Train positioning method and device for container yard, computer equipment, readable storage medium and program product

Abstract

The invention relates to a train positioning method and device for a container yard, computer equipment, a readable storage medium and a program product. Comprising the steps that when it is detected that a train drives into a container yard, the train number and a carriage list of the train are recognized; the carriage list comprises container numbers; when it is detected that the train stops stably, the initial stop position of each carriage is determined through a laser range finder based on the carriage list; based on a preset operation demand, determining an initial parking position of a compartment where the target container number is located as a target parking position; the gantry crane is controlled to move to the target parking position, and the real container number of the target parking position is detected; and if the real container number is different from the target container number, the real position where the target container number is located is determined based on the target parking position, the target container number and the real container number, and the gantry crane is controlled to move to the real position for operation. By adopting the method, the positioning reliability, the environmental adaptability and the accuracy can be considered at the same time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of container transportation, in particular to a train positioning method and device for a container yard, computer equipment, a computer readable storage medium and a computer program product. BACKGROUND

[0002] Container transportation is the core of modern logistics systems, and its efficiency improvement and cost optimization are directly related to the smooth operation of global supply chains. As a key node for intermodal transportation, the operation efficiency of a railway container yard has a decisive influence on the turnover efficiency of the entire logistics chain. With the rapid development of the Internet of Things, sensor technology and artificial intelligence, intelligent loading and unloading operations have become the core direction of the upgrading of modern logistics systems, aiming to replace the traditional yard operation mode relying on manual command and experience-based judgment, and to promote the transformation of yard management towards automation and precision. In the process of technological evolution, identification and positioning technologies have been continuously innovated, from early manual visual recording of box numbers to the gradual development of automatic identification technologies such as RFID (Radio Frequency Identification), laser radar sensing and visual recognition based on deep learning. Among them, RFID technology realizes non-contact identification, laser radar provides reliable distance and contour information with high-precision point cloud data, and visual recognition technology accurately completes the identification of box numbers and other features, laying an important foundation for the intelligent upgrading of railway container yards.

[0003] Although single technologies such as RFID, laser radar and visual recognition have their own advantages in container yard operations, the shortcomings of single technologies make it difficult to balance positioning reliability, environmental adaptability and precision in yard operations, and it is difficult to meet the needs of full-scene accurate positioning in complex yard environments. SUMMARY

[0004] Therefore, it is necessary to provide a train positioning method, device, computer equipment, computer readable storage medium and computer program product for a container yard that can balance positioning reliability, environmental adaptability and precision in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a train positioning method for a container yard, comprising:

[0006] detecting the running state of the train in real time, and when it is detected that the train enters the container yard, identifying the train number and the car list of the train through the camera and the laser radar sensor installed on the yard entrance gantry; the car list includes the car length, the car number and the container number;

[0007] when it is detected that the train is stable in the preset area, determining the initial stopping position of each car through the laser range finder based on the car list;

[0008] acquire a preset work demand based on the train number, determine an initial stop position of a car in which the target container number is located as a target stop position based on the preset work demand, control the gantry crane to move to the target stop position, and detect a real container number of the target stop position through a camera and a laser radar sensor on the gantry crane;

[0009] If the real container number and the target container number are different, a real position of the car in which the target container number is located is determined based on the target stop position, the target container number and the real container number, and the gantry crane is controlled to move to the real position of the car in which the target container number is located to perform work.

[0010] In one of the embodiments, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry, including:

[0011] The top image and the side image of the train are collected through the camera, the point cloud data and the distance information of the train car are scanned through the laser radar sensor, the top image and the side image of the train are input into a preset detection algorithm to obtain the container number, the train number and the car number, the point cloud data and the distance information collected by the laser radar sensor are processed to obtain the number of cars of the train and the length of each car, the train number, the container number, the number of cars and the length of each car are fused to establish a train marshalling model to obtain the car number and the car list, and the car list includes the length of each car, the car number and the container number.

[0012] In one of the embodiments, the initial stop position of each car is determined based on the car list through the laser range finder, including:

[0013] The relative distance of the train head relative to the laser range finder is measured through the laser range finder deployed in front of the train stop point, the installation position of the laser range finder is taken as a reference point, a space positioning reference is established in combination with the preset coordinate system parameters of the yard, the reference coordinates of the train head in the coordinate system are calculated based on the train head distance measured by the laser range finder, the length of each car and the car marshalling sequence are extracted from the car list, the length data of the corresponding car is added or subtracted in sequence based on the reference coordinates as the starting point according to the car marshalling sequence, the coordinate range of both ends of each car is calculated respectively, and the center position coordinates of each car are determined, which are the initial stop positions of each car.

[0014] In one of the embodiments, the initial stop position of the car in which the target container number is located is determined as the target stop position based on the preset work demand, including:

[0015] Based on the preset operation demand, the target container box number is determined; based on the carriage list, the target container box number is matched with the container box numbers in the carriage list to determine the carriage to which the target container box number belongs; based on the carriage and the initial stopping position of each carriage, the initial stopping position corresponding to the carriage is taken as the target stopping position.

[0016] In one of the embodiments, based on the target stopping position, the target container box number and the real container box number, the real position where the target container box number is located is determined, which comprises:

[0017] Based on the target container box number and the real container box number, the container compartment number between the target container and the real container is determined as the second target container box number; based on the carriage list, the carriage length corresponding to the second target container box number is determined; the carriage lengths corresponding to the second target container box number are added to obtain the relative distance; based on the target stopping position and the relative distance, the real position where the target container box number is located is determined.

[0018] In one of the embodiments, the method further comprises:

[0019] If the real container box number and the target container box number are the same, the gantry crane is controlled to perform the operation.

[0020] In the second aspect, the application further provides a train positioning device of a container yard, which comprises:

[0021] A detection module is configured to detect the train running state in real time, and when it is detected that the train enters the container yard, the train number and the carriage list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry; the carriage list comprises: carriage length, carriage number and container box number;

[0022] A measurement module is configured to, when it is detected that the train is stopped in a preset area, determine the initial stopping position of each carriage based on the carriage list through the laser range finder;

[0023] A control module is configured to obtain the preset operation demand based on the train number, determine the initial stopping position of the carriage to which the target container box number belongs as the target stopping position based on the preset operation demand, control the gantry crane to move to the target stopping position, and detect the real container box number of the target stopping position through the camera and the laser radar sensor on the gantry crane;

[0024] A working module is configured to, if the real container box number and the target container box number are different, determine the real position where the target container box number is located based on the target stopping position, the target container box number and the real container box number, and control the gantry crane to move to the real position where the target container box number is located to perform the operation.

[0025] In a third aspect, the present application also provides a computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0026] Real-time detection of the train running state, when the train is detected to enter the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the entrance gantry of the yard; the car list includes: car length, car number and container number;

[0027] When it is detected that the train is parked in the preset area, based on the car list, the initial parking position of each car is determined by the laser range finder;

[0028] Based on the train number, the preset operation demand is obtained, based on the preset operation demand, the initial parking position of the car where the target container number is located is determined as the target parking position; the gantry crane is controlled to move to the target parking position, and the real container number of the target parking position is detected through the camera and the laser radar sensor on the gantry crane;

[0029] If the real container number and the target container number are different, the real position of the target container number is determined based on the target parking position, the target container number and the real container number, and the gantry crane is controlled to move to the real position of the target container number for operation.

[0030] In a fourth aspect, the present application also provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the following steps:

[0031] Real-time detection of the train running state, when the train is detected to enter the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the entrance gantry of the yard; the car list includes: car length, car number and container number;

[0032] When it is detected that the train is parked in the preset area, based on the car list, the initial parking position of each car is determined by the laser range finder;

[0033] Based on the train number, the preset operation demand is obtained, based on the preset operation demand, the initial parking position of the car where the target container number is located is determined as the target parking position; the gantry crane is controlled to move to the target parking position, and the real container number of the target parking position is detected through the camera and the laser radar sensor on the gantry crane;

[0034] If the real container number and the target container number are different, the real position of the target container number is determined based on the target parking position, the target container number and the real container number, and the gantry crane is controlled to move to the real position of the target container number for operation.

[0035] In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the following steps:

[0036] The train running state is detected in real time, when it is detected that the train enters the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry; the car list includes: car length, car number and container number;

[0037] When it is detected that the train is stable in the preset area, based on the car list, the initial stopping position of each car is determined by the laser range finder;

[0038] Based on the train number, the preset operation demand is obtained, based on the preset operation demand, the initial stopping position of the car where the target container number is located is determined as the target stopping position; the gantry crane is controlled to move to the target stopping position, and the real container number of the target stopping position is detected through the camera and the laser radar sensor on the gantry crane;

[0039] If the real container number and the target container number are different, the real position of the target container number is determined based on the target stopping position, the target container number and the real container number, and the gantry crane is controlled to move to the real position of the target container number for operation.

[0040] The above container yard train positioning method, device, computer equipment, computer readable storage medium and computer program product, the train running state is detected in real time, when it is detected that the train enters the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry; the car list includes: car length, car number and container number; when it is detected that the train is stable in the preset area, based on the car list, the initial stopping position of each car is determined by the laser range finder; then based on the train number, the preset operation demand is obtained, based on the preset operation demand, the initial stopping position of the car where the target container number is located is determined as the target stopping position; the gantry crane is controlled to move to the target stopping position, and the real container number of the target stopping position is detected through the camera and the laser radar sensor on the gantry crane; If the real container number and the target container number are different, the real position of the target container number is determined based on the target stopping position, the target container number and the real container number, and the gantry crane is controlled to move to the real position of the target container number for operation. The present application can effectively solve the limitations of single sensing technology in complex yard environment by combining the technical advantages of visual recognition, laser radar scanning and laser ranging, and improve the positioning anti-interference ability and accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to make the technical solutions in the embodiments of the present application or the related art clearer, the accompanying drawings needed in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can be obtained on the basis of these drawings without creative effort.

[0042] Figure 1 A flowchart of a train positioning method of a container yard in an embodiment;

[0043] Figure 2 A schematic diagram of the installation of a camera and a single-line laser radar sensor in an embodiment;

[0044] Figure 3 A structural block diagram of a train positioning device of a container yard in an embodiment;

[0045] Figure 4 An internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0046] In order to make the technical solutions in the embodiments of the present application or the related art clearer, the accompanying drawings needed in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can be obtained on the basis of these drawings without creative effort.

[0047] In an embodiment, as shown in Figure 1 , a train positioning method of a container yard is provided, and the embodiment takes the method applied to a terminal as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is realized through the interaction of the terminal and the server. In the embodiment, the method includes the following steps:

[0048] Step 102, real-time detection of train running state, when the train is detected to drive into the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry; the car list includes the car length, the car number and the container number.

[0049] In which, as Figure 2As shown, the camera and laser radar sensor are arranged as follows: one camera and two single-line laser radar sensors are installed above the portal, and two cameras and one single-line laser radar sensor are installed on the left and right sides of the portal; wherein the camera above the portal is used to shoot the top of the train to collect container number images, the two side cameras are used to shoot the side of the train to collect train number and carriage number images, and all laser radar sensors scan the train carriage from multiple angles to collect point cloud data and linear distance information of each scanning point between the sensor and the carriage surface.

[0050] Step 104, when it is detected that the train is stopped in the preset area, the initial stopping position of each carriage is determined based on the carriage list by using the laser range finder.

[0051] The laser range finder is arranged at a fixed reference position in front of the train stopping point, and its installation height and angle are calibrated to ensure that the laser beam can accurately aim at the center area of the train head, and the measurement range covers the full travel distance of the preset stopping of the train, and the measurement accuracy meets the positioning error requirements of the freight yard. The laser range finder emits a laser beam to the train head and receives the reflected signal, calculates the actual linear distance of the train head relative to the range finder through the time difference of signal propagation, and determines the reference coordinates of the train head in the preset coordinate system of the freight yard. Taking the reference coordinates of the train head as the starting point, the center position coordinates of each carriage are derived in turn according to the calculation rule of "train head reference coordinates + cumulative value of lengths of all previous carriages + half length of the current carriage", and the center position coordinates of each carriage are the initial stopping positions of each carriage. The initial stopping positions of each carriage are associated with the corresponding carriage number and container number and stored to form a structured positioning data table, which provides data support for subsequent gantry crane navigation.

[0052] Step 106, based on the train number, the preset operation demand is obtained, based on the preset operation demand, the initial stopping position of the carriage where the target container number is located is determined as the target stopping position; the gantry crane is controlled to move to the target stopping position, and the real container number of the target stopping position is detected by the camera and laser radar sensor on the gantry crane.

[0053] The preset operation demand based on the train number refers to that the control system establishes an association with the freight yard operation scheduling system through the train number, calls the preset operation task list corresponding to the train, and the list contains core demand information such as the target container number to be loaded or unloaded, operation priority, loading and unloading sequence, and ensures accurate matching of the operation task and the current train. The specific process of determining the target stopping position is as follows: from the structured positioning data table generated in step 104, the car number corresponding to the target container number is found, and the initial stopping position (center coordinates) of the car is extracted; combined with the loading and unloading accuracy requirement in the preset operation demand, the effectiveness of the initial stopping position is checked (such as checking whether the coordinates are within the safe operation range of the freight yard), and after the check is passed, the initial stopping position is directly determined as the target stopping position as the navigation reference of the gantry crane. The control system converts the coordinate data of the target stopping position into a moving control instruction of the gantry crane, and drives the gantry crane to move along the preset track; during the movement, the gantry crane feeds back the current position in real time through the position sensor carried by itself, and the control system dynamically adjusts the moving speed and direction according to the feedback data to ensure that the gantry crane accurately arrives near the target stopping position.

[0054] In step 108, if the real container number and the target container number are different, the real position where the target container number is located is determined based on the target stopping position, the target container number and the real container number, and the gantry crane is controlled to move to the real position where the target container number is located to perform the operation.

[0055] Wherein, the character full matching comparison rule is adopted, temporary recognition errors caused by image blur and local shielding (invalid candidate values have been removed through laser point cloud auxiliary verification) are excluded, if the character sequences of the two are still completely inconsistent, it is determined that the positioning deviation is triggered, the real position repositioning process is triggered, and the comparison record of this time is retained for subsequent data tracing.

[0056] The train positioning method of the container yard described above, real-time detection of train running state, when detecting that the train drives into the container yard, the train number and the car list of the train are recognized through the camera and the laser radar sensor installed on the yard entrance gantry; the car list includes: car length, car number and container number; when detecting that the train is parked in the preset area, based on the car list, the initial parking position of each car is determined by the laser range finder; then based on the train number, the preset operation demand is obtained, based on the preset operation demand, the initial parking position of the car where the target container number is located is determined as the target parking position; the gantry crane is controlled to move to the target parking position, and the real container number of the target parking position is detected through the camera and the laser radar sensor on the gantry crane; if the real container number and the target container number are different, the real position of the target container number is determined based on the target parking position, the target container number and the real container number, and the gantry crane is controlled to move to the real position of the target container number for operation. Through the technical advantages of fusion of visual recognition, laser radar scanning and laser ranging, the limitations of single sensing technology in complex yard environment can be effectively solved, and the positioning anti-interference ability and accuracy are improved.

[0057] In an exemplary embodiment, the train number and the car list of the train are recognized by the camera and the laser radar sensor installed on the yard entrance gantry, including:

[0058] The top image and the side image of the train are collected by the camera; the point cloud data and the distance information of the train car are scanned by the laser radar sensor; the top image and the side image of the train are input into a preset detection algorithm to obtain the container number, the train number and the car number; the point cloud data and the distance information collected by the laser radar sensor are processed to obtain the number of cars of the train and the car length of each car; the train number, the container number, the number of cars and the car length are fused to establish a train marshalling model to obtain the car number and the car list; the car list includes: car length, car number and container number.

[0059] Exemplarily, the overhead camera on the portal collects the top surface image of the container, and the side cameras synchronously capture the images containing the train number and the car number on the side of the train; the single-line laser radar on the portal scans the car in multiple views to collect three-dimensional point cloud data and real-time straight-line distance between the sensor and the scanned point of the car, forming full-coverage laser perception data. The image is input into an OCR (Optical Character Recognition) detection and recognition algorithm based on deep learning to extract character blocks and recognize and output structured container numbers, train numbers, and car numbers; after denoising and filtering the point cloud data, the car boundary is determined according to the point cloud mutation feature, the number of cars is counted, and the length of each car is derived through geometric calculation based on the laser radar parameters. Taking the train number as the association identifier, the visual recognition result is matched and fused with the laser perception data, the car is assigned a serial number in the direction of train travel, and a mapping relationship of "train number-car serial number-car number-car length-container number" is established to construct a train marshalling model and generate a structured car list.

[0060] In this embodiment, through the cooperative perception scheme of multi-view visual collection and laser radar scanning and the fusion modeling technology of multi-source data, integrated and accurate collection and association of train numbers, cars, and container information can be realized, and standardized train marshalling models and car lists can be efficiently output, thereby providing high-precision and high-reliability data support for subsequent train positioning and gantry crane operation navigation, and greatly reducing the cost of manual intervention.

[0061] In one exemplary embodiment, based on the car list, the initial stopping position of each car is determined by a laser range finder, including:

[0062] The relative distance of the train head relative to the laser range finder is measured by the laser range finder deployed in front of the train stopping point; the installation position of the laser range finder is taken as the reference point, and a spatial positioning reference is established in combination with the preset coordinate system parameters of the freight yard; the reference coordinates of the train head in the coordinate system are calculated based on the train head distance measured by the laser range finder; the car length and car marshalling sequence of each car are extracted from the car list; the length data of the corresponding car is added or subtracted in sequence based on the reference coordinates as the starting point according to the car marshalling sequence, and the coordinate range of both ends of each car is calculated, and the center position coordinates of each car are determined, which are the initial stopping positions of each car.

[0063] Exemplarily, after detecting that the train is completely stopped, the laser range finder is immediately started, laser signals are emitted to the train head and reflected signals are received, and the straight-line distance of the train head relative to the range finder is obtained by calculating the time difference of signal propagation. Taking the installation center point of the laser range finder as the origin, a unified spatial positioning reference is established in combination with the coordinate system preset in the freight yard; the measured relative distance of the train head is substituted into the coordinate system conversion formula to calculate the reference coordinates of the train head in the coordinate system. Subsequently, the length data and the front-to-back grouping order of each car are extracted from the car list, the initial stopping position of all cars is calculated by taking the reference coordinates of the train head as the starting point and sequentially accumulating the length of a single car according to the grouping order, and the center coordinates of each car are stored in association with the car number and the container number to form a positioning data table.

[0064] In this embodiment, by using the spatial positioning reference construction method based on the laser range finder as the core and combining the structured data-driven calculation of the car list, the accurate initial stopping position of each car can be quickly derived, the automatic and standardized conversion from the reference coordinates of the train head to the positions of all cars is realized, and a solid data foundation is laid for the subsequent precise navigation and operation positioning of the gantry crane.

[0065] In one exemplary embodiment, based on a preset operation requirement, the initial stopping position of the car where the target container number is located is determined as the target stopping position, which includes:

[0066] Based on the preset operation requirement, the target container number is determined; based on the car list, the target container number is matched with the container numbers in the car list to determine the car to which the target container number belongs; and based on the car and the initial stopping position of each car, the initial stopping position corresponding to the car is determined as the target stopping position.

[0067] Exemplarily, first, the preset operation requirement issued by the freight yard dispatch is received, and the target container number of this loading and unloading task is parsed therefrom; subsequently, the structured car list bound to the current train number is called, which contains the one-to-one correspondence relationship between the number, length and loaded container number of each car; by using a string accurate matching algorithm, the target container number is compared with the container number data in the list to locate the target car corresponding to the container number. Then, the center coordinates corresponding to the car number are extracted from the car initial stopping position data table generated in step 104; in combination with the accuracy requirement of this operation, the coordinates are checked for compliance, and after confirming that they are within the effective range of the gantry crane operation, the initial stopping position is directly determined as the target stopping position, and the coordinate data is transmitted to the gantry crane control system in real time as the reference parameter for the movement navigation of the gantry crane.

[0068] In this embodiment, through the job demand driven box number accurate matching mechanism, combined with the association mapping of the carriage list and the initial stop position, the target container can be quickly positioned, and the initial stop position of the corresponding carriage can be directly converted into the target stop position of the gantry crane operation, realizing the automatic connection from the operation instruction to the positioning reference; at the same time, relying on the one-to-one correspondence verification of the box number and the position, the error of manual matching is effectively avoided, the efficiency and accuracy of the target position locking are improved, and direct instruction support is provided for the rapid scheduling and accurate operation of the gantry crane.

[0069] In an exemplary embodiment, based on the target stop position, the target container box number and the real container box number, the real position of the target container box number is determined, comprising:

[0070] Based on the target container box number and the real container box number, the container compartment number between the target container and the real container is determined as the second target container box number; based on the carriage list, the length of the carriage corresponding to the second target container box number is determined; the length of the carriage corresponding to the second target container box number is added to obtain the relative distance; based on the target stop position and the relative distance, the real position of the target container box number is determined.

[0071] For example, assuming that the target container box number of this operation is CSM1234567, and the real container box number detected by the gantry crane at the target stop position is CSM7654321; the system first calls the complete carriage list of the current train, locates the carriages corresponding to the two box numbers in the list respectively, determines the order of the target container and the real container in the train formation, and extracts the box numbers corresponding to all containers between them as the second target container box number (for example, the target box number corresponds to the 8th section carriage, and the real box number corresponds to the 5th section carriage, then the second target container box number is the box numbers of the containers carried by the 6th and 7th section carriages). Then the length of the carriage corresponding to each second target container box number is extracted from the carriage list (such as the length of the 6th section carriage is 14.3m, and the length of the 7th section carriage is 14.3m), and these carriage lengths are added in turn to obtain the relative distance between the target container and the real container (14.3m+14.3m=28.6m). Finally, taking the coordinates of the position where the real container is located (i.e. the coordinates of the target stop position) as the reference, combining the relative distance and the carriage formation direction to perform coordinate conversion: if the target container is located behind the real container, the relative distance is added on the longitudinal axis of the reference coordinates; if the target container is located in front of the real container, the relative distance is subtracted, and finally the real position coordinates of the target container box number are calculated.

[0072] In the embodiment, the relative distance calculation method of the grouping position association of the target box number and the real box number and the interval carriage length accumulation can quickly establish the position mapping relationship between the target container and the real container, and the accurate derivation of the real position is completed in combination with the target stopping position reference coordinate. The method does not need additional sensor scanning, but only relies on the existing carriage list data to realize the position correction, greatly improves the positioning adjustment efficiency, effectively solves the positioning error problem caused by the train stopping deviation and the box number recognition deviation, and guarantees the accuracy of the gantry crane operation.

[0073] In one exemplary embodiment, the method further comprises:

[0074] If the real container box number and the target container box number are the same, the gantry crane is controlled to perform the operation.

[0075] For example, when the gantry crane detects that the real container box number and the target container box number in the preset operation demand are characterically fully matched and compared, and it is confirmed that they are completely consistent, it is determined that the target stopping position is the accurate position of the container to be operated, and the position correction process is not needed. Then, the operation instruction is issued to the gantry crane to drive the gantry crane to perform the container loading and unloading operation.

[0076] In the embodiment, the accurate comparison mechanism of the real box number and the target box number can quickly determine whether the gantry crane has been positioned to the correct operation position. When the box numbers are matched and consistent, the operation process is directly triggered, the position correction link is omitted, the operation steps are effectively simplified, the operation response efficiency of the gantry crane is improved, the accuracy of the operation instruction execution is guaranteed, and the time loss caused by invalid adjustment is avoided.

[0077] In one embodiment, a train positioning method for a container yard is provided, comprising: detecting a train running state in real time, and when it is detected that the train enters the container yard, collecting a train top image and a train side image through a camera; scanning point cloud data and distance information of a train carriage through a laser radar sensor; inputting the train top image and the train side image into a preset detection algorithm to obtain a container number, a train number, and a carriage number; processing the point cloud data and the distance information collected by the laser radar sensor to obtain a number of carriages of the train and a carriage length of each carriage; fusing the train number, the container number, the number of carriages, and the carriage length to establish a train marshalling model, and obtaining a carriage number and a carriage list; the carriage list includes the carriage length, the carriage number, and the container number. After it is detected that the train is parked stably in a preset area, a laser range finder deployed in front of a train parking point is used to measure a relative distance of a train head relative to the laser range finder; taking an installation position of the laser range finder as a reference point, a space positioning reference is established in combination with preset coordinate system parameters of the yard; a reference coordinate of the train head in the coordinate system is calculated based on the train head distance measured by the laser range finder; the carriage length and a carriage marshalling sequence of each carriage are extracted from the carriage list; taking the reference coordinate as a starting point, the length data of the corresponding carriage is sequentially added or subtracted according to the carriage marshalling sequence, and the coordinate range of both ends of each carriage is calculated respectively, so as to determine a center position coordinate of each carriage, which is the initial parking position of each carriage. A preset operation requirement is obtained based on the train number, a target container number is determined based on the preset operation requirement, the target container number is matched with the container number in the carriage list based on the carriage list, and a carriage to which the target container number belongs is determined; based on the carriage and the initial parking position of each carriage, the initial parking position corresponding to the carriage is taken as a target parking position. A gantry crane is controlled to move to the target parking position, and a camera and a laser radar sensor on the gantry crane are used to detect a real container number of the target parking position. If the real container number and the target container number are the same, the gantry crane is controlled to perform an operation. If the real container number and the target container number are different, a container number between a target container and a real container is determined as a second target container number based on the target container number and the real container number, a carriage length corresponding to the second target container number is determined based on the carriage list, the carriage length corresponding to the second target container number is added to obtain a relative distance, and a real position of the target container number is determined based on the target parking position and the relative distance. The gantry crane is controlled to move to the real position of the target container number to perform an operation.

[0078] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately executed with at least some of the other steps or steps or stages in other steps. It can be understood that the steps in different embodiments can be freely combined as needed, and various non-contradictory schemes formed by the combination are within the scope of protection of the present application.

[0079] In one exemplary embodiment, as shown in Figure 3 A train positioning device for a container yard is provided, comprising: a detection module 301, a measurement module 302, a control module 303, and a working module 304, wherein:

[0080] The detection module is configured to detect the running state of the train in real time, and when the train is detected to enter the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry. The car list includes the car length, the car number, and the container number.

[0081] The measurement module is configured to determine the initial stopping position of each car based on the car list through the laser range finder when the train is detected to be stable in the preset area.

[0082] The control module is configured to obtain a preset operation requirement based on the train number, determine the initial stopping position of the car where the target container number is located as the target stopping position based on the preset operation requirement, control the gantry crane to move to the target stopping position, and detect the real container number at the target stopping position through the camera and the laser radar sensor on the gantry crane.

[0083] The working module is configured to, if the real container number and the target container number are different, determine the real position of the target container number based on the target stopping position, the target container number, and the real container number, and control the gantry crane to move to the real position of the target container number for operation.

[0084] In one embodiment, the detection module is further configured to:

[0085] The train top image and the train side image are collected by a camera; point cloud data and distance information of the train carriage are scanned by a laser radar sensor; the train top image and the train side image are input into a preset detection algorithm to obtain a container number, a train number and a carriage number; the point cloud data and the distance information collected by the laser radar sensor are processed to obtain the number of carriages of the train and the length of each carriage; the train number, the container number, the number of carriages and the length of each carriage are fused to establish a train marshalling model, and a carriage number and a carriage list are obtained; the carriage list includes the length of each carriage, the carriage number and the container number.

[0086] In one of the embodiments, the measuring module is further configured to:

[0087] The relative distance of the train head relative to the laser range finder is measured by the laser range finder deployed in front of the train stop point; a spatial positioning reference is established based on the installation position of the laser range finder and in combination with the preset coordinate system parameters of the freight yard; the reference coordinates of the train head in the coordinate system are calculated based on the train head distance measured by the laser range finder; the length of each carriage and the carriage marshalling sequence are extracted from the carriage list; the coordinate range of each end of each carriage is calculated by taking the reference coordinates as the starting point and sequentially adding or subtracting the length data of the corresponding carriage according to the carriage marshalling sequence, and the center position coordinates of each carriage are determined, which are the initial stop positions of each carriage.

[0088] In one of the embodiments, the control module is further configured to:

[0089] Based on the preset operation demand, the target container number is determined; based on the carriage list, the target container number is matched with the container numbers in the carriage list to determine the carriage to which the target container number belongs; and based on the carriage and the initial stop position of each carriage, the initial stop position corresponding to the carriage is taken as the target stop position.

[0090] In one of the embodiments, the working module is further configured to:

[0091] Based on the target container number and the real container number, the container number between the target container and the real container is determined as the second target container number; based on the carriage list, the carriage length corresponding to the second target container number is determined; the carriage length corresponding to the second target container number is added to obtain the relative distance; and based on the target stop position and the relative distance, the real position of the target container number is determined.

[0092] In one of the embodiments, the working module is further configured to:

[0093] If the real container number and the target container number are the same, the gantry crane is controlled to operate.

[0094] The modules in the train positioning device of the container yard can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the modules.

[0095] In an exemplary embodiment, a computer device, which can be a server, has an internal structure diagram as shown in Figure 4 The computer device includes a processor, a memory, an input / output interface (I / O), and a communication interface. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store data collected by various sensors. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through a network connection. The computer program is executed by the processor to implement a train positioning method for a container yard.

[0096] Those skilled in the art can understand that Figure 4 The structure shown in the above description is only a block diagram of part of the structure related to the scheme of the present application, and does not limit the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the diagram, or combine certain components, or have a different arrangement of components.

[0097] In an exemplary embodiment, a computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the following steps:

[0098] The train running state is detected in real time. When it is detected that the train enters the container yard, the train number and the car list of the train are identified by a camera and a laser radar sensor installed on a yard entrance gantry. The car list includes the car length, the car number, and the container number.

[0099] When it is detected that the train is stable in a preset area, the initial stopping position of each car is determined by a laser range finder based on the car list.

[0100] Based on the train number, a preset job requirement is obtained, based on the preset job requirement, an initial stop position of a car in which a target container box number is located is determined as a target stop position; a gantry crane is controlled to move to the target stop position, and a real container box number of the target stop position is detected through a camera and a laser radar sensor on the gantry crane;

[0101] If the real container box number is different from the target container box number, based on the target stop position, the target container box number and the real container box number, a real position in which the target container box number is located is determined, and the gantry crane is controlled to move to the real position in which the target container box number is located to perform a job.

[0102] In one embodiment, the processor further implements the following steps when executing the computer program:

[0103] The top image and the side image of the train are collected through the camera; the point cloud data and the distance information of the train car are scanned through the laser radar sensor; the top image and the side image of the train are input into a preset detection algorithm to obtain the container box number, the train number and the car number; the point cloud data and the distance information collected by the laser radar sensor are processed to obtain the number of train cars and the length of each car; the train number, the container box number, the number of cars and the length of each car are fused to establish a train marshalling model to obtain the car number and the car list; the car list includes the length of each car, the car number and the container box number.

[0104] In one embodiment, the processor further implements the following steps when executing the computer program:

[0105] The relative distance of the train head relative to the laser range finder is measured through the laser range finder deployed in front of the train stop point; a space positioning reference is established based on the installation position of the laser range finder combined with the coordinate system parameters preset by the freight yard; the reference coordinates of the train head in the coordinate system are calculated based on the train head distance measured by the laser range finder; the length of each car and the car marshalling sequence are extracted from the car list; the coordinate range of both ends of each car is calculated by taking the reference coordinates as the starting point and sequentially adding or subtracting the length data of the corresponding car according to the car marshalling sequence, and then the center position coordinates of each car are determined, which are the initial stop positions of each car.

[0106] In one embodiment, the processor further implements the following steps when executing the computer program:

[0107] Based on the preset job requirement, a target container box number is determined; based on the car list, the target container box number is matched with the container box numbers in the car list to determine the car to which the target container box number belongs; and based on the car and the initial stop position of each car, the initial stop position corresponding to the car is taken as the target stop position.

[0108] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0109] Based on the target container number and the real container number, the container compartment number between the target container and the real container is determined as a second target container number; based on the compartment list, the length of the compartment corresponding to the second target container number is determined; the lengths of the compartments corresponding to the second target container number are added to obtain a relative distance; based on the target stop position and the relative distance, the real position where the target container number is located is determined.

[0110] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0111] If the real container number and the target container number are the same, the gantry crane is controlled to perform the operation.

[0112] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the following steps:

[0113] The running state of the train is detected in real time. When it is detected that the train enters the container yard, the train number and the compartment list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry. The compartment list includes: compartment length, compartment number and container number.

[0114] When it is detected that the train is stopped in the preset area, based on the compartment list, the initial stop position of each compartment is determined by the laser range finder.

[0115] Based on the train number, the preset operation demand is obtained, and based on the preset operation demand, the initial stop position of the compartment where the target container number is located is determined as the target stop position. The gantry crane is controlled to move to the target stop position, and the real container number of the target stop position is detected through the camera and the laser radar sensor on the gantry crane.

[0116] If the real container number and the target container number are different, based on the target stop position, the target container number and the real container number, the real position where the target container number is located is determined, and the gantry crane is controlled to move to the real position where the target container number is located to perform the operation.

[0117] In one embodiment, the computer program, when executed by the processor, also implements the following steps:

[0118] The top image and side image of the train are collected by a camera; the point cloud data and distance information of the train carriage are scanned by a laser radar sensor; the top image and side image of the train are input into a preset detection algorithm to obtain the container number, train number and carriage number; the point cloud data and distance information collected by the laser radar sensor are processed to obtain the number of train carriages and the length of each carriage; the train number, container number, number of carriages and length of carriages are fused to establish a train marshalling model to obtain the carriage number and carriage list; the carriage list includes the length of the carriage, the carriage number and the container number.

[0119] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0120] The relative distance of the train head relative to the laser range finder is measured by the laser range finder deployed in front of the train stop; the installation position of the laser range finder is taken as the reference point, and a space positioning reference is established in combination with the preset coordinate system parameters of the freight yard; the reference coordinates of the train head in the coordinate system are calculated according to the train head distance measured by the laser range finder; the length of each carriage and the carriage marshalling sequence are extracted from the carriage list; the length data of the corresponding carriage is added or subtracted in turn with the reference coordinates as the starting point according to the carriage marshalling sequence, and the coordinate range of both ends of each carriage is calculated respectively to determine the center position coordinates of each carriage, which are the initial stop positions of each carriage.

[0121] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0122] Based on the preset operation demand, the target container number is determined; based on the carriage list, the target container number is matched with the container numbers in the carriage list to determine the carriage to which the target container number belongs; based on the carriage and the initial stop position of each carriage, the initial stop position corresponding to the carriage is taken as the target stop position.

[0123] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0124] Based on the target container number and the real container number, the container number between the target container and the real container is determined as the second target container number; based on the carriage list, the carriage length corresponding to the second target container number is determined; the carriage length corresponding to the second target container number is added to obtain the relative distance; based on the target stop position and the relative distance, the real position of the target container number is determined.

[0125] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0126] If the real container number and the target container number are the same, the gantry crane is controlled to work.

[0127] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0128] The train running state is detected in real time. When it is detected that the train enters the container yard, the train number and the car list of the train are identified through the camera and the laser radar sensor installed on the yard entrance gantry. The car list includes the car length, the car number and the container number.

[0129] When it is detected that the train is stable in the preset area, based on the car list, the initial stopping position of each car is determined by the laser range finder.

[0130] Based on the train number, the preset operation demand is obtained. Based on the preset operation demand, the initial stopping position of the car where the target container number is located is determined as the target stopping position. The gantry crane is controlled to move to the target stopping position, and the real container number of the target stopping position is detected through the camera and the laser radar sensor on the gantry crane.

[0131] If the real container number and the target container number are different, based on the target stopping position, the target container number and the real container number, the real position of the target container number is determined and the gantry crane is controlled to move to the real position of the target container number to work.

[0132] In one embodiment, the computer program, when executed by a processor, further implements the following steps:

[0133] The top image and the side image of the train are collected by the camera. The point cloud data and the distance information of the train car are scanned by the laser radar sensor. The top image and the side image of the train are input into a preset detection algorithm to obtain the container number, the train number and the car number. The point cloud data and the distance information collected by the laser radar sensor are processed to obtain the number of cars of the train and the car length of each car. The train number, the container number, the number of cars and the car length are fused to establish a train marshalling model to obtain the car number and the car list. The car list includes the car length, the car number and the container number.

[0134] In one embodiment, the computer program, when executed by a processor, further implements the following steps:

[0135] The relative distance of the train head relative to the laser range finder is measured by the laser range finder deployed in front of the train stop; the installation position of the laser range finder is taken as a reference point, and a space positioning reference is established in combination with the preset coordinate system parameters of the freight yard; the reference coordinates of the train head in the coordinate system are calculated according to the train head distance measured by the laser range finder; the car length and car grouping order of each car are extracted from the car list; the length data of the corresponding car is added or subtracted in turn according to the car grouping order, taking the reference coordinates as the starting point, and the coordinate range of both ends of each car is calculated, and then the center position coordinates of each car are determined, which are the initial stopping positions of each car.

[0136] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0137] Based on the preset operation demand, the target container box number is determined; based on the car list, the target container box number is matched with the container box number in the car list to determine the car to which the target container box number belongs; based on the car and the initial stopping position of each car, the initial stopping position corresponding to the car is taken as the target stopping position.

[0138] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0139] Based on the target container box number and the real container box number, the container compartment number between the target container and the real container is determined as the second target container box number; based on the car list, the car length corresponding to the second target container box number is determined; the car length corresponding to the second target container box number is added to obtain the relative distance; based on the target stopping position and the relative distance, the real position of the target container box number is determined.

[0140] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0141] If the real container box number and the target container box number are the same, the gantry crane is controlled to operate.

[0142] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0143] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0144] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A method for train positioning in a container yard, characterized in that, The method includes: The system monitors train operation status in real time. When a train is detected entering the container yard, the system identifies the train number and carriage list using cameras and lidar sensors installed on the gantry at the yard entrance. The carriage list includes: carriage length, carriage number, and container number. Once the train is detected to have come to a complete stop in the preset area, the initial stopping position of each carriage is determined using a laser rangefinder based on the carriage list. Based on the train number, a preset operation requirement is obtained. Based on the preset operation requirement, the initial stopping position of the carriage containing the target container number is determined as the target stopping position. The gantry crane is controlled to move to the target stopping position, and the actual container number at the target stopping position is detected by the camera and lidar sensor on the gantry crane. If the actual container number and the target container number are different, then based on the target docking location, the target container number and the actual container number, the actual location of the target container number is determined and the gantry crane is controlled to move to the actual location of the target container number to perform the operation.

2. The method according to claim 1, characterized in that, The process of identifying the train number and carriage list using cameras and lidar sensors installed on the freight yard entrance gantry includes: Images of the top and sides of the train are captured by cameras; point cloud data and distance information of the train carriages are scanned by lidar sensors. Input the images of the top and side of the train into a preset detection algorithm to obtain the container number, train number, and carriage number; The point cloud data and distance information collected by the lidar sensor are processed to obtain the number of train carriages and the length of each carriage. By integrating the train number, the container number, the number of carriages, and the carriage length, a train formation model is established to obtain carriage numbers and a carriage list; the carriage list includes: carriage length, carriage number, and container number.

3. The method according to claim 1, characterized in that, The step of determining the initial stopping position of each carriage using a laser rangefinder based on the carriage list includes: The relative distance between the front of the train and the laser rangefinder is measured by a laser rangefinder deployed in front of the train stop. Using the installation location of the laser rangefinder as the reference point and combining it with the coordinate system parameters preset in the freight yard, a spatial positioning reference is established; based on the distance to the train head measured by the laser rangefinder, the reference coordinates of the train head in this coordinate system are calculated. Extract the length of each car and the car grouping order from the car list; Starting from the reference coordinates, the length data of the corresponding carriages are added or subtracted sequentially according to the carriage grouping order to calculate the coordinate range of both ends of each carriage, thereby determining the center position coordinates of each carriage. The center position coordinates are the initial stopping position of each carriage.

4. The method according to claim 1, characterized in that, The step of determining the initial stopping position of the carriage containing the target container number as the target stopping position based on preset operational requirements includes: Based on pre-set operational requirements, determine the target container number; Based on the list of carriages, the target container number is matched with the container numbers in the list of carriages to determine the carriage to which the target container number belongs. Based on the initial stopping position of the carriage and each carriage, the initial stopping position corresponding to the carriage is taken as the target stopping position.

5. The method according to claim 1, characterized in that, Determining the actual location of the target container number based on the target docking location, the target container number, and the actual container number includes: Based on the target container number and the actual container number, the container number between the target container and the actual container is determined as the second target container number; Based on the list of carriages, determine the length of the carriage corresponding to the second target container number; Add the lengths of the carriages corresponding to the container numbers of the second target container to obtain the relative distance; Based on the target docking location and the relative distance, the actual location of the target container number is determined.

6. The method according to claim 1, characterized in that, The method further includes: If the actual container number and the target container number are the same, then control the gantry crane to perform the operation.

7. A train positioning device for a container yard, characterized in that, The device includes: The detection module is used to monitor the train's operating status in real time. When a train is detected entering the container yard, the train number and carriage list are identified by cameras and lidar sensors installed on the gantry at the yard entrance. The carriage list includes: carriage length, carriage number, and container number. The measurement module is used to determine the initial stopping position of each carriage based on the carriage list by using a laser rangefinder after the train is detected to have stopped in the preset area. The control module is used to obtain preset operation requirements based on the train number, determine the initial stopping position of the carriage containing the target container number as the target stopping position based on the preset operation requirements, control the gantry crane to move to the target stopping position, and detect the actual container number at the target stopping position through the camera and lidar sensor on the gantry crane. The working module is used to determine the actual location of the target container number based on the target docking location, the target container number, and the actual container number if the actual container number and the target container number are different, and then control the gantry crane to move to the actual location of the target container number to perform the operation.

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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