A spreader interlock distance measuring method, system, shore crane and electronic device

Abstract

The application discloses a spreader center lock distance measurement method and system, a shore crane and electronic equipment, and relates to the technical field of shore cranes. The method comprises the following steps: acquiring a target point cloud representing a spreader center lock collected by a laser scanning device; determining the center point position of the spreader based on the target point cloud and a preset standard center point position; determining the position information of two starting points of the target point cloud along the extension direction of the shore crane lane, that is, the target position information representing the two ends of the spreader center lock along the extension direction of the shore crane lane, based on the determined center point position; and determining the center lock distance of the spreader based on the target position information. Thus, the problem of high cost and low reliability caused by the measurement of the center lock distance of the spreader through the modification of the spreader, the cooperation of the spreader cable with optical fibers or the CAN communication based on the spreader cable is avoided. The reliable measurement of the center lock distance of the spreader is realized on the basis of low cost.

Description

Technical Field

[0001] This application relates to the field of quay crane technology, and more specifically, to a method, system, quay crane, and electronic equipment for measuring the interlocking distance in a spreader. Background Technology

[0002] In the remote control retrofitting of traditional quay cranes, for the semi-automatic loading and unloading of two containers using a double-container spreader, it is necessary not only to measure the distance between the target two containers on the truck, but also to accurately measure the center-lock distance of the spreader in order to achieve closed-loop control. Currently, the common method for measuring the center-lock distance is to add a center-lock distance measuring encoder to the spreader and modify the spreader cable, such as replacing it with a fiber optic cable, or using the single-core shielded wire in the original spreader cable to complete CAN (Controller Area Network) communication, thereby enabling it to have data communication capabilities.

[0003] However, modifying the lifting equipment and replacing the fiber optic cable will significantly increase the cost of use. The cable needs to be bent frequently, which can also reduce the reliability of internal fiber optic communication. Using the single-core shielded wire in the original lifting equipment cable to complete CAN communication is problematic because the lifting equipment cable usually does not have twisted pair shielding, which leads to significant signal transmission interference and potential reliability issues. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a method, system, quay crane and electronic equipment for measuring the interlocking distance in a spreader, so as to solve the problem that the interlocking distance in a spreader cannot be reliably detected at low cost.

[0005] In a first aspect, the present invention provides a method for measuring the interlocking distance in a lifting device, comprising:

[0006] Acquire a target point cloud, which is a point cloud containing characteristics of a lock in a lifting device, collected by a laser scanning device;

[0007] Based on the target point cloud and the preset standard midpoint position, the midpoint position of the lifting device is determined;

[0008] Taking the midpoint as the starting point, the target location information is determined. The target location information is the location information of two starting points with a density greater than a preset density threshold along the extension direction of the target point cloud of the bridge lane.

[0009] Based on the target location information, the center-locking distance of the lifting device is determined.

[0010] In one possible implementation, acquiring the target point cloud includes:

[0011] Real-time acquisition of single-frame point cloud and the current height of the lifting device;

[0012] Based on the current height, the target point cloud is selected in the single-frame point cloud.

[0013] In one possible implementation, after acquiring a single frame point cloud in real time, the method further includes:

[0014] Voxel filtering is performed on the single-frame point cloud.

[0015] In one possible implementation, determining the midpoint position of the lifting device based on the target point cloud and a preset standard midpoint position includes:

[0016] Based on the target point cloud, determine the extreme values ​​of the point cloud coordinates representing the positions of both ends of the spreader along the extension direction of the quay crane lane.

[0017] Based on the extreme values ​​of the point cloud coordinates, the position of the pre-selected point is determined;

[0018] The midpoint position is determined based on the relationship between the pre-selected midpoint position and the preset standard midpoint position.

[0019] In one possible implementation, determining the midpoint position based on the relationship between the pre-selected midpoint position and the preset standard midpoint position includes:

[0020] Determine the difference between the pre-selected point position and the preset standard midpoint position;

[0021] Determine the relationship between the difference and the preset deviation threshold;

[0022] When the difference is less than or equal to the preset deviation threshold, the pre-selected point position is taken as the midpoint position;

[0023] When the difference is greater than the preset deviation threshold, the preset standard midpoint position is taken as the midpoint position.

[0024] In one possible implementation, determining the target location information starting from the midpoint includes:

[0025] Based on a preset scale, starting from the midpoint, the point cloud density of the target point cloud is detected along the extension direction of the quay bridge lane.

[0026] Determine whether the detected density exceeds a preset density threshold;

[0027] The location information corresponding to the point cloud when the density exceeds the preset density threshold is determined as the target location information.

[0028] In one possible implementation, the preset scale and the preset density threshold are set based on the distance between the laser scanning device and the quay bridge lane.

[0029] Secondly, the present invention provides a system for measuring the interlocking distance in a lifting device, comprising:

[0030] A point cloud acquisition unit is used to acquire a target point cloud, which is a point cloud containing a characterization of a lock in a lifting device, acquired by a laser scanning device.

[0031] The first position determination unit is used to determine the midpoint position of the lifting device based on the target point cloud and the preset standard midpoint position.

[0032] The second position determination unit is used to determine target position information starting from the midpoint position. The target position information is the position information of two starting points with a density greater than a preset density threshold along the extension direction of the target point cloud of the bridge lane.

[0033] The center-locking distance determination unit is used to determine the center-locking distance of the lifting device based on the target position information.

[0034] Thirdly, the present invention provides a quay crane, including a quay crane body, a laser scanning device, and the system provided in the second aspect of the present invention;

[0035] The laser scanning device is arranged in the middle of the upper surface of the landside saddle or seaside saddle of the quay crane body, and scans towards the quay crane lane side to obtain the target point cloud.

[0036] Fourthly, the present invention provides an electronic device, the electronic device comprising:

[0037] processor;

[0038] Memory used to store the processor's executable instructions;

[0039] The processor is used to execute the method provided in the first aspect of the present invention.

[0040] The method for measuring the center-lock spacing of a spreader according to the present invention acquires a target point cloud containing characteristics of the center-lock of the spreader, collected by a laser scanning device. Based on the target point cloud and a preset standard midpoint position, the midpoint position of the spreader can be determined first. Then, using the determined midpoint position as the starting point, the position information of two starting points whose density along the extension direction of the bridge lane of the target point cloud exceeds a preset density threshold can be determined. These are the target position information of the two ends of the center-lock of the spreader along the extension direction of the bridge lane. Finally, based on the target position information, the center-lock spacing of the spreader can be determined. This avoids the high cost and low reliability problems caused by modifying the spreader and using a spreader cable with optical fiber or CAN communication based on the spreader cable for center-lock spacing measurement. It achieves reliable measurement of the center-lock spacing of the spreader at a low cost. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 The diagram shown is a flowchart of a method for measuring the lock spacing in a lifting device according to an embodiment of the present invention;

[0043] Figure 2 The image shown is an example point cloud distribution diagram of a single-frame point cloud acquired by a laser scanning device according to an embodiment of the present invention.

[0044] Figure 3 The image shown is based on an embodiment of the present invention. Figure 2 The point cloud distribution map of the target point cloud obtained from a single frame point cloud is shown.

[0045] Figure 4 The diagram shown is a schematic diagram of a locking gap identification process in a lifting device according to an embodiment of the present invention;

[0046] Figure 5 The diagram shown is a schematic diagram of the locking gap identification result in a lifting device according to an embodiment of the present invention;

[0047] Figure 6 The figure shown is a structural diagram of a lifting device lock spacing measurement system provided in an embodiment of the present invention;

[0048] Figure 7 The diagram shown is a structural schematic of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0049] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0050] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0051] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0052] Currently, remote-controlled quay cranes require measuring the distance between the target two containers and the center-lock distance of the spreader during dual-container operations to achieve closed-loop control. However, the commonly used method for measuring the center-lock distance involves modifying the spreader to measure the distance, then transmitting the measured distance to the controller via the spreader cable. However, modifying the spreader and replacing the spreader cable with a fiber optic cable significantly increases the operating cost of the quay crane. Furthermore, using CAN communication within the spreader cable to transmit the center-lock distance presents unreliable transmission issues.

[0053] This invention aims to solve the above-mentioned problems. By processing the target point cloud containing the characteristics of the center lock of the spreader collected by the laser scanning device, the center lock spacing of the spreader is obtained. This effectively avoids the need to modify the spreader and the spreader cable, and also solves the problem of low reliability of data transmission through CAN communication using the spreader cable. It realizes reliable measurement of the center lock spacing at low cost and without the need to modify the quay crane.

[0054] The present invention provides a method for measuring the lock-in of a spreader, which is executed on an electronic device. The electronic device can be the controller of the quay crane, or a smart terminal device such as a laptop, mobile phone, or tablet computer, or a server remotely connected to the controller of the quay crane.

[0055] See Figure 1 , Figure 1 This is a flowchart of a method for measuring the lock spacing in a lifting device according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process mainly includes the following steps:

[0056] S100, Obtain the target point cloud.

[0057] The target point cloud is a point cloud collected by a laser scanning device that includes features representing the lock in the lifting device.

[0058] In this embodiment, the laser scanning device can be any device capable of acquiring point clouds, such as a 3D laser scanner.

[0059] In some possible embodiments, the laser scanning device is preferably a non-repeatable scanner, thereby ensuring a large field of view.

[0060] Furthermore, target point clouds are acquired by installing a non-repetitive scanner on the middle of the upper surface of the land-side or sea-side saddle beam of the quay crane and scanning towards the quay crane lane side.

[0061] Furthermore, by communicating with an electronic device, such as the controller of the quay crane, used to perform the method provided in this embodiment, and a laser scanning device, a target point cloud can be obtained.

[0062] It is understandable that the larger the amount of data processed, the higher the processing power required by the electronic equipment, and the longer the processing time. The purpose of this application's embodiments is to analyze and process the point cloud representing the lock in the lifting device to ultimately determine the lock spacing. Therefore, the point cloud collected by the laser scanning device must at least include the point cloud representing the lock in the lifting device. To ensure that the collected point cloud data includes a complete point cloud representing the lock in the lifting device, the scanning range of the laser scanning device needs to be larger than the lock in the lifting device.

[0063] Based on this, in a preferred embodiment, obtaining the target point cloud includes:

[0064] Real-time acquisition of single-frame point cloud and the current height of the lifting device;

[0065] Based on the current altitude, the target point cloud is selected from the single-frame point cloud.

[0066] Specifically, a single frame of point cloud obtained by a laser scanning device, such as... Figure 2 For example, as shown, then by Figure 2 As can be seen, this includes both the point cloud representing the lock in the spreader and the point cloud representing the truck. Furthermore, based on the positional relationship between the spreader and the truck, it can be determined that the current height of the spreader... Figure 2 The point cloud data shown is used to extract the target point cloud representing the lock in the lifting device.

[0067] In this embodiment, the specific process of acquiring the target point cloud includes: real-time reading of a single frame point cloud from the laser scanning device and acquiring the current height z of the lifting device. hoist Based on the current height z of the spreading equipment hoist Select the target region [z hoist +hflip,z hoist +hmiddle The point cloud data within the brackets is as follows: Figure 3 The image shows a target point cloud containing the lock in the spreader. Where h... flip h is the length of the spreader guide plate along the height direction of the spreader. middle This refers to the length of the lock in the lifting device along the height direction.

[0068] To further improve the efficiency of determining the center-locking distance, in a preferred embodiment, after acquiring a single-frame point cloud in real time, the method further includes:

[0069] Voxel filtering is performed on a single frame of point cloud.

[0070] In this embodiment, by performing voxel filtering on a single frame point cloud and then selecting the target point cloud from it, the number of points in a single frame point cloud can be significantly reduced by downsampling before selecting the target point cloud, thereby reducing the amount of data and improving data processing efficiency.

[0071] S110. Based on the target point cloud and the preset standard midpoint position, determine the midpoint position of the spreader.

[0072] Specifically, the preset standard midpoint position refers to the midpoint position of the quay crane lane, i.e., the work lane, for spreader operations.

[0073] In this embodiment, by determining the midpoint position of the spreader based on the target point cloud and the preset standard midpoint position, the midpoint position of the spreader determined based on the target point cloud obtained by the laser scanning device can be mapped to the preset standard midpoint position, thereby improving the accuracy of the mid-locking distance of the spreader determined based on the target point cloud.

[0074] In a preferred embodiment, determining the midpoint position of the lifting device based on the target point cloud and a preset standard midpoint position includes:

[0075] Based on the target point cloud, determine the extension direction of the bridge lanes along the riverbank and characterize the extreme values ​​of the point cloud coordinates at both ends of the spreader.

[0076] Determine the location of the pre-selected point based on the extreme values ​​of the point cloud coordinates;

[0077] The midpoint position is determined based on the relationship between the pre-selected midpoint position and the preset standard midpoint position.

[0078] Specifically, such as Figure 3 As shown, along the direction of the bridge lane extension, the number of point clouds decreases sharply when reaching the edges of both ends of the spreader. Based on this, the extreme point cloud coordinates y, representing the positions of the two ends of the spreader, can be determined using the target point cloud. min and y max Then, based on formula (1), the position y of the pre-selected point can be calculated. m :

[0079] ym =(y min +y max ) / twenty one)

[0080] More specifically, through y m The position of the midpoint can be determined by comparing it with the position of the preset standard midpoint.

[0081] In a preferred embodiment, determining the midpoint position based on the relationship between the pre-selected midpoint position and the preset standard midpoint position includes:

[0082] Determine the difference between the pre-selected point position and the preset standard midpoint position;

[0083] Determine the relationship between the difference and the preset deviation threshold;

[0084] When the difference is less than or equal to the preset deviation threshold, the pre-selected point position is taken as the midpoint position;

[0085] When the difference is greater than the preset deviation threshold, the preset standard midpoint position will be used as the midpoint position.

[0086] S120. Determine the target location information starting from the midpoint.

[0087] Among them, the target location information is the location information of two starting points along the direction of the bridge lane extension of the target point cloud with a density greater than a preset density threshold.

[0088] It is understandable that, such as Figure 3 As shown, due to the presence of the lock in the spreader, the point cloud in the middle of the spreader is sparser than the point clouds at both ends in the direction of the bridge lane extension, i.e., the positive and negative y-directions of truck operation. Based on this, as... Figure 4 As shown, the positive and negative directions extending along the quay bridge lanes are defined by taking the midpoint 1 of the spreader as the starting point. Figure 4 If point cloud density detection is performed in the direction of the middle arrow, the location information corresponding to the point cloud at this location can be determined as the target location information when the detected density exceeds the preset density threshold. That is, the end face location information of the two ends of the lock in the spreader along the extension direction of the bridge lane.

[0089] In a preferred embodiment, determining the target location information, starting from the midpoint, includes:

[0090] Based on a preset scale, starting from the midpoint, the point cloud density of the target point cloud is detected along the extension direction of the bridge lane.

[0091] Determine whether the detected density exceeds a preset density threshold;

[0092] The location information of the point cloud when the density exceeds a preset density threshold is determined as the target location information.

[0093] In this embodiment, starting from the midpoint, point cloud density detection is performed along the extension direction of the quay bridge lane, i.e., the positive and negative directions of the truck's running direction y. The density detection window has a y-axis scale of σ. y Then the point cloud density Density is:

[0094] Density = N i / σ y (2)

[0095] Where, N i This represents the number of point clouds in each detection window.

[0096] When Density exceeds the preset density threshold D in both directions of the bridge lane extension. threshold At this time, the Y-axis corresponding to the point cloud + and Y ― This refers to the target location information, which is the location information of the two ends of the central locking in the direction of the extension of the bridge lane.

[0097] In a preferred embodiment, the preset scale and preset density threshold are set based on the distance between the laser scanning device and the quay bridge lane.

[0098] In this embodiment, considering that the distance between different quay bridge lanes and the laser is different, the density of the target point cloud obtained by the laser scanning device is also different. Therefore, different preset scales {σ} are set according to different quay bridge lanes. y1 ,σ y2 ,…,σ yn} and different preset density thresholds {D threshold1 D threshold2 ,…,D thresholdn This can make the target location information determined based on point cloud density detection more accurate, thereby improving the reliability of the determined center-locking distance.

[0099] S130. Based on the target location information, determine the center-locking distance of the spreader.

[0100] In this embodiment, the interlocking distance Distance = Y + —Y ― .

[0101] Specifically, Figure 5 This is an example of the interlocking spacing obtained by applying the method provided in this embodiment. Figure 5 It can be seen that when Y + and Y ― When Y equals 15.647812 and 15.107817 respectively, based on + and Y ―The determined center-lock spacing Distance = 15.647812 - 15.107817 = 0.539995m.

[0102] The method for measuring the center-lock spacing of the spreader provided in this embodiment acquires a target point cloud containing characteristics of the center-lock of the spreader, collected by a laser scanning device. Based on the target point cloud and a preset standard midpoint position, the midpoint position of the spreader can be determined first. Then, using the determined midpoint position as the starting point, the positions of two starting points whose density along the extension direction of the quay bridge lanes exceeds a preset density threshold can be determined. These are the target position information at the two ends of the center-lock of the spreader along the extension direction of the quay bridge lanes. Finally, based on the target position information, the center-lock spacing of the spreader can be determined. This avoids the high cost and low reliability issues caused by modifying the spreader and using fiber optic cables or CAN communication via the spreader cable for center-lock spacing measurement. It achieves reliable measurement of the center-lock spacing at a low cost. Furthermore, because the center-lock spacing determined by the method provided in this embodiment does not require transmission through the spreader cable, the complexity of spreader modification is reduced, and reliable feedback of the center-lock spacing is ensured, thereby improving the reliability and safety of quay bridge operations.

[0103] The following describes a lifting device locking distance measurement system provided by an embodiment of the present invention. The lifting device locking distance measurement system described below can be considered as a modular architecture for implementing the lifting device locking distance measurement method provided by the embodiment of the present invention; the following description can be referred to in conjunction with the above.

[0104] Optional, see Figure 6 , Figure 6 This is a structural block diagram of a lifting device locking distance measurement system provided in an embodiment of the present invention. The system may include:

[0105] The point cloud acquisition unit 10 is used to acquire the target point cloud, which is a point cloud containing a characterization of the lock in the lifting device, acquired by the laser scanning device.

[0106] The first position determination unit 20 is used to determine the midpoint position of the spreader based on the target point cloud and the preset standard midpoint position;

[0107] The second position determination unit 30 is used to determine the target position information starting from the midpoint position. The target position information is the position information of two starting points with a density greater than a preset density threshold along the extension direction of the target point cloud of the bridge lane.

[0108] The center-locking spacing determination unit 40 is used to determine the center-locking spacing of the spreader based on the target position information.

[0109] Optionally, the point cloud acquisition unit 10 is specifically used for:

[0110] Real-time acquisition of single-frame point cloud and the current height of the lifting device;

[0111] Based on the current altitude, the target point cloud is selected from the single-frame point cloud.

[0112] Optionally, the point cloud acquisition unit 10 is also specifically used for:

[0113] Voxel filtering is performed on a single frame of point cloud.

[0114] Optionally, the first position determining unit 20 is specifically used for:

[0115] Based on the target point cloud, determine the extension direction of the bridge lanes along the riverbank and characterize the extreme values ​​of the point cloud coordinates at both ends of the spreader.

[0116] Determine the location of the pre-selected point based on the extreme values ​​of the point cloud coordinates;

[0117] The midpoint position is determined based on the relationship between the pre-selected midpoint position and the preset standard midpoint position.

[0118] Optionally, the first position determining unit 20 is more specifically used for:

[0119] Determine the difference between the pre-selected point position and the preset standard midpoint position;

[0120] Determine the relationship between the difference and the preset deviation threshold;

[0121] When the difference is less than or equal to the preset deviation threshold, the pre-selected point position is taken as the midpoint position;

[0122] When the difference is greater than the preset deviation threshold, the preset standard midpoint position will be used as the midpoint position.

[0123] Optionally, the second position determining unit 30 is specifically used for:

[0124] Based on a preset scale, starting from the midpoint, the point cloud density of the target point cloud is detected along the extension direction of the bridge lane.

[0125] Determine whether the detected density exceeds a preset density threshold;

[0126] The location information of the point cloud when the density exceeds a preset density threshold is determined as the target location information.

[0127] Optionally, preset scale and preset density threshold are set based on the distance between the laser scanning device and the quay bridge lane.

[0128] Optionally, embodiments of the present invention also provide a quay crane, which includes a quay crane body, a laser scanning device, and a spreader lock spacing measurement system as provided in any of the above embodiments;

[0129] The laser scanning device is positioned in the middle of the upper surface of the landside or seaside saddle beam of the quay crane body and scans towards the quay crane lane side to obtain the target point cloud.

[0130] Below, for reference Figure 7 The electronic device provided in the embodiments of this application can be described as follows: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0131] In this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 7 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional.

[0132] Optionally, the communication interface 200 can be an interface of a communication module, such as the interface of a GSM module; the processor 100 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0133] The memory 300 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0134] Specifically, the processor 100 is used to execute the application program in the memory to implement the steps of the above-mentioned method for measuring the lock spacing in the lifting device.

[0135] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0136] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0137] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0138] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0139] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0140] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for measuring the interlocking distance in a lifting device, characterized in that, include: Acquire a target point cloud, which is a point cloud containing characteristics of a lock in a lifting device, collected by a laser scanning device; Based on the target point cloud and the preset standard midpoint position, the midpoint position of the lifting device is determined; Taking the midpoint as the starting point, the target location information is determined. The target location information is the location information of two starting points with a density greater than a preset density threshold along the extension direction of the target point cloud of the bridge lane. Based on the target location information, the center-locking distance of the lifting device is determined; Determining the midpoint position of the lifting device based on the target point cloud and a preset standard midpoint position includes: Based on the target point cloud, determine the extreme values ​​of the point cloud coordinates representing the positions of both ends of the spreader along the extension direction of the quay crane lane; based on the extreme values ​​of the point cloud coordinates, determine the pre-selected point position; based on the relationship between the pre-selected point position and the preset standard midpoint position, determine the midpoint position. Determining the midpoint position based on the relationship between the pre-selected midpoint position and the preset standard midpoint position includes: Determine the difference between the pre-selected point position and the preset standard midpoint position; determine the relationship between the difference and a preset deviation threshold; when the difference is less than or equal to the preset deviation threshold, use the pre-selected point position as the midpoint position; when the difference is greater than the preset deviation threshold, use the preset standard midpoint position as the midpoint position.

2. The method according to claim 1, characterized in that, The acquisition of the target point cloud includes: Real-time acquisition of single-frame point cloud and the current height of the lifting device; Based on the current height, the target point cloud is selected in the single-frame point cloud.

3. The method according to claim 2, characterized in that, After acquiring a single frame point cloud in real time, the method further includes: Voxel filtering is performed on the single-frame point cloud.

4. The method according to claim 1, characterized in that, The step of determining the target location information starting from the midpoint includes: Based on a preset scale, starting from the midpoint, the point cloud density of the target point cloud is detected along the extension direction of the quay bridge lane. Determine whether the detected density exceeds a preset density threshold; The location information corresponding to the point cloud when the density exceeds the preset density threshold is determined as the target location information.

5. The method according to claim 4, characterized in that, The preset scale and the preset density threshold are set based on the distance between the laser scanning device and the quay bridge lane.

6. A system for measuring the interlocking distance in a lifting device, used to implement the method of claim 1, characterized in that, include: A point cloud acquisition unit is used to acquire a target point cloud, which is a point cloud containing a characterization of a lock in a lifting device, acquired by a laser scanning device. The first position determination unit is used to determine the midpoint position of the lifting device based on the target point cloud and the preset standard midpoint position. The second position determination unit is used to determine target position information starting from the midpoint position. The target position information is the position information of two starting points with a density greater than a preset density threshold along the extension direction of the target point cloud of the bridge lane. The center-locking distance determination unit is used to determine the center-locking distance of the lifting device based on the target position information.

7. A quay crane, characterized in that, Includes the quay crane body, a laser scanning device, and the interlocking distance measurement system for the spreader as described in claim 6; The laser scanning device is arranged in the middle of the upper surface of the landside saddle or seaside saddle of the quay crane body, and scans towards the quay crane lane side to obtain the target point cloud.

8. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the method described in any one of claims 1 to 5.

Images