Data fusion-based method, device, and equipment for quay crane trolley position detection

Abstract

This application provides a method, apparatus, and device for quay crane trolley position detection based on data fusion. The method includes: acquiring target detection data detected in real time by the quay crane trolley; acquiring the ideal number sequence of the quay crane trolley; and, based on the element number information of the detected magnetic positioning elements and the ideal number sequence, determining the number of consecutive missed detections of magnetic positioning elements if missed detections are found; if the number of consecutive missed detections meets a first numerical requirement, determining a fusion weight based on the number of consecutive missed detections; determining second position information based on the absolute encoder of the quay crane trolley; and fusing the first position information and the second position information according to the fusion weight to obtain the target detection position of the quay crane trolley. This method can fuse multiple position information even when magnetic positioning elements are missed, improving the accuracy and reliability of quay crane trolley position detection.

Description

Technical Field

[0001] This application relates to the fields of port equipment technology and data processing technology, and in particular to a method, apparatus and equipment for detecting the position of a quay crane trolley based on data fusion. Background Technology

[0002] With the development of globalization, the volume of trade in ports is constantly increasing, which puts forward higher requirements for the automation level of port quay cranes, and remote-controlled automated quay cranes have emerged as a result.

[0003] Current remote-controlled automated quay cranes can automatically grab and place containers on trucks or transfer platforms, offering advantages such as safety and efficiency. However, this also places higher demands on the accuracy and reliability of the quay crane trolley's position detection.

[0004] Currently, in the actual operation of automated quay cranes, the position of the quay crane trolley is usually located using magnetic nails / magnetic rulers. However, if the magnetic nails / magnetic rulers malfunction, the position of the quay crane trolley cannot be effectively located, affecting the accuracy of the quay crane trolley position detection. Summary of the Invention

[0005] The data fusion-based method, apparatus, and equipment for quay crane trolley position detection provided in this application can improve the accuracy and reliability of quay crane trolley position detection by fusing multiple position information when magnetic positioning elements fail to detect the trolley.

[0006] In a first aspect, embodiments of this application provide a method for detecting the position of a quay crane trolley based on data fusion, including:

[0007] The target detection data detected in real time by the quay crane trolley is obtained, wherein the target detection data includes the component number information of the magnetic positioning element detected by the quay crane trolley, and the first position information of each magnetic positioning element passed by the quay crane trolley.

[0008] Obtain the ideal number sequence of the quay crane trolley, and determine the number of consecutive missed detections of the magnetic positioning elements if there are missed detections based on the element number information of the detected magnetic positioning elements and the ideal number sequence.

[0009] If the number of consecutive missed detections meets the first numerical requirement, then the fusion weight is determined based on the number of consecutive missed detections.

[0010] The second position information is determined based on the absolute encoder of the quay crane trolley, and the first position information and the second position information are fused according to the fusion weight to obtain the target detection position of the quay crane trolley.

[0011] In one possible implementation, the number of consecutive missed detections can be multiple; the number of consecutive missed detections satisfies a first numerical requirement, including:

[0012] Determine the maximum value among the possible values ​​for the number of consecutive missed detections;

[0013] If the maximum value is less than or equal to the first value indicated by the first numerical requirement, then the number of consecutive missed detections is determined to meet the first numerical requirement.

[0014] In one possible implementation, determining the fusion weight based on the number of consecutive missed detections includes:

[0015] The initial weights are determined based on the standard deviations of the first and second location information.

[0016] The weighting adjustment coefficient is determined based on the number of consecutive missed detections.

[0017] The initial weights are adjusted according to the weight adjustment coefficients to obtain the fusion weights.

[0018] In one possible implementation, each of the missed magnetic positioning elements has corresponding element number information; the method further includes:

[0019] If, based on the component number information of the missed magnetic positioning components, it is determined that the number of missed detections of the target component meets the second numerical requirement, a maintenance reminder message is generated and displayed; wherein, the maintenance reminder message is used to prompt the staff to replace the target component.

[0020] In one possible implementation, the method further includes:

[0021] After the staff replaces the target component, new detection data detected in real time by the quay crane trolley is obtained; wherein, the new detection data includes the third position information of each of the magnetic positioning components detected by the quay crane trolley.

[0022] If, based on the third position information, it is determined that the third position information of the target element is incorrect, a write error message is generated and displayed; wherein, the write error message is used to prompt the staff to rewrite the third position information of the target element.

[0023] In one possible implementation, the method further includes:

[0024] If the number of consecutive missed detections does not meet the first numerical requirement, and / or, the acquisition of the target detection data fails, a fault message is generated and displayed; and

[0025] If the operating condition of the quay crane trolley is a preset condition, a stop operation command is generated to stop the operation of the quay crane trolley according to the stop operation command; or if the operating condition of the quay crane trolley is not the preset condition, the target detection position of the quay crane trolley is determined according to the second position information.

[0026] In one possible implementation, the method further includes:

[0027] If, based on the component number information of the detected magnetic positioning elements and the ideal number sequence, it is determined that there are no missed magnetic positioning elements, then the target detection position of the quay crane trolley is determined based on the target detection data.

[0028] In one possible implementation, before fusing the first location information and the second location information according to the fusion weight, the method further includes:

[0029] Determine the position difference between the first position information and the second position information;

[0030] If the position difference meets the detection error requirements, the first position information and the second position information are fused according to the fusion weight.

[0031] Secondly, embodiments of this application provide a quay crane trolley position detection device based on data fusion, comprising:

[0032] The acquisition unit is used to acquire target detection data detected in real time by the quay crane trolley, wherein the target detection data includes the component number information of the magnetic positioning element detected by the quay crane trolley, and the first position information of each magnetic positioning element passed by the quay crane trolley.

[0033] The determining unit is used to obtain the ideal numbering sequence of the quay crane trolley, and, if it is determined that there are missed magnetic positioning elements based on the element numbering information of the detected magnetic positioning elements and the ideal numbering sequence, to determine the number of consecutive missed magnetic positioning elements.

[0034] A fusion unit is configured to determine a fusion weight based on the number of consecutive missed detections if the number of consecutive missed detections meets a first numerical requirement; and

[0035] The second position information is determined based on the absolute encoder of the quay crane trolley, and the first position information and the second position information are fused according to the fusion weight to obtain the target detection position of the quay crane trolley.

[0036] In one possible implementation, the number of consecutive missed detections can be multiple; in this case, the fusion unit is used to:

[0037] Determine the maximum value among the possible values ​​for the number of consecutive missed detections;

[0038] If the maximum value is less than or equal to the first value indicated by the first numerical requirement, then the number of consecutive missed detections is determined to meet the first numerical requirement.

[0039] In one possible implementation, the fusion unit is used for:

[0040] The initial weights are determined based on the standard deviations of the first and second location information.

[0041] The weighting adjustment coefficient is determined based on the number of consecutive missed detections.

[0042] The initial weights are adjusted according to the weight adjustment coefficients to obtain the fusion weights.

[0043] In one possible implementation, each of the missed magnetic positioning elements has corresponding element number information; in this case, the device is also used for:

[0044] If, based on the component number information of the missed magnetic positioning components, it is determined that the number of missed detections of the target component meets the second numerical requirement, a maintenance reminder message is generated and displayed; wherein, the maintenance reminder message is used to prompt the staff to replace the target component.

[0045] In one possible implementation, the device is also used for:

[0046] After the staff replaces the target component, new detection data detected in real time by the quay crane trolley is obtained; wherein, the new detection data includes the third position information of each of the magnetic positioning components detected by the quay crane trolley.

[0047] If, based on the third position information, it is determined that the third position information of the target element is incorrect, a write error message is generated and displayed; wherein, the write error message is used to prompt the staff to rewrite the third position information of the target element.

[0048] In one possible implementation, the device is also used for:

[0049] If the number of consecutive missed detections does not meet the first numerical requirement, and / or, the acquisition of the target detection data fails, a fault message is generated and displayed; and

[0050] If the operating condition of the quay crane trolley is a preset condition, a stop operation command is generated to stop the operation of the quay crane trolley according to the stop operation command; or if the operating condition of the quay crane trolley is not the preset condition, the target detection position of the quay crane trolley is determined according to the second position information.

[0051] In one possible implementation, the device is also used for:

[0052] If, based on the component number information of the detected magnetic positioning elements and the ideal number sequence, it is determined that there are no missed magnetic positioning elements, then the target detection position of the quay crane trolley is determined based on the target detection data.

[0053] In one possible implementation, the device is also used for:

[0054] Based on the fusion weight, before performing fusion processing on the first location information and the second location information, the position difference between the first location information and the second location information is determined;

[0055] If the position difference meets the detection error requirements, the first position information and the second position information are fused according to the fusion weight.

[0056] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0057] The memory stores computer-executed instructions;

[0058] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0059] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0060] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0061] The data fusion-based method, apparatus, and device for quay crane trolley position detection provided in this application can determine the component number information of the magnetic positioning elements detected by the quay crane trolley and the first position information of each magnetic positioning element passed by the quay crane trolley by acquiring the target detection data detected by the quay crane trolley in real time. Then, by acquiring the ideal number sequence of the quay crane trolley and comparing the ideal number sequence with the component number information of the detected magnetic positioning elements, it can determine whether there are any missed magnetic positioning elements. This implementation can achieve online diagnosis of magnetic positioning element data, and timely and accurately identify missed magnetic positioning elements. At this time, on the one hand, the missed magnetic positioning elements can be located based on the component number information, thereby enabling timely maintenance of the missed magnetic positioning elements to ensure their availability and thus ensure the accurate positioning of the quay crane trolley. On the other hand, the first position data determined based on the missed magnetic positioning elements can be corrected to ensure the accuracy of the quay crane trolley position detection. In specific implementation, when the existence of missed magnetic positioning elements is determined, the number of consecutive missed magnetic positioning elements can be determined. To avoid a large number of consecutively missed magnetic positioning elements affecting the accuracy of the quay crane's position detection, a first numerical requirement can be set. If the number of consecutive missed detections meets the first numerical requirement, a fusion weight is determined based on this number. Then, based on the absolute encoder of the quay crane, the second position information is determined. Finally, the first and second position information are fused according to the fusion weight to obtain the target detection position of the quay crane. This implementation method achieves quay crane position detection through the fusion of multiple position information, improving both data utilization and the accuracy of position detection. Attached Figure Description

[0062] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0063] Figure 1 A flowchart illustrating a data fusion-based method for detecting the position of a quay crane trolley, as provided in an embodiment of this application;

[0064] Figure 2 A schematic diagram of the running track of a quay crane trolley provided in an embodiment of this application;

[0065] Figure 3 A flowchart illustrating another data fusion-based method for detecting the position of a quay crane trolley provided in this application embodiment;

[0066] Figure 4A schematic diagram illustrating the implementation process for determining the target detection position of a quay crane trolley, provided in an embodiment of this application;

[0067] Figure 5 A schematic diagram of a quay crane trolley position detection device based on data fusion is provided for an embodiment of this application;

[0068] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0069] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0070] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0071] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0072] With the advent of remotely controlled automated quay cranes, higher requirements have been placed on the accuracy and reliability of the position detection of the quay crane trolley.

[0073] Conventional quay crane equipment mainly relies on absolute encoders to detect the position of the quay crane trolley. However, due to the complex and varied operation scenarios of automated quay cranes, in some operation scenarios, such as rainy weather, the quay crane trolley may slip, causing errors in the position of the quay crane trolley determined by the absolute encoder, which in turn affects the accuracy of the quay crane trolley position detection.

[0074] Therefore, in the actual operation of automated quay cranes, a magnetic nail / magnetic ruler detection device has been added to the absolute encoder technology. The position of the quay crane trolley is determined by detecting the positions of the magnetic nails / magnetic rulers it passes. However, this implementation method is prone to missed detections of magnetic nails / magnetic rulers if the detection device or the magnetic nails / magnetic rulers themselves malfunction. In such cases, conventional techniques can estimate the position of the quay crane trolley by calculating the magnetic nails / magnetic rulers it passes, resulting in low reliability of quay crane position detection. Alternatively, a hard switch can be made to locate the quay crane trolley position using an absolute encoder.

[0075] The aforementioned method for detecting the position of the quay crane trolley relies on a single positioning data point to determine its location. This not only results in low data utilization but also fails to guarantee the accuracy of the quay crane trolley's positioning, leading to low reliability of the quay crane trolley's position detection results and consequently affecting the precision of automated quay crane operations.

[0076] Furthermore, in the above embodiments, if a magnetic nail / magnetic ruler is missed, it is also impossible to locate the missed magnetic nail / magnetic ruler, thus making it impossible to maintain the abnormal magnetic nail / magnetic ruler in a timely and effective manner, which further affects the accuracy of automated quay crane operations.

[0077] The data fusion-based position detection method for quay crane trolleys provided in this application can determine the position of the quay crane trolley by fusing the detection data of magnetic nails / magnetic rulers and the positioning data corresponding to the absolute encoder when magnetic positioning elements (e.g., magnetic positioning elements may include, but are not limited to, magnetic nails / magnetic rulers) are missed. This improves the accuracy and reliability of quay crane trolley position detection. Furthermore, by comparing the ideal numbering sequence of magnetic positioning elements with the real-time detected element numbering information, missed magnetic positioning elements can be accurately located, facilitating timely maintenance and thus solving the aforementioned technical problems.

[0078] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are 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 described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0079] Figure 1 A flowchart illustrating a data fusion-based method for detecting the position of a quay crane trolley, as provided in this application embodiment, is shown below. Figure 1 As shown, the method includes:

[0080] S101. Obtain the target detection data detected in real time by the quay crane trolley.

[0081] The target detection data includes the component number information of the magnetic positioning elements detected by the quay crane trolley, as well as the first position information of each magnetic positioning element that the quay crane trolley passes through.

[0082] In one example, before the quay crane trolley starts operating, corresponding component number information and component position information can be added to each magnetic positioning element deployed on the quay crane trolley's operating track.

[0083] For example, multiple magnetic positioning elements can be deployed at intervals (e.g., 1 meter) on the running track of the quay crane trolley. Then, starting from one end of the running track, corresponding element number information can be added to each magnetic positioning element, and the element position information of each magnetic positioning element can be determined based on its absolute coordinates in the quay crane trolley coordinate system.

[0084] At this point, after the quay crane trolley starts running, the magnetic positioning element detection device installed in the quay crane trolley can detect each magnetic positioning element that the quay crane trolley passes through in real time.

[0085] At this point, the component number information of the detected magnetic positioning element can be obtained. Simultaneously, the component position of each detected magnetic positioning element can be obtained, and in the case where no component position is detected, the value of that position can be calculated, thus obtaining the aforementioned first position information.

[0086] Optionally, the magnetic positioning element detection device can determine if a magnetic positioning element has been missed based on the time interval between acquiring the element's position or on the detected change in magnetic field strength. In this case, it can automatically calculate the position of the missed magnetic positioning unit. However, it cannot pinpoint the specific missed magnetic positioning element.

[0087] S102. Obtain the ideal number sequence of the quay crane trolley, and if there are missed magnetic positioning elements based on the element number information of the detected magnetic positioning elements and the ideal number sequence, determine the number of consecutive missed magnetic positioning elements.

[0088] In one example, the ideal numbering sequence of the quay crane indicates the component numbering information of the magnetic positioning elements that the quay crane can detect in real time under ideal conditions, based on the current position and target position of the quay crane.

[0089] In one example, the consecutive missed detection count indicates the number of consecutively missed magnetic positioning elements. In this case, the consecutive missed detection count can be 1, 2, 3, etc.

[0090] For example, see Figure 2 , Figure 2This is a schematic diagram of the running track of a quay crane trolley provided in an embodiment of this application. Figure 2 As shown, assuming the current position of the quay crane trolley is A (5 meters from the track) and the target position is B (13 meters from the track), and that a magnetic element is placed every 1 meter along the track, then the element numbering information indicated by the ideal numbering sequence of the quay crane trolley can be shown in Table 1 below.

[0091] Table 1 Component numbering information in the ideal numbering sequence

[0092] 5 6 7 8 9 10 11 12 13

[0093] At this point, assume that the component numbering information of the magnetic positioning elements included in the target detection data is shown in Table 2 below.

[0094] Table 2 Component number information in target detection data

[0095] 5 7 8 9 10 11 12 13

[0096] At this point, based on the data in Tables 1 and 2 above, it can be seen that there is a missed magnetic positioning element, specifically, the magnetic positioning element with element number 6 is missed. Therefore, the consecutive number of missed magnetic positioning elements can be determined to be 1.

[0097] In one example, during a single operation of the quay crane trolley, information about missed magnetic positioning elements (including but not limited to element number information and element location information) can be stored in a predefined array and the array can be updated online.

[0098] S103. If the number of consecutive missed detections meets the first numerical requirement, then the fusion weight is determined based on the number of consecutive missed detections.

[0099] In one example, the first numerical requirement can be used to indicate the maximum value of the consecutive missed detections (i.e., the first value below). If the number of consecutive missed detections is less than or equal to the maximum value, it can be said that the number of consecutive missed detections meets the first numerical requirement.

[0100] In one example, the maximum value for the consecutive missed detections can be 1, 2, 3, etc.

[0101] In one example, the maximum number of consecutive missed detections can be related to the length of the quay crane's running track. For example, if the quay crane's running track is long, the maximum number of consecutive missed detections can be set to be larger. Alternatively, the maximum number of consecutive missed detections can also be related to the shape of the quay crane's running track. For example, if the quay crane's running track is straight, the maximum number of consecutive missed detections can be set to be larger; if the quay crane's running track is curved, the maximum number of consecutive missed detections can be set to be smaller, and so on. Here, the maximum number of consecutive missed detections is not limited, but rather determined by actual needs.

[0102] In one example, the fusion weights can indicate the weights used to fuse data from different sensors. In this case, the number of fusion weights corresponds to the number of different sensor data, and the sum of the fusion weights is 1.

[0103] In this embodiment of the application, the fusion weight can be understood as the weight of the fusion of the position information of the magnetic positioning element and the position information determined by the absolute encoder.

[0104] S104. Based on the absolute encoder of the quay crane vehicle, determine the second position information, and according to the fusion weight, fuse the first position information and the second position information to obtain the target detection position of the quay crane vehicle.

[0105] In one example, the first and second location information indicate the distance traveled by the quay crane trolley on the track. For instance, the first location information could be 10 meters, and the second location information could be 10.03 meters. In this case, the first and second location information can be fused using fusion weights to obtain the target detection position of the quay crane trolley.

[0106] As described above, this embodiment of the application can determine the component number information of the magnetic positioning elements detected by the quay crane trolley and the first position information of each magnetic positioning element passed by the quay crane trolley by acquiring the target detection data detected in real time. Then, by acquiring the ideal number sequence of the quay crane trolley and comparing the ideal number sequence with the component number information of the detected magnetic positioning elements, it can be determined whether there are any missed magnetic positioning elements. This implementation can achieve online diagnosis of magnetic positioning element data, and timely and accurately identify missed magnetic positioning elements. At this time, on the one hand, the missed magnetic positioning elements can be located based on the component number information, thereby enabling timely maintenance of the missed magnetic positioning elements to ensure their availability and thus ensure the accurate positioning of the quay crane trolley. On the other hand, the first position data determined based on the missed magnetic positioning elements can be corrected to ensure the accuracy of the quay crane trolley position detection. In specific implementation, when the existence of missed magnetic positioning elements is determined, the consecutive number of missed magnetic positioning elements can be determined. To avoid a large number of consecutively missed magnetic positioning elements affecting the accuracy of the quay crane's position detection, a first numerical requirement can be set. If the number of consecutive missed detections meets the first numerical requirement, a fusion weight is determined based on this number. Then, based on the absolute encoder of the quay crane, the second position information is determined. Finally, the first and second position information are fused according to the fusion weight to obtain the target detection position of the quay crane. This implementation method achieves quay crane position detection through the fusion of multiple position information, improving both data utilization and the accuracy of position detection.

[0107] Figure 3 A flowchart illustrating another data fusion-based method for detecting the position of a quay crane trolley provided in this application embodiment is shown below. Figure 3 As shown, in this embodiment... Figure 1 Based on the embodiments, the method for position detection of quay crane trolleys based on data fusion is described in detail. The method includes:

[0108] S301. Obtain the target detection data detected in real time by the quay crane trolley.

[0109] The target detection data includes the component number information of the magnetic positioning elements detected by the quay crane trolley, as well as the first position information of each magnetic positioning element that the quay crane trolley passes through.

[0110] In one example, this step can be referred to the content described in S101 above, and will not be repeated in detail here.

[0111] S302. Obtain the ideal numbering sequence of the quay crane trolley.

[0112] S303. If it is determined that there are no missed magnetic positioning elements based on the element number information and ideal number sequence of the detected magnetic positioning elements, then the target detection position of the quay crane trolley is determined based on the target detection data.

[0113] This implementation method can prioritize the use of data from the detected magnetic positioning element to determine the detection position of the quay crane trolley when the magnetic positioning element is detected normally, thus ensuring the accuracy of the quay crane trolley position detection.

[0114] S304. If, based on the component number information and ideal number sequence of the detected magnetic positioning elements, it is determined that there are missed magnetic positioning elements, the number of consecutive missed magnetic positioning elements shall be determined.

[0115] In one example, this step can be referred to the content described in S102 above, and will not be repeated in detail here.

[0116] S305. If the number of consecutive missed detections meets the first numerical requirement, then the fusion weight is determined based on the number of consecutive missed detections.

[0117] In one possible implementation, during the operation of the quay crane trolley, there may be multiple, discontinuous, missed detections of magnetic positioning elements. In this case, the number of consecutive missed detections can be multiple. Each consecutive missed detection number indicates the number of magnetic positioning elements missed in a single consecutive detection.

[0118] At this point, when determining whether the number of consecutive missed detections meets the first numerical requirement, the maximum value among the possible values ​​of the number of consecutive missed detections can be determined first.

[0119] If the maximum value is less than or equal to the first value indicated by the first value requirement, then the number of consecutive missed detections is determined to meet the first value requirement.

[0120] In one example, if the number of consecutive missed detections meets the first numerical requirement, then the fusion weight can be determined according to the process described below.

[0121] First, the initial weights are determined based on the standard deviation of the first position information and the standard deviation of the second position information.

[0122] In one example, the initial weights may include a first weight corresponding to the first position information and a second weight corresponding to the second position information.

[0123] At this point, assuming that the standard deviation of the first position information is denoted as σ1, the standard deviation of the second position information is denoted as σ2, the first weight is denoted as K1, and the second weight is denoted as K2, then the initial weights can be referred to as shown in the following formula (1).

[0124]

[0125] Then, the weighting adjustment coefficient is determined based on the number of consecutive missed detections.

[0126] In one example, the weight adjustment coefficient is used to adjust the weight of the second position information. If the number of consecutive missed detections is 1, then the weight adjustment coefficient is also 1. If the number of consecutive missed detections is greater than 1, then the weight adjustment coefficient can be increased to increase the proportion of the second position information. For example, if the number of consecutive missed detections is 2, the weight adjustment coefficient can be set to 1.5, etc.

[0127] In this embodiment of the application, a corresponding weight adjustment coefficient can be pre-set for each consecutive number of missed detections that meets the first numerical requirement. The number and value of the weight adjustment coefficients are not limited here, but are determined according to actual needs.

[0128] Finally, the initial weights are adjusted according to the weight adjustment coefficients to obtain the fused weights.

[0129] In the above embodiments, the fusion weight of the first position information and the second position information can be dynamically adjusted according to the number of continuously missed magnetic positioning elements, which not only improves the accuracy of the position detection of the quay crane trolley, but also improves the flexibility of the position detection of the quay crane trolley.

[0130] S306. Based on the absolute encoder of the quay crane trolley, determine the second position information, and according to the fusion weight, fuse the first position information and the second position information to obtain the target detection position of the quay crane trolley.

[0131] In one possible implementation, before fusing the first location information and the second location information according to the fusion weight, the embodiments of this application may first determine the position difference between the first location information and the second location information.

[0132] If the position difference meets the detection error requirements, the first position information and the second position information are fused according to the fusion weight.

[0133] This implementation avoids the problem that a large difference between the position detected by the magnetic positioning element detection device and the position determined by the absolute encoder affects the accuracy of data fusion, and thus the accuracy of the position of the quay crane trolley.

[0134] S307. If the number of consecutive missed detections does not meet the first numerical requirement, and / or, the acquisition of target detection data fails, a fault prompt message is generated and displayed; and if the operating condition of the quay crane trolley is the preset operating condition, a stop operation command is generated to stop the operation of the quay crane trolley according to the stop operation command; or if the operating condition of the quay crane trolley is not the preset operating condition, the target detection position of the quay crane trolley is determined according to the second position information.

[0135] In one example, a fault message is used to alert staff that at least one of the magnetic positioning element or the magnetic positioning element detection device has malfunctioned.

[0136] In one example, a preset working condition can be understood as a pre-set task for the quay crane trolley. For example, a preset working condition could be a task of grabbing a box or a task of packing a box. Here, the task indicated by the preset working condition is not limited, but is based on meeting actual needs.

[0137] In the above embodiments, fault warning messages can be generated promptly when a large number of magnetic positioning elements fail to be detected consecutively, or when the magnetic positioning element detection device malfunctions. Simultaneously, the system can determine whether to stop operation based on the current working condition of the quay crane trolley, thereby ensuring the accuracy and safety of the operation.

[0138] See Figure 4 , Figure 4 This application provides a schematic diagram of an implementation process for determining the target detection position of a quay crane trolley, as shown in the embodiments of this application. Figure 4 As shown, after acquiring the target detection data detected in real time by the quay crane trolley, it is possible to determine whether there are any cases of missed detection of magnetic positioning elements based on the target detection data.

[0139] If there are no missed detections, then considering the accuracy and reliability of the detection data from the magnetic positioning element, the target detection position of the quay crane trolley is determined by the first position information of the magnetic positioning element. For example, if the first position information is denoted as D1, then the target detection position D can be expressed as D = D1.

[0140] If only one magnetic positioning element is detected as a consecutive missed detection, a missed detection warning message is generated and displayed. Simultaneously, the first position information and the second position information are fused according to the initial weights. For example, if the initial weight for the first position information is 2 / 3 and the weight for the second position information is 1 / 3, then the target detection position D can be represented as 2 / 3 * D1 + 1 / 3 * D2.

[0141] If two consecutively missed magnetic positioning elements are detected, a warning message is generated and displayed. Simultaneously, the first position information and the second position information are fused according to the initial weights and weight adjustment coefficients. For example, if the weight corresponding to the first position information is determined to be 1 / 2 and the weight corresponding to the second position information is also determined to be 1 / 2, then the target detection position D can be represented as 1 / 2*D1 + 1 / 2*D2.

[0142] If more than two consecutively missed magnetic positioning elements are detected, or if no target detection data is obtained, a fault message is generated and displayed. Simultaneously, the target detection position of the quay crane is determined by the second position information established by the absolute encoder of the quay crane. For example, if the second position information is denoted as D2, then the target detection position D can be represented as D = D2.

[0143] In one possible implementation, as described above, the relevant information of the missed magnetic positioning elements (including but not limited to element number information and element position information) can be stored in a predefined array. Therefore, based on the predefined array, it can be determined that each missed magnetic positioning element has corresponding element number information.

[0144] Based on this, if the number of missed detections of the target component is determined to meet the second numerical requirement based on the component number information of the missed magnetic positioning component, a maintenance reminder message is generated and displayed.

[0145] The maintenance reminder information is used to prompt staff to replace the target component.

[0146] In one example, the second numerical requirement can be used to indicate the maximum number of consecutive missed detections of a target element. This maximum number can be preset to the second numerical value, which can be 3, 5, etc. If the number of consecutive missed detections of a target element is greater than this second numerical value, it indicates that the number of missed detections of the target element meets the second numerical requirement.

[0147] In one example, maintenance reminders can be displayed on the terminal's interface or sent to the corresponding staff's terminal devices (including but not limited to mobile and fixed terminal devices). The display method is not limited here, as long as it can be implemented.

[0148] This implementation method can remind staff to perform maintenance in a timely manner by displaying maintenance reminder information, which can effectively ensure the reliability and effectiveness of the magnetic positioning element.

[0149] In one possible implementation, after replacing the target component according to the maintenance reminder information, the staff may mistakenly write the component location information.

[0150] Based on this, the embodiments of this application can also acquire new detection data detected in real time by the quay crane trolley after the operator replaces the target component. This new detection data includes the third position information of each magnetic positioning element detected by the quay crane trolley.

[0151] If, based on the third position information, it is determined that the third position information of the target component is incorrect, a write error message is generated and displayed. This write error message prompts the operator to rewrite the third position information of the target component.

[0152] In one example, if the position information of the target element detected by the magnetic positioning element detection device does not match the third position information provided by the magnetic positioning element, it is determined that the third position information of the target element is incorrect. At this time, the error message can be displayed to remind the staff to check and correct it.

[0153] This implementation method can identify cases where the information of the magnetic positioning element is written incorrectly, thereby avoiding the problem that the position detection effect of the quay crane trolley is affected by the mismatch between the detected position of the magnetic positioning element and the position provided by the magnetic positioning element.

[0154] Figure 5 A schematic diagram of a data fusion-based quay crane trolley position detection device provided in this application embodiment is shown below. Figure 5 As shown, the data fusion-based quay crane trolley position detection device provided in this embodiment includes:

[0155] The acquisition unit 501 is used to acquire target detection data detected in real time by the quay crane trolley. The target detection data includes the component number information of the magnetic positioning elements detected by the quay crane trolley, and the first position information of each magnetic positioning element passed by the quay crane trolley.

[0156] The determining unit 502 is used to obtain the ideal numbering sequence of the quay crane trolley, and, based on the component numbering information of the detected magnetic positioning components and the ideal numbering sequence, determine the number of consecutive missed magnetic positioning components when there are missed magnetic positioning components.

[0157] The fusion unit 503 is used to determine the fusion weight based on the number of consecutive missed detections if the number of consecutive missed detections meets the first numerical requirement; and to determine the second position information based on the absolute encoder of the quay crane trolley, and to fuse the first position information and the second position information according to the fusion weight to obtain the target detection position of the quay crane trolley.

[0158] In one possible implementation, the number of consecutive missed detections can be multiple; in this case, the fusion unit 503 is used for:

[0159] Determine the maximum value among the possible values ​​for the number of consecutive missed detections;

[0160] If the maximum value is less than or equal to the first value indicated by the first value requirement, then the number of consecutive missed detections is determined to meet the first value requirement.

[0161] In one possible implementation, the fusion unit 503 is used for:

[0162] The initial weights are determined based on the standard deviation of the first position information and the standard deviation of the second position information;

[0163] The weighting adjustment coefficient is determined based on the number of consecutive missed detections;

[0164] The initial weights are adjusted based on the weight adjustment coefficients to obtain the fused weights.

[0165] In one possible implementation, each missed magnetic positioning element has a corresponding element number; in this case, the device is also used for:

[0166] If, based on the component number information of the missed magnetic positioning components, it is determined that the number of missed inspections of the target component meets the second numerical requirement, a maintenance reminder message is generated and displayed; the maintenance reminder message is used to prompt staff to replace the target component.

[0167] In one possible implementation, the device is also used for:

[0168] After the staff replaces the target component, new detection data is obtained in real time from the quay crane trolley; the new detection data includes the third position information of each magnetic positioning component detected by the quay crane trolley.

[0169] If the third position information of the target component is determined to be incorrect based on the third position information, a write error message is generated and displayed; the write error message is used to prompt the staff to rewrite the third position information of the target component.

[0170] In one possible implementation, the device is also used for:

[0171] If the number of consecutive missed detections does not meet the first numerical requirement, and / or, the acquisition of target detection data fails, a fault message will be generated and displayed; and

[0172] When the quay crane trolley is operating under the preset conditions, a stop operation command is generated to stop the quay crane trolley from operating; or when the quay crane trolley is not operating under the preset conditions, the target detection position of the quay crane trolley is determined based on the second position information.

[0173] In one possible implementation, the device is also used for:

[0174] If, based on the component number information and ideal number sequence of the detected magnetic positioning elements, it is determined that there are no missed magnetic positioning elements, then the target detection position of the quay crane trolley can be determined based on the target detection data.

[0175] In one possible implementation, the device is also used for:

[0176] Based on the fusion weight, before fusing the first location information and the second location information, the position difference between the first location information and the second location information is determined.

[0177] If the position difference meets the detection error requirements, the first position information and the second position information are fused according to the fusion weight.

[0178] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the electronic device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0179] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0180] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0181] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0182] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0183] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0184] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0185] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0186] The aforementioned 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0187] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0188] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0189] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0190] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0191] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0192] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0193] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A data fusion-based container crane trolley position detection method, characterized in that, include: The target detection data detected in real time by the quay crane trolley is obtained, wherein the target detection data includes the component number information of the magnetic positioning element detected by the quay crane trolley, and the first position information of each magnetic positioning element passed by the quay crane trolley. Obtain the ideal number sequence of the quay crane trolley, and determine the number of consecutive missed detections of the magnetic positioning elements if there are missed detections based on the element number information of the detected magnetic positioning elements and the ideal number sequence. If the number of consecutive missed detections meets the first numerical requirement, then the fusion weight is determined based on the number of consecutive missed detections. The second position information is determined based on the absolute encoder of the quay crane trolley, and the first position information and the second position information are fused according to the fusion weight to obtain the target detection position of the quay crane trolley.

2. The method according to claim 1, characterized in that, The number of consecutive missed detections can take multiple values; the number of consecutive missed detections must satisfy a first numerical requirement, including: Determine the maximum value among the possible values ​​for the number of consecutive missed detections; If the maximum value is less than or equal to the first value indicated by the first numerical requirement, then the number of consecutive missed detections is determined to meet the first numerical requirement.

3. The method according to claim 1, characterized in that, The fusion weight is determined based on the number of consecutive missed detections, including: The initial weights are determined based on the standard deviations of the first and second location information. The weighting adjustment coefficient is determined based on the number of consecutive missed detections. The initial weights are adjusted according to the weight adjustment coefficients to obtain the fusion weights.

4. The method according to claim 1, characterized in that, Each of the aforementioned missed magnetic positioning elements has a corresponding element number; the method further includes: If, based on the component number information of the missed magnetic positioning components, it is determined that the number of missed detections of the target component meets the second numerical requirement, a maintenance reminder message is generated and displayed; wherein, the maintenance reminder message is used to prompt the staff to replace the target component.

5. The method according to claim 4, characterized in that, The method further includes: After the staff replaces the target component, new detection data detected in real time by the quay crane trolley is obtained; wherein, the new detection data includes the third position information of each of the magnetic positioning components detected by the quay crane trolley. If, based on the third position information, it is determined that the third position information of the target element is incorrect, a write error message is generated and displayed; wherein, the write error message is used to prompt the staff to rewrite the third position information of the target element.

6. The method according to claim 1, characterized in that, The method further includes: If the number of consecutive missed detections does not meet the first numerical requirement, and / or, the acquisition of the target detection data fails, a fault message is generated and displayed; and If the operating condition of the quay crane trolley is a preset condition, a stop operation command is generated to stop the operation of the quay crane trolley according to the stop operation command; or if the operating condition of the quay crane trolley is not the preset condition, the target detection position of the quay crane trolley is determined according to the second position information.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If, based on the component number information of the detected magnetic positioning elements and the ideal number sequence, it is determined that there are no missed magnetic positioning elements, then the target detection position of the quay crane trolley is determined based on the target detection data.

8. The method according to any one of claims 1-6, characterized in that, Before fusing the first location information and the second location information according to the fusion weight, the method further includes: Determine the position difference between the first position information and the second position information; If the position difference meets the detection error requirements, the first position information and the second position information are fused according to the fusion weight.

9. A quay crane trolley position detection device based on data fusion, characterized in that, include: The acquisition unit is used to acquire target detection data detected in real time by the quay crane trolley, wherein the target detection data includes the component number information of the magnetic positioning element detected by the quay crane trolley, and the first position information of each magnetic positioning element passed by the quay crane trolley. The determining unit is used to obtain the ideal numbering sequence of the quay crane trolley, and, if it is determined that there are missed magnetic positioning elements based on the element numbering information of the detected magnetic positioning elements and the ideal numbering sequence, to determine the number of consecutive missed magnetic positioning elements. A fusion unit is configured to determine a fusion weight based on the number of consecutive missed detections if the number of consecutive missed detections meets a first numerical requirement; and The second position information is determined based on the absolute encoder of the quay crane trolley, and the first position information and the second position information are fused according to the fusion weight to obtain the target detection position of the quay crane trolley.

10. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-8.

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