Container truck positioning method and device in container yard, computer equipment, readable storage medium and program product

Abstract

The invention relates to a container truck positioning method and device in a container yard, computer equipment, a computer readable storage medium and a computer program product. Comprising the following steps: when a container truck is detected, acquiring identity identification information of the container truck, a container truck top number and a container top number of a container, and checking whether the container truck is a target container truck based on the identity identification information, the container truck top number and the container top number; if the container truck is the target container truck, the gantry crane is controlled to move to a preset operation position, and the target container truck is guided to travel to a preset operation area below the gantry crane; second identity identification information of the target container truck, a second container truck top number, a second container top number of the container, the boundary dimension and position data are obtained, and the target container truck is verified; and if the verification is passed, controlling the gantry crane to execute container loading and unloading operation. By adopting the method, the positioning reliability, the environmental adaptability and the accuracy of container truck positioning can be considered.

Description

Technical Field

[0001] This application relates to the field of container transportation technology, and in particular to a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for positioning trucks in a container yard. Background Technology

[0002] Container shipping is a core pillar of modern logistics systems, and its efficiency improvement and cost optimization directly affect the smooth operation of the global supply chain. As a key node connecting various modes of transport, railway container yards play a decisive role in the overall efficiency of the logistics chain. With the rapid development of the Internet of Things, sensor technology, and artificial intelligence, intelligent loading and unloading operations have become a core direction for the upgrading of modern logistics systems, providing technical support for the automation and precision transformation of yard operations. In the field of container shipping, identification and positioning technologies are constantly evolving: early methods relying on manual visual recording of container numbers were inefficient and prone to errors. Subsequently, RFID (Radio Frequency Identification) technology, with its non-contact data reading and writing advantages, achieved automatic container identification and tracking through the cooperation of tags and key node readers. LiDAR sensing technology, with its high-precision three-dimensional point cloud data acquisition capabilities, is unaffected by lighting conditions and can work in all weather conditions, accurately capturing the shape, size, and position of trucks, providing data support for gantry crane positioning. Deep learning-based visual recognition technology, through multi-channel high-definition camera capture and algorithm analysis, has achieved accurate identification of license plate numbers, container numbers, and parking postures. These three technologies have jointly promoted the intelligent development of freight yards.

[0003] Although individual technologies such as RFID, LiDAR, and visual recognition each have their advantages in container yard operations, the shortcomings of a single technology make it difficult to simultaneously ensure positioning reliability, environmental adaptability, and accuracy in yard operations, making it difficult to meet the full-scenario accurate positioning needs in complex yard environments. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for positioning trucks in container yards that can take into account the above-mentioned technical problems, while also ensuring positioning reliability, environmental adaptability, and accuracy.

[0005] Firstly, this application provides a method for locating container trucks in a container yard, including:

[0006] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0007] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0008] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0009] In one embodiment, verifying whether a container truck is the target container truck based on its identification information, truck top number, and container top number includes:

[0010] Verify that the identification information and truck roof number exist in the preset operation information; if they exist in the preset operation information, determine whether the truck roof number is the same as the identification information and truck roof number in the operation information; if so, the truck is the target truck.

[0011] In one embodiment, the second identification information of the target truck, the second truck top number, the second container top number of the container carried by the truck, the external dimensions and location data are obtained through an RFID reader, a high-definition camera and a lidar on the gantry crane, including:

[0012] The information stored in the RFID tag on the target truck body is read by the RFID reader on the gantry crane to obtain the second identification information; the second truck top number is extracted by the first high-definition camera on the gantry crane; the second container top number is extracted by the second high-definition camera on the gantry crane; the three-dimensional point cloud data of the target truck and its container is collected by the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised and contour extracted to obtain the external dimensions; based on the preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated by the three-dimensional point cloud data to obtain the position data.

[0013] In one embodiment, verifying the target card includes:

[0014] The second identification information, the second truck roof number, and the second container roof number are compared with the identification information, truck roof number, and container roof number collected upon entry. If the comparisons of the identification information, truck roof number, and container roof number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If the comparisons of the external dimensions and the location data both pass, the verification is deemed successful.

[0015] In one embodiment, the method further includes:

[0016] If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0017] In one embodiment, the identification information of the truck, the truck's roof number, and the roof number of the container carried by the truck are obtained through an RFID reader and a high-definition camera on the gantry, including:

[0018] The identification information of the container truck is collected by the radio frequency identification reader on the gantry; the top number of the container truck is collected by the first high-definition camera on the gantry; and the top number of the container carried by the container truck is collected by the second high-definition camera on the gantry.

[0019] Secondly, this application also provides a truck positioning device in a container yard, comprising:

[0020] The detection module is used to obtain the truck's identification information, truck top number, and container top number when a truck is detected by an RFID reader and a high-definition camera on the gantry, and to verify whether the truck is the target truck based on the identification information, truck top number, and container top number.

[0021] The guidance module is used to control the gantry crane to move to the preset working position if it is the target truck, and guide the target truck to the preset working area below the gantry crane;

[0022] The working module is used to acquire the second identification information, second truck top number, second container top number, external dimensions and location data of the target truck through the radio frequency identification reader, high-definition camera and lidar on the gantry crane, and to verify the target truck; if the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0023] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0024] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0025] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0026] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0027] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0028] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0029] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0030] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0031] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0032] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0033] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0034] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0035] The aforementioned truck positioning method, device, computer equipment, computer-readable storage medium, and computer program product in the container yard, when a truck is detected, acquires the truck's identification information, truck top number, and the top number of the container it carries through an RFID reader and a high-definition camera on the gantry. Based on these identification information, truck top number, and container top number, it verifies whether the truck is the target truck. If it is the target truck, it controls the gantry crane to move to a preset operating position, guiding the target truck to a preset operating area below the gantry crane. It then acquires the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data through an RFID reader, high-definition camera, and lidar on the gantry crane, and verifies the target truck. If the verification passes, it controls the gantry crane to perform container loading and unloading operations. Through multi-sensor fusion acquisition and a phased dual verification mechanism using RFID readers, high-definition cameras, and lidar, the positioning reliability, environmental adaptability, and accuracy of the truck positioning are all considered. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating a truck positioning method in a container yard in one embodiment;

[0038] Figure 2 This is a detailed flowchart illustrating a truck positioning method in a container yard, as shown in one embodiment.

[0039] Figure 3 This is a structural block diagram of a truck positioning device in a container yard in one embodiment;

[0040] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0043] In one embodiment, such as Figure 1 As shown, a method for locating container trucks in a container yard is provided. This embodiment illustrates the application of this method to a terminal. It is understood that this method can also be applied to a server, and furthermore, to a system including both a terminal and a server, and is implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0044] Step 102: When a truck is detected, the truck's identification information, truck top number, and container top number are obtained through the RFID reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, the truck is verified to be the target truck.

[0045] Among them, the identification information is the unique electronic identifier (including truck number and affiliated unit information) stored in the preset RFID tag on the truck body read by the radio frequency identification reader; the truck top number is the unique identification code extracted by the image recognition algorithm after the high-definition camera captures the preset identification area on the truck top; the container top number is the unique container identification number extracted by the OCR (Optical Character Recognition) recognition algorithm after the high-definition camera captures the preset identification area on the container top.

[0046] Step 104: If it is the target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane.

[0047] The preset operating position is a gantry crane operating station assigned by the operation management system according to the current operation task and adapted to the specifications of the container carried by the target truck. The system sends displacement commands through the gantry crane control system to drive the gantry crane to move along the track to the operating station and complete the positioning calibration. The way to guide the target truck is that the operation management system sends navigation commands containing the coordinates of the operating station, the optimal driving route and the preset operating area boundary parameters to the truck driver's terminal (such as the vehicle navigation screen or mobile APP). At the same time, the system uses guidance signs (such as LED signs and ground markings) deployed along the freight yard to assist in the guidance, ensuring that the target truck accurately drives into the preset operating area under the gantry crane.

[0048] Step 106: Obtain the second identification information, second truck top number, second container top number, external dimensions and location data of the target truck through the radio frequency identification reader, high-definition camera and lidar on the gantry crane, and verify the target truck; if the verification is successful, control the gantry crane to perform container loading and unloading operations.

[0049] The acquisition methods for the second identity information, the second truck top number, and the second container top number are the same as in step 102. The RFID reader on the gantry crane reads the RFID tag of the truck, the high-definition camera captures the corresponding identification area, and the OCR algorithm extracts the information, which is used to form a secondary verification with the information collected in step 102.

[0050] The aforementioned truck positioning method, device, computer equipment, computer-readable storage medium, and computer program product in the container yard, when a truck is detected, acquires the truck's identification information, truck top number, and the top number of the container it carries through an RFID reader and a high-definition camera on the gantry. Based on these identification information, truck top number, and container top number, it verifies whether the truck is the target truck. If it is the target truck, it controls the gantry crane to move to a preset operating position, guiding the target truck to a preset operating area below the gantry crane. It then acquires the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data through an RFID reader, high-definition camera, and lidar on the gantry crane, and verifies the target truck. If the verification passes, it controls the gantry crane to perform container loading and unloading operations. Through multi-sensor fusion acquisition and a phased dual verification mechanism using RFID readers, high-definition cameras, and lidar, the positioning reliability, environmental adaptability, and accuracy of the truck positioning are all considered.

[0051] In an exemplary embodiment, verifying whether a container truck is the target container truck based on its identification information, truck top number, and container top number includes:

[0052] Verify that the identification information and truck roof number exist in the preset operation information; if they exist in the preset operation information, determine whether the truck roof number is the same as the identification information and truck roof number in the operation information; if so, the truck is the target truck.

[0053] For example, the operation management system pre-stores the associated information of the current task to be executed: target identification, target roof number, and target container roof number uniquely bound to the target identification and target roof number. When the truck enters the gantry detection area, the corresponding identification, roof number, and container roof number are collected. The system first verifies whether the collected identification and roof number exist in the preset operation information of the current task to be executed. If both exist, the system further determines whether the collected container roof number is the container roof number corresponding to the "identification + roof number" combination in the operation information. If they match completely, the truck is determined to be the target truck. If the collected container roof number does not match the container roof number corresponding to the "identification + roof number" combination in the preset operation information, the truck is still determined to be a non-target truck, even if both the identification and roof number exist in the preset operation information.

[0054] In this embodiment, by performing layered verification of the collected truck identification information, vehicle roof number and container roof number, and preset operation information, it is possible to accurately determine whether the truck to be detected is the target truck corresponding to the current operation task, effectively eliminating invalid trucks with matching identities but incorrect containers, thereby improving the accuracy of truck entry verification and the efficiency of operation task matching.

[0055] In an exemplary embodiment, the second identification information of the target truck, the second truck top number, the second container top number of the container carried by the truck, the external dimensions and location data are obtained through an RFID reader, a high-definition camera and a lidar on the gantry crane, including:

[0056] The information stored in the RFID tag on the target truck body is read by the RFID reader on the gantry crane to obtain the second identification information; the second truck top number is extracted by the first high-definition camera on the gantry crane; the second container top number is extracted by the second high-definition camera on the gantry crane; the three-dimensional point cloud data of the target truck and its container is collected by the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised and contour extracted to obtain the external dimensions; based on the preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated by the three-dimensional point cloud data to obtain the position data.

[0057] For example, after the target truck enters the pre-set working area under the gantry crane and completes its initial docking, the system initiates a multi-device collaborative data acquisition process: The RFID reader deployed on the gantry crane beam reads the electronic code within the RFID tag on the truck body, generating a second identification information; the first high-definition camera on the gantry crane captures an image of the identification area on the truck's roof, and the character information is extracted using an OCR algorithm to obtain the second truck roof number; the second high-definition camera on the gantry crane focuses on the identification area on the container roof, and the second container roof number is extracted using the same OCR algorithm; a laser beam is emitted from the lidar under the gantry crane spreader towards the truck and container, scanning and acquiring three-dimensional point cloud data covering the entire vehicle and container; the raw point cloud data is sequentially processed with filtering and noise reduction, edge contour extraction, etc., to calculate the truck body length, width, height, and container specifications, forming the external dimensions; based on the pre-calibrated global coordinate system of the freight yard, with the origin of the gantry crane track as the reference point, the lidar point cloud data is used to calculate the coordinates, obtaining the real-time three-dimensional coordinates of the truck's docking position, generating location data.

[0058] In this embodiment, by leveraging the technological advantages of different sensors, RFID technology ensures the non-contact and uniqueness of identity information reading, dual-channel high-definition cameras combined with OCR algorithms achieve accurate identification of vehicle roof number and container roof number, and LiDAR outputs the size and position of trucks and containers with its three-dimensional point cloud data acquisition capability. The data acquisition of the three types of equipment cooperates with each other and complements each other, providing comprehensive and reliable data support for subsequent layered and progressive verification, effectively improving the accuracy and stability of truck positioning and verification.

[0059] In one exemplary embodiment, verifying the target card includes:

[0060] The second identification information, the second truck roof number, and the second container roof number are compared with the identification information, truck roof number, and container roof number collected upon entry. If the comparisons of the identification information, truck roof number, and container roof number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If the comparisons of the external dimensions and the location data both pass, the verification is deemed successful.

[0061] For example, the second identification information, the second truck roof number, and the second container roof number collected at the gantry crane end are compared one by one with the initial identification information, the initial truck roof number, and the initial container roof number collected at the entry gantry. Only when all three sets of data match completely will the next step of verification be performed; if any data does not match, the verification is directly judged as a failure. The size threshold and operation reference position in the preset operation information are retrieved, and the external dimensions of the truck and container measured by the lidar are compared with the size threshold to confirm that they do not exceed the gantry crane operation adaptation range; the real-time three-dimensional coordinates of the truck are compared with the operation reference position to confirm that the position deviation is within the allowable range.

[0062] In this embodiment, a layered and progressive verification mechanism for identity consistency and operational adaptability is used. First, the secondary identity information collected at the gantry crane end is compared with the initial entry information to ensure that the truck and container have not been replaced midway. Then, the truck's dimensions, location data and preset thresholds are accurately compared to verify whether the truck meets the conditions for gantry crane loading and unloading operations. This ensures the accuracy of the work object and improves the safety and accuracy of the operation process.

[0063] In one exemplary embodiment, the method further includes:

[0064] If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0065] For example, if any of the following situations occur: the second identity information is inconsistent with the identity information collected upon entry; the second truck top number is inconsistent with the truck top number collected upon entry; or the second container top number is inconsistent with the container top number collected upon entry, then the identity verification is determined to be abnormal, and an abnormality prompt mechanism is automatically triggered: on the one hand, an abnormality alarm information is pushed to the central control terminal of the freight yard, marking the specific mismatched data items, so that staff can grasp the cause of the problem in real time; on the other hand, a clear abnormality prompt is issued to the truck driver through the display screen and voice broadcast equipment on the gantry crane site, guiding the driver to leave the work area, and after verifying and confirming that the truck and container information is correct, the work process is re-entered.

[0066] In this embodiment, by setting an abnormal prompt triggering mechanism in the identity consistency verification process, an alarm can be issued as soon as the truck identity information, vehicle roof number or container roof number fails to match. This can promptly identify abnormal situations such as truck replacement or container swapping, avoid invalid operations occupying gantry crane resources, and at the same time, clear prompt information can help staff quickly locate the root cause of the problem, improve the efficiency of abnormal handling in freight yard operations and the overall smoothness of the flow.

[0067] In one exemplary embodiment, the identification information of the container truck, its roof number, and the roof number of the container carried by the truck are obtained through an RFID reader and a high-definition camera on the gantry, including:

[0068] The identification information of the container truck is collected by the radio frequency identification reader on the gantry; the top number of the container truck is collected by the first high-definition camera on the gantry; and the top number of the container carried by the container truck is collected by the second high-definition camera on the gantry.

[0069] For example, when a truck enters the gantry inspection area at the entrance of the freight yard, the gantry system automatically initiates the data acquisition process: the RFID reader deployed on the gantry beam automatically scans the RFID tag pre-installed on the truck body, reads the unique electronic code stored in the tag, and generates the truck's identification information; the first high-definition camera pre-installed on the top of the gantry captures an image of the identification area on the top of the truck, and then processes it using an OCR character recognition algorithm to extract the truck's top number; the second high-definition camera mounted on the side of the gantry focuses on the standard identification area on the top of the container to complete image acquisition, and similarly uses an OCR algorithm to parse the image characters to extract the container's top number.

[0070] In this embodiment, the collaborative acquisition architecture of the gantry-end RFID reader and dual-channel high-definition camera enables the simultaneous acquisition of truck identification information, vehicle roof number, and container roof number. The three types of equipment perform their respective functions and complement each other's data, ensuring the uniqueness of the identification information and reading efficiency. Furthermore, visual recognition enables the accurate extraction of identification numbers, providing comprehensive and reliable basic data support for the rapid identification of target trucks.

[0071] In one embodiment, such as Figure 2As shown, a method for locating container trucks in a container yard is provided, including: when a container truck is detected, collecting the truck's identification information through an RFID reader on the gantry; collecting the truck's top number through a first high-definition camera on the gantry; and collecting the top number of the container carried by the truck through a second high-definition camera on the gantry. The method verifies whether the identification information and the truck's top number exist in preset operation information; if they exist, it determines whether the container's top number corresponds to the identification information and the truck's top number in the operation information; if so, the truck is the target truck. If it is the target truck, the method controls the gantry crane to move to a preset operation position, guiding the target truck to a preset operation area below the gantry crane. The second identification information is obtained by reading the information stored in the RFID tag on the target truck body using the RFID reader on the gantry crane; the second truck top number is extracted using the first high-definition camera on the gantry crane; the second container top number is extracted using the second high-definition camera on the gantry crane; three-dimensional point cloud data of the target truck and its container are collected using the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised, and contour extracted to obtain the external dimensions; based on the preset yard coordinate system, the three-dimensional coordinates of the target truck are calculated using the three-dimensional point cloud data to obtain the location data. The second identification information, the second truck top number, and the second container top number are compared with the identification information, truck top number, and container top number collected upon entry; if the comparisons of the identification information, truck top number, and container top number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information; if the comparisons of the external dimensions and the location data all pass, the verification is considered successful. If the verification passes, the gantry crane will be controlled to perform container loading and unloading operations. If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0072] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0073] In one exemplary embodiment, such as Figure 3 As shown, a truck positioning device for a container yard is provided, comprising: a detection module 301, a guiding module 302, and a working module 303, wherein:

[0074] The detection module is used to obtain the truck's identification information, truck top number, and container top number when a truck is detected by an RFID reader and a high-definition camera on the gantry, and to verify whether the truck is the target truck based on the identification information, truck top number, and container top number.

[0075] The guidance module is used to control the gantry crane to move to the preset working position if it is the target truck, and guide the target truck to the preset working area below the gantry crane;

[0076] The working module is used to acquire the second identification information, second truck top number, second container top number, external dimensions and location data of the target truck through the radio frequency identification reader, high-definition camera and lidar on the gantry crane, and to verify the target truck; if the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0077] In one exemplary embodiment, the detection module is further configured to:

[0078] Verify that the identification information and truck roof number exist in the preset operation information; if they exist in the preset operation information, determine whether the truck roof number is the same as the identification information and truck roof number in the operation information; if so, the truck is the target truck.

[0079] In one exemplary embodiment, the working module is further configured to:

[0080] The information stored in the RFID tag on the target truck body is read by the RFID reader on the gantry crane to obtain the second identification information; the second truck top number is extracted by the first high-definition camera on the gantry crane; the second container top number is extracted by the second high-definition camera on the gantry crane; the three-dimensional point cloud data of the target truck and its container is collected by the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised and contour extracted to obtain the external dimensions; based on the preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated by the three-dimensional point cloud data to obtain the position data.

[0081] In one exemplary embodiment, the working module is further configured to:

[0082] The second identification information, the second truck roof number, and the second container roof number are compared with the identification information, truck roof number, and container roof number collected upon entry. If the comparisons of the identification information, truck roof number, and container roof number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If the comparisons of the external dimensions and the location data both pass, the verification is deemed successful.

[0083] In one exemplary embodiment, the working module is further configured to:

[0084] If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0085] In one exemplary embodiment, the detection module is further configured to:

[0086] The identification information of the container truck is collected by the radio frequency identification reader on the gantry; the top number of the container truck is collected by the first high-definition camera on the gantry; and the top number of the container carried by the container truck is collected by the second high-definition camera on the gantry.

[0087] The various modules of the truck positioning device in the aforementioned container yard can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0088] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media to run. The database stores data about the trucks and the containers they carry. The I / O interfaces allow the processor to exchange information with external devices. The communication interface allows communication with external terminals via a network connection. When executed by the processor, the computer program implements a truck positioning method in a container yard.

[0089] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0090] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0091] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0092] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0093] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0094] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0095] Verify that the identification information and truck roof number exist in the preset operation information; if they exist in the preset operation information, determine whether the truck roof number is the same as the identification information and truck roof number in the operation information; if so, the truck is the target truck.

[0096] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0097] The information stored in the RFID tag on the target truck body is read by the RFID reader on the gantry crane to obtain the second identification information; the second truck top number is extracted by the first high-definition camera on the gantry crane; the second container top number is extracted by the second high-definition camera on the gantry crane; the three-dimensional point cloud data of the target truck and its container is collected by the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised and contour extracted to obtain the external dimensions; based on the preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated by the three-dimensional point cloud data to obtain the position data.

[0098] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0099] The second identification information, the second truck roof number, and the second container roof number are compared with the identification information, truck roof number, and container roof number collected upon entry. If the comparisons of the identification information, truck roof number, and container roof number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If the comparisons of the external dimensions and the location data both pass, the verification is deemed successful.

[0100] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0101] If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0102] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0103] The identification information of the container truck is collected by the radio frequency identification reader on the gantry; the top number of the container truck is collected by the first high-definition camera on the gantry; and the top number of the container carried by the container truck is collected by the second high-definition camera on the gantry.

[0104] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0105] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0106] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0107] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0108] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0109] Verify that the identification information and truck roof number exist in the preset operation information; if they exist in the preset operation information, determine whether the truck roof number is the same as the identification information and truck roof number in the operation information; if so, the truck is the target truck.

[0110] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0111] The information stored in the RFID tag on the target truck body is read by the RFID reader on the gantry crane to obtain the second identification information; the second truck top number is extracted by the first high-definition camera on the gantry crane; the second container top number is extracted by the second high-definition camera on the gantry crane; the three-dimensional point cloud data of the target truck and its container is collected by the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised and contour extracted to obtain the external dimensions; based on the preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated by the three-dimensional point cloud data to obtain the position data.

[0112] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0113] The second identification information, the second truck roof number, and the second container roof number are compared with the identification information, truck roof number, and container roof number collected upon entry. If the comparisons of the identification information, truck roof number, and container roof number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If the comparisons of the external dimensions and the location data both pass, the verification is deemed successful.

[0114] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0115] If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0116] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0117] The identification information of the container truck is collected by the radio frequency identification reader on the gantry; the top number of the container truck is collected by the first high-definition camera on the gantry; and the top number of the container carried by the container truck is collected by the second high-definition camera on the gantry.

[0118] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0119] When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck.

[0120] If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane;

[0121] The gantry crane uses RFID readers, high-definition cameras, and lidar to acquire the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck, and verifies the target truck. If the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

[0122] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0123] Verify that the identification information and truck roof number exist in the preset operation information; if they exist in the preset operation information, determine whether the truck roof number is the same as the identification information and truck roof number in the operation information; if so, the truck is the target truck.

[0124] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0125] The information stored in the RFID tag on the target truck body is read by the RFID reader on the gantry crane to obtain the second identification information; the second truck top number is extracted by the first high-definition camera on the gantry crane; the second container top number is extracted by the second high-definition camera on the gantry crane; the three-dimensional point cloud data of the target truck and its container is collected by the lidar on the gantry crane, and the three-dimensional point cloud data is filtered, denoised and contour extracted to obtain the external dimensions; based on the preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated by the three-dimensional point cloud data to obtain the position data.

[0126] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0127] The second identification information, the second truck roof number, and the second container roof number are compared with the identification information, truck roof number, and container roof number collected upon entry. If the comparisons of the identification information, truck roof number, and container roof number all pass, the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If the comparisons of the external dimensions and the location data both pass, the verification is deemed successful.

[0128] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0129] If any of the following comparisons fails: identification information, truck roof number, or container roof number, an error message will be issued.

[0130] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0131] The identification information of the container truck is collected by the radio frequency identification reader on the gantry; the top number of the container truck is collected by the first high-definition camera on the gantry; and the top number of the container carried by the container truck is collected by the second high-definition camera on the gantry.

[0132] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0133] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0134] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for positioning container trucks in a container yard, characterized in that, The method includes: When a truck is detected, the identification information, truck top number, and container top number of the container carried by the truck are obtained through the radio frequency identification reader and high-definition camera on the gantry. Based on the identification information, truck top number, and container top number, it is verified whether the truck is the target truck. If it is a target truck, control the gantry crane to move to the preset working position and guide the target truck to the preset working area below the gantry crane; The gantry crane acquires the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data of the container carried by the truck using an RFID reader, high-definition camera, and lidar. The target truck is then verified. If the verification passes, the gantry crane is controlled to perform container loading and unloading operations.

2. The method according to claim 1, characterized in that, The step of verifying whether the truck is the target truck based on the identity information, the truck's top number, and the container top number includes: Verify that the identification information and the truck top number exist in the preset operation information; If it exists in the preset operation information, then determine whether the container top number is the container top number corresponding to the identity information and the container truck top number in the operation information; If so, then the truck is the target truck.

3. The method according to claim 1, characterized in that, The acquisition of the target truck's second identification information, second truck top number, second container top number, external dimensions, and location data via RFID readers, high-definition cameras, and LiDAR on the gantry crane includes: The second identification information is obtained by reading the information stored in the RFID tag on the target container truck body through the RFID reader on the gantry crane. The top number of the second truck of the target truck is extracted using the first high-definition camera on the gantry crane; The second top number of the container carried by the target truck is extracted using the second high-definition camera on the gantry crane. The target truck and its container are collected by a lidar on a gantry crane. The three-dimensional point cloud data is then filtered, denoised, and extracted to obtain the external dimensions. Based on a preset cargo yard coordinate system, the three-dimensional coordinates of the target truck are calculated using the three-dimensional point cloud data to obtain location data.

4. The method according to claim 1, characterized in that, The verification of the target card includes: The second identification information, the second truck top number, and the second container top number are compared with the identification information, the truck top number, and the container top number collected upon entry. If the comparison of the identity information, the truck roof number, and the container roof number all pass, then the external dimensions are compared with the size threshold of the operation information, and the location data is compared with the operation location in the operation information. If both the comparison of external dimensions and the comparison of positional data pass, the verification is considered successful.

5. The method according to claim 4, characterized in that, The method further includes: If any of the following comparisons fails: the identification information, the truck roof number, or the container roof number, an error message will be issued. If any of the following comparisons fails: the identification information, the truck roof number, or the container roof number, an error message will be issued.

6. The method according to claim 1, characterized in that, The acquisition of the truck's identification information, truck top number, and container top number via an RFID reader and high-definition camera on the gantry includes: The identification information of the truck is collected by the radio frequency identification reader on the gantry. The top number of the container truck was captured by the first high-definition camera on the gantry. The top number of the container carried by the truck is captured by a second high-definition camera on the gantry.

7. A truck positioning device in a container yard, characterized in that, The device includes: The detection module is used to acquire the truck's identification information, truck top number, and container top number when a truck is detected by an RFID reader and a high-definition camera on the gantry, and to verify whether the truck is the target truck based on the identification information, truck top number, and container top number. The guidance module is used to control the gantry crane to move to the preset working position if it is a target truck, and guide the target truck to the preset working area below the gantry crane; The working module is used to acquire the second identification information, second truck top number, second container top number, external dimensions and location data of the target truck through the radio frequency identification reader, high-definition camera and lidar on the gantry crane, and to verify the target truck; if the verification is successful, the gantry crane is controlled to perform container loading and unloading operations.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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