among all the detection points corresponding to the contour of the container 30 detected by the second lidar 22. Further, each key detection point can be determined according to the comparison result of the coordinate data of all the detection points in the contour point cloud data. For example, the first key detection point can specifically be the detection point with the largest coordinate value on the X-axis among all the detection points corresponding to the contour of the head 41 of the truck 40 detected by the second lidar 22, and the second key detection point is the detection point with the largest coordinate value on the Y-axis among all the detection points corresponding to the contour of the container 30 detected by the second lidar 22. The X-axis extends along the length direction of the spreader 10, and the Y-axis is perpendicular to the length direction and the width direction of the spreader 10. Taking Figure 2 and Figure 3 as an example, the first key detection point is detection point D, and the second key detection point is detection point A. It can be understood that Figures 2 to 4 the shapes of the spreader 10, the container 30, and the head 41 of the truck 40 shown in [reference] are only exemplary, and the X-axis and the Y-axis are also exemplary, and should not be used as a limitation to the present disclosure.
[0037] In addition, the aforementioned S120a can also be optionally implemented as follows: determining all the detection points corresponding to the contour of the head 41 of the truck 40 detected by the second lidar 22 and all the detection points corresponding to the contour of the container 30 in the contour point cloud data; determining a first key detection point D among all the detection points corresponding to the contour of the head 41 of the truck 40 and a second key detection point A among all the detection points corresponding to the contour of the container 30; and determining a first distance between the first key detection point D and the second key detection point A in the length direction of the spreader 10.
[0038] There are various implementation manners for the aforementioned "determining all the detection points corresponding to the contour of the head 41 of the truck 40 and all the detection points corresponding to the contour of the container 30 in the contour point cloud data". For example, it can be implemented as follows: after obtaining the contour point cloud data in step S110, according to the comparison result between the difference between the coordinate value of each detection point in the contour point cloud data on the Y-axis and the coordinate value of the reference detection point on the Y-axis and a preset range, to determine all the detection points corresponding to the contour of the head 41 of the truck 40 detected by the second lidar 22 and all the detection points corresponding to the contour of the container 30 in the contour point cloud data; for example but not limited to: the reference detection point is the detection point with the largest coordinate value on the Y-axis, and the head 41 of the truck 40, the flatbed 42 of the truck 40, and the container 30 respectively correspond to different preset ranges, for example, they can be determined according to the actual heights of the upper surfaces of the head 41 of the truck 40, the flatbed 42 of the truck 40, and the container 30 relative to the ground. Another example is that it can also be implemented as follows: after obtaining the contour point cloud data in step S110, determining the set of all the connected detection points that are the second farthest from the second lidar 22 detected by the second lidar 22 as all the detection points corresponding to the contour of the head 41 of the truck 40, and determining the set of all the connected detection points that are the closest to the second lidar 22 detected by the second lidar 22 as all the detection points corresponding to the contour of the container 30.
[0039] Moreover, the aforementioned S120b can also be optionally implemented as follows: if the first distance is equal to zero, it is determined that there is a risk of collision between the container 30 currently being lifted by the spreader 10 and the head 41 of the truck 40 within the measurement range (see Figure 3 the state shown); otherwise, it is determined that there is no risk of collision between the container 30 currently being lifted by the spreader 10 and the head 41 of the truck 40 within the measurement range (as Figure 2 the state shown).
[0040] Optionally, the method further includes: after receiving an instruction to start detecting anti-collision risks, periodically performing steps S110 to S130 until an instruction to stop detecting anti-collision risks is received. Alternatively, optionally, after detecting that the spreader 10 hoists a container, steps S110 to S130 are periodically performed until it is detected that the spreader 10 unloads the container onto the truck. This can be configured according to actual needs.
[0041] Continuing with Figure 2 as an example, optionally, the method of this embodiment may further include the following steps: after receiving an instruction to start controlling the spreader 10 to unload the container 30, periodically using two two-dimensional lidars 20 provided on the spreader 10 to collect the contour point cloud data of the environment below the spreader 10 within its measurement range; according to the contour point cloud data, determining a second key detection point A, a third key detection point B, a fourth key detection point E, a fifth key detection point F, a sixth key detection point G, and a seventh key detection point H; respectively determining a second distance and a third distance between the fourth key detection point E, the fifth key detection point F and the second key detection point A in the Y-axis direction, and respectively determining a fourth distance and a fifth distance between the sixth key detection point G, the seventh key detection point H and the third key detection point B in the Y-axis direction; according to the second distance, the third distance, the fourth distance and the fifth distance, controlling the spreader 10 to descend until both the third distance and the fourth distance are less than a first preset value. Wherein, the second key detection point A is the end point farthest from the second lidar 22 among all the detection points corresponding to the contour of the container 30, the fourth key detection point E and the fifth key detection point F are respectively two end points among all the detection points corresponding to the contour of the flatbed 42 of the truck 40 detected by the second lidar 22, the third key detection point B is the end point farthest from the first lidar 21 among all the detection points corresponding to the contour of the container 30, and the sixth key detection point G and the seventh key detection point H are respectively two end points among all the detection points corresponding to the contour of the flatbed 42 of the truck 40 detected by the first lidar 21. Further, each key detection point can be determined according to the comparison result of the coordinate data of all the detection points in the contour point cloud data. For example, the third key detection point B can specifically be the detection point with the largest coordinate value on the X-axis / X'-axis among all the detection points corresponding to the contour of the container 30, and the fourth key detection point E, the fifth key detection point F, the sixth key detection point G, and the seventh key detection point H can specifically be the four end points among all the detection points corresponding to the contour of the flatbed 42 of the truck 40 and their coordinate values on the X-axis / X'-axis increase in sequence.
[0042] Taking Figure 4For example, optionally, the method of this embodiment may further include the following steps: after receiving an instruction to control the spreader 10 to lift the container 30, periodically use two two-dimensional lidars 20 provided on the spreader 10 to collect the contour point cloud data of the environment below the spreader 10 within its measurement range; according to the contour point cloud data, determine the eighth key detection point A′, the ninth key detection point N, the tenth key detection point P, and the eleventh key detection point B′; according to the coordinate values of the eighth key detection point A′, the ninth key detection point N, the tenth key detection point P, and the eleventh key detection point B′ on the Y-axis respectively, control the spreader 10 to descend until the coordinate values of the four detection points on the Y-axis are all less than the second preset value and then end. Among them, the eighth key detection point A′ and the ninth key detection point N are respectively two end points among all the detection points corresponding to the upper surface contour of the container 30 detected by the second lidar 22, and the tenth key detection point P and the eleventh key detection point B′ are respectively two end points among all the detection points corresponding to the upper surface contour of the container 30 detected by the first lidar 21. Further, each key detection point can be determined according to the comparison result of the coordinate data of all the detection points in the contour point cloud data. For example, the eighth key detection point A′, the ninth key detection point N, the tenth key detection point P, and the eleventh key detection point B′ can specifically be four end points among all the detection points corresponding to the upper surface contour of the container 30 and their coordinate values on the X-axis / X′ axis increase in sequence.
[0043] To implement the control method of the above embodiment, other embodiments of the present invention further provide a control device 500, as Figure 5 shown. The device 500 includes a data acquisition module 510, a first determination module 520, and an output module 530. It should be noted that since the following embodiments are to implement the foregoing method embodiments, each module in the control device 500 is provided to implement each step of the method of the foregoing embodiments. Therefore, the present invention is not limited to the following embodiments, and any module that can implement the above method should be included in the protection scope of the present invention.
[0044] In this embodiment, the data acquisition module 510 is configured to use at least one two-dimensional lidar 20 provided on the spreader 10 to collect the contour point cloud data of the environment below the spreader 10 within its measurement range. Exemplarily, referring to Figure 2 , at least one of the two-dimensional lidars in the foregoing step S110 is the second lidar 22 provided at the first side end of the spreader 10 along the length direction of the spreader 10; exemplarily, the at least one two-dimensional lidar in the foregoing step S110 includes the second lidar 22 provided at the first side end of the spreader 10 along the length direction of the spreader 10 and the first lidar 21 provided at the second side end.
[0045] The data acquisition module 510 is further configured to, after receiving an instruction indicating to start detecting anti-collision risks, use at least one two-dimensional lidar 20 disposed on the spreader 10 to acquire the contour point cloud data of the environment below the spreader 10 within its measurement range. The first determination module 520 is configured to determine, based on the contour point cloud data, whether there is a risk that the container 30 currently lifted by the spreader 10 collides with the cab 41 of the truck 40 within the measurement range. The output module 530 is configured to output a signal indicating the existence of such a risk if it is determined that there is such a risk.
[0046] The device 500 of this embodiment further optionally includes a first execution module, which is configured to, after receiving an instruction indicating to start detecting anti-collision risks, periodically call and execute the data acquisition module 510, the first determination module 520, and the output module 530 until an instruction indicating to stop detecting anti-collision risks is received.
[0047] Optionally, the first determination module 520 is further configured to determine a first distance in the length direction of the spreader 10 between a first key detection point D and a second key detection point A based on the contour point cloud data, and determine whether there is a risk that the container 30 currently lifted by the spreader 10 collides with the cab 41 of the truck 40 within the measurement range based on the first distance. Here, the first key detection point is the end point closer to the second lidar 22 among all the detection points corresponding to the contour of the cab 41 of the truck 40 detected by the second lidar 22, and the second key detection point A is the end point farther from the second lidar 22 among all the detection points corresponding to the contour of the container 30 detected by the second lidar 22. Optionally, the first determination module 520 is further configured to determine all the detection points corresponding to the contour of the cab 41 of the truck 40 and all the detection points corresponding to the contour of the container 30 in the contour point cloud data, determine the first key detection point D among all the detection points corresponding to the contour of the cab 41 of the truck 40 and the second key detection point A among all the detection points corresponding to the contour of the container 30, and determine the first distance in the length direction of the spreader between the first key detection point D and the second key detection point A. Optionally, the first determination module 520 is further configured to, if the first distance is equal to zero, determine that there is a risk that the container 30 currently lifted by the spreader 10 collides with the cab 41 of the truck 40 within the measurement range; otherwise, determine that there is no risk that the container 30 currently lifted by the spreader 10 collides with the cab 41 of the truck 40 within the measurement range.
[0048] In this embodiment, the output module 530 outputs, for example, a signal indicating the existence of such a risk to a risk prompt device, such as a display device, a sound prompt device, a prompt lamp, etc.
[0049] In some embodiments, the device 500 may further include a second determination module and a first control module. The second determination module is configured to determine a second key detection point A, a third key detection point B, a fourth key detection point E, a fifth key detection point F, a sixth key detection point G, and a seventh key detection point H according to the contour point cloud data, wherein the second key detection point A is the end point of all the detection points corresponding to the contour of the container 30 that is far from the second lidar 22, the fourth key detection point E and the fifth key detection point F are respectively two end points of all the detection points corresponding to the contour of the flat plate 42 of the truck 40 detected by the second lidar 22, the third key detection point B is the end point of all the detection points corresponding to the contour of the container 30 that is far from the first lidar 21, and the sixth key detection point G and the seventh key detection point H are respectively two end points of all the detection points corresponding to the contour of the flat plate 42 of the truck 40 detected by the first lidar 21; respectively determine a second distance and a third distance between the fourth key detection point E, the fifth key detection point F and the second key detection point A in the Y-axis direction, and respectively determine a fourth distance and a fifth distance between the sixth key detection point G, the seventh key detection point H and the third key detection point B in the Y-axis direction. The first control module is configured to control the spreader 10 to descend according to the second distance, the third distance, the fourth distance and the fifth distance until both the third distance and the fourth distance are less than a first preset value. Further, the device 500 may further include a second execution module, configured to periodically call and execute the data acquisition module 510, the second determination module and the first control module after receiving an instruction to control the spreader 10 to unload the container 30.
[0050] In some embodiments, the device may further include a third determination module and a second control module. The third determination module is configured to determine an eighth key detection point A′, a ninth key detection point N, a tenth key detection point P, and an eleventh key detection point B′ according to the contour point cloud data, wherein the eighth key detection point A′ and the ninth key detection point N are respectively two end points of all the detection points corresponding to the upper surface contour of the container 30 detected by the second lidar 22, and the tenth key detection point P and the eleventh key detection point B′ are respectively two end points of all the detection points corresponding to the upper surface contour of the container 30 detected by the first lidar 21. The second control module is configured to control the spreader 10 to descend according to the coordinate values of the eighth key detection point A′, the ninth key detection point N, the tenth key detection point P, and the eleventh key detection point B′ on the Y-axis until the coordinate values of the four detection points on the Y-axis are all less than a second preset value. Further, the device 500 may further include a third execution module, configured to periodically call and execute the data acquisition module 510, the third determination module and the second control module after receiving an instruction to control the spreader 10 to lift the container 30.
[0051] It can be understood that the first execution module, the second execution module, and the third execution module can exist separately or be the same module. For the case of the same module, the first execution module, the second execution module, and the third execution module cannot execute simultaneously. It should be noted that the control method of the foregoing embodiment is a method embodiment corresponding to the control device 500 of this embodiment. The control device 500 of this embodiment can be implemented in cooperation with the control method of the foregoing embodiment. The relevant technical details mentioned in the control method of the foregoing embodiment are still valid in the control device 500 of this embodiment. To avoid repetition, they will not be elaborated here.
[0052] Figure 6 is a schematic diagram of an electronic device according to an embodiment of the present application. The specific implementation of the electronic device is not limited in the specific embodiments of the present application. Refer to Figure 6 , the electronic device 600 provided by the embodiment of the present application includes: a processor 602, a communication interface 604, a memory 606, and a bus 608. Among them:
[0053] The processor 602, the communication interface 604, and the memory 606 communicate with each other through the bus 608.
[0054] The communication interface 604 is used to communicate with other electronic devices or servers.
[0055] The processor 602 is used to execute the program 610, and specifically can execute the relevant steps in the foregoing method embodiment.
[0056] Specifically, the program 610 may include program code, and the program code includes computer operation instructions.
[0057] The processor 602 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.
[0058] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.
[0059] The program 610 can specifically be used to cause the processor 602 to execute the method in any of the foregoing embodiments.
[0060] For the specific implementation of each step in the program 610, reference may be made to the corresponding steps and the corresponding descriptions in the units in the foregoing method embodiments, which will not be elaborated herein. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices and modules described above may refer to the corresponding process descriptions in the foregoing method embodiments, which will not be repeated herein.
[0061] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the method as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which software program code for implementing the functions in any of the foregoing embodiments is stored, and the computer (or CPU or MPU) of the system or device is caused to read and execute the program code stored in the storage medium.
[0062] In this case, the program code read from the storage medium itself can implement the functions in any of the foregoing embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of this application.
[0063] Examples of the storage medium for providing the program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.
[0064] This application embodiment also provides a computer program product including computer instructions that direct a computing device to perform any corresponding operation in the foregoing multiple method embodiments.
[0065] It should be noted that according to the needs of implementation, the various components / steps described in the embodiments of this application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the objectives of the embodiments of this application.
[0066] The method according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as RAM, ROM, flash memory, etc.) that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.
[0067] It should be noted that not all steps and modules in the above-mentioned various processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted according to needs. The system structures described in the above-mentioned various embodiments can be physical structures or logical structures. That is, some modules may be implemented by the same physical entity, or some modules may be implemented separately by multiple physical entities, or some components in multiple independent devices may be jointly implemented.
[0068] In this patent application, nouns and pronouns related to people are not limited to a specific gender. The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one" does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.
[0069] In the above-mentioned various embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.
[0070] The above has shown and described the present application in detail through the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above-mentioned multiple embodiments, those skilled in the art can know that code review means in different above-mentioned embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the protection scope of the present application.
Claims
1. A control method, characterized in that, Including: (a) Using at least one two-dimensional lidar (20) provided on the spreader (10) to collect the contour point cloud data of the environment below the spreader (10) within its measurement range; (b) According to the contour point cloud data, determine whether there is a risk of collision between the container (30) currently lifted by the spreader (10) and the cab (41) of the truck (40) within the measurement range; (c) If it is determined that there is such a risk, output a signal indicating the existence of such a risk.
2. The method according to claim 1, wherein Step (b) further includes: According to the contour point cloud data, determine a first distance between a first key detection point (D) and a second key detection point (A) in the length direction of the spreader (10), where the first key detection point (D) is the end point close to the two-dimensional lidar (20) among all the detection points corresponding to the contour of the cab (41) of the truck (40) detected by one of the at least one two-dimensional lidar (20), and the second key detection point (A) is the end point far from the two-dimensional lidar (20) among all the detection points corresponding to the contour of the container (30) by this two-dimensional lidar (20); According to the first distance, determine whether there is a risk of collision between the container (30) currently lifted by the spreader (10) and the cab (41) of the truck (40) within the measurement range.
3. The method according to claim 2, wherein The determining the first distance between the first key detection point (D) and the second key detection point (A) in the length direction of the spreader (10) according to the contour point cloud data further includes: Determine all the detection points corresponding to the contour of the cab (41) of the truck (40) and all the detection points corresponding to the contour of the container (30) in the contour point cloud data; Determine the first key detection point (D) among all the detection points corresponding to the contour of the cab (41) of the truck (40) and the second key detection point (A) among all the detection points corresponding to the contour of the container (30); Determine the first distance between the first key detection point (D) and the second key detection point (A) in the length direction of the spreader (10).
4. The method according to claim 3, wherein The determining whether there is a risk of collision between the container (30) currently lifted by the spreader (10) and the cab (41) of the truck (40) within the measurement range according to the first distance further includes: If the first distance is equal to zero, determine that there is a risk of collision between the container (30) currently lifted by the spreader (10) and the cab (41) of the truck (40) within the measurement range; otherwise, determine that there is no risk of collision between the container (30) currently lifted by the spreader (10) and the cab (41) of the truck (40) within the measurement range.
5. The method according to claim 1, wherein The method further includes: After receiving an instruction indicating to start detecting anti-collision risk, periodically execute steps (a) to (c) until receiving an instruction indicating to stop detecting anti-collision risk.
6. The method according to any one of claims 1-5, characterized in that, The at least one two-dimensional lidar (20) is a second lidar (22) provided at the first side end of the spreader (10) along the length direction of the spreader (10).
7. The method according to any one of claims 1-5, characterized in that, The two 2D lidars (20) include a second lidar (22) disposed at a first side end of the spreader (10) along the length direction of the spreader (10) and a first lidar (21) disposed at a second side end.
8. The method according to claim 7, characterized in that, The method further includes: After receiving an instruction indicating to start controlling the spreader (10) to unload the container (30), step (a) is periodically executed; According to the contour point cloud data, a second key detection point (A), a third key detection point (B), a fourth key detection point (E), a fifth key detection point (F), a sixth key detection point (G), and a seventh key detection point (H) are determined, where the second key detection point (A) is the end point farthest from the second lidar (22) among all the detection points corresponding to the contour of the container (30), the fourth key detection point (E) and the fifth key detection point (F) are respectively two end points among all the detection points corresponding to the contour of the flat plate (42) of the truck (40) detected by the second lidar (22), the third key detection point (B) is the end point farthest from the first lidar (21) among all the detection points corresponding to the contour of the container (30), and the sixth key detection point (G) and the seventh key detection point (H) are respectively two end points among all the detection points corresponding to the contour of the flat plate (42) of the truck (40) detected by the first lidar (21); The second distance and the third distance between the fourth key detection point (E), the fifth key detection point (F) and the second key detection point (A) in the Y-axis direction are respectively determined, and the fourth distance and the fifth distance between the sixth key detection point (G), the seventh key detection point (H) and the third key detection point (B) in the Y-axis direction are respectively determined; According to the second distance, the third distance, the fourth distance and the fifth distance, the spreader (10) is controlled to descend until both the third distance and the fourth distance are less than a first preset value.
9. The method according to claim 7, wherein The method further includes: After receiving an instruction indicating to start controlling the spreader (10) to lift the container (30), step (a) is periodically executed; According to the contour point cloud data, an eighth key detection point (A'), a ninth key detection point (N), a tenth key detection point (P), and an eleventh key detection point (B') are determined, where the eighth key detection point (A') and the ninth key detection point (N) are respectively two end points among all the detection points corresponding to the upper surface contour of the container (30) detected by the second lidar (22), and the tenth key detection point (P) and the eleventh key detection point (B') are respectively two end points among all the detection points corresponding to the upper surface contour of the container (30) detected by the first lidar (21); Control the lowering of the spreader (10) according to the coordinate values of the eighth key detection point (A′), the ninth key detection point (N), the tenth key detection point (P), and the eleventh key detection point (B′) on the Y-axis respectively, and end when the coordinate values of the four detection points on the Y-axis are all less than the second preset value.
10. A control device (500), characterized in that, Including: A data acquisition module (510) for using at least one two-dimensional lidar (20) provided on the spreader (10) to acquire the contour point cloud data of the environment below the spreader (10) within its measurement range; A first determination module (520) for determining whether there is a risk of collision between the container (30) currently lifted by the spreader (10) and the cab (41) of the truck (40) within the measurement range according to the contour point cloud data; An output module (530) for outputting a signal indicating the existence of the risk if it is determined that there is the risk.
11. An electronic device (600), the electronic device (600) comprising: A processor (602), a communication interface (604), a memory (606), and a bus (608), where the processor (602), the communication interface (604), and the memory (606) complete mutual communication through the bus (608); The memory (606) is used to store at least one executable instruction, and the executable instruction causes the processor (602) to execute the operations corresponding to the method according to any one of claims 1-9.
12. A machine-readable storage medium, on which machine instructions are stored, and when the machine instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1-9.