Box grabbing safety guarantee system based on multiple sets of laser radars and multiple sets of cameras

Abstract

The utility model discloses a box grabbing safety guarantee system based on multiple sets of laser radars and multiple sets of cameras. The box grabbing safety guarantee system comprises a first set of laser radars used for obtaining a first scanning result; the second group of laser radars is used for obtaining a second scanning result; the first and second groups of cameras are respectively used for acquiring first and second groups of images; the container grabbing anti-lifting detection unit judges whether the container at the container truck plate lock head is completely separated from the truck plate or not according to the second scanning result, and judges whether the container truck plate moves upwards or not in the lifting appliance lifting process or not according to the second group of images; the container inlet lock detection unit judges whether a lock head is hung below a container lock hole or not according to the second scanning result, and judges whether a lock head is hung below the container lock hole or not according to the second group of images; and the control unit sends out a warning or operation stop signal according to the judgment result. According to the box grabbing safety guarantee system based on the multiple sets of laser radars and the multiple sets of cameras, the box grabbing safety is improved based on the detection results of the multiple sets of laser radars and the multiple sets of cameras.

Description

TECHNICAL FIELD

[0001] The application relates to the hoisting system transportation field, in particular to a box grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras. BACKGROUND

[0002] In recent years, the automatic box grabbing technology of port containers has developed rapidly, and the operation efficiency has been significantly improved, but the safety performance guarantee system is relatively lagging behind. Many safety problems are prone to occur in the process of box grabbing. If manual box grabbing is adopted through manual intervention, not only the operation time cost is increased, but also safety hazards are caused due to fatigue operation.

[0003] Therefore, it is necessary to provide a box grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras to solve the above problems. CONTENT OF THE INVENTION

[0004] The application provides a box grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras, which improves the safety during box grabbing based on the detection results of the multiple groups of laser radars and the multiple groups of cameras.

[0005] The application provides a box grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras, which comprises:

[0006] Multiple groups of laser radars, wherein a first group of laser radars is arranged on a girder above a lane line, and a second group of laser radars is arranged on a truck plate of a truck;

[0007] Multiple groups of cameras, wherein a first group of cameras is arranged on a spreader, and a second group of cameras is arranged on the side of a large vehicle;

[0008] The first group of laser radars is used for scanning the pose of the spreader and the top surface of a container to obtain a first scanning result;

[0009] The second group of laser radars is used for scanning the lock head of the truck plate and the lock hole of the container to obtain a second scanning result;

[0010] The first group of cameras is used for obtaining a first group of images, and the first group of images are images of the top surface of the container;

[0011] The second group of cameras is used for obtaining a second group of images, and the second group of images are images of the truck plate, the spreader, the lock hole of the container and the container;

[0012] A data acquisition unit is used for acquiring the first scanning result, the second scanning result, the first group of images and the second group of images;

[0013] A container-grabbing anti-lifting detection unit connected to the data acquisition unit, which determines whether the container is completely separated from the truck plate at the container plate lock head according to the second scanning result, whether the container plate moves upward during the lifting of the lifting device according to the second group of images, and whether the lifting device pose center is offset according to the first scanning result;

[0014] A container-entrance lock detection unit connected to the data acquisition unit, which determines whether a lock head is hung under the container lock hole according to the second scanning result and whether a lock head is hung under the container lock hole according to the second group of images.

[0015] A control unit connected to the container-grabbing anti-lifting detection unit and the container-entrance lock detection unit, which sends a warning reminder or a work stop signal according to the judgment results of the two detection units.

[0016] Preferably, a container-top foreign matter detection unit is further included, which is connected to the data acquisition unit, and determines whether there is foreign matter on the container top according to the first scanning result and whether there is foreign matter on the container top according to the first group of images.

[0017] Preferably, a high-low container safety detection unit is further included, which is connected to the data acquisition unit, and determines whether there are two planes with different heights on the container top according to the first scanning result and whether there are high-low containers according to the container color, side ISO, and the proportion of the container in the second group of images.

[0018] Preferably, the first group of laser radars and the second group of laser radars are planar laser radars.

[0019] Preferably, the first group of cameras and the second group of cameras are monocular cameras or binocular cameras.

[0020] Preferably, a display unit is further included, which is connected to the control unit and used to display warning reminder information or work stop information.

[0021] Preferably, a voice broadcast unit is further included, which is connected to the control unit and used to broadcast a warning reminder or a work stop.

[0022] Preferably, the first group of laser radars includes at least two laser radars, and the second group of laser radars includes at least five laser radars.

[0023] Preferably, the first group of cameras includes at least four cameras, and the second group of cameras includes at least two cameras.

[0024] The present application has the following beneficial effects compared with the prior art: the container grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras provided by the present application comprises: multiple groups of laser radars, wherein a first group of laser radars is arranged on a girder above a lane line, and a second group of laser radars is arranged on a truck plate; multiple groups of cameras, wherein a first group of cameras is arranged on a spreader, and a second group of cameras is arranged on the side of a large vehicle; the first group of laser radars are used for scanning the pose of the spreader and the top surface of the container to obtain a first scanning result; the second group of laser radars are used for scanning the lock head of the truck plate and the lock hole of the container to obtain a second scanning result; the first group of cameras are used for acquiring a first group of images, and the first group of images are images of the top surface of the container; the second group of cameras are used for acquiring a second group of images, and the second group of images are images of the truck plate, the spreader, the lock hole of the container, and the container; a data acquisition unit is configured to acquire the first scanning result, the second scanning result, the first group of images, and the second group of images; a container grabbing anti-lifting detection unit is connected with the data acquisition unit, and the container grabbing anti-lifting detection unit is configured to determine, according to the second scanning result, whether the container is completely separated from the truck plate at the lock head of the truck plate, to determine, according to the second group of images, whether the truck plate moves upward during the lifting of the spreader, and to determine, according to the first scanning result, whether the center of the pose of the spreader is offset; an in-box lock detection unit is connected with the data acquisition unit, and the in-box lock detection unit is configured to determine, according to the second scanning result, whether the lock head is hung below the lock hole of the container, and to determine, according to the second group of images, whether the lock head is hung below the lock hole of the container; a control unit is connected with the container grabbing anti-lifting detection unit and the in-box lock detection unit, respectively, and is configured to send a warning reminder or a work stop signal based on the judgment results of the container grabbing anti-lifting detection unit and the in-box lock detection unit, and improve the safety during container grabbing based on the detection results of the multiple groups of laser radars and the multiple groups of cameras.

[0025] Further, a container top foreign matter detection unit is connected with the data acquisition unit, and the container top foreign matter detection unit is configured to determine, according to the first scanning result, whether there is foreign matter on the top surface of the container, and to determine, according to the first group of images, whether there is foreign matter on the top surface of the container, so as to ensure that there is no foreign matter on the top surface of the container during container grabbing, and to ensure the safety during container grabbing.

[0026] Further, a high-low container safety detection unit is connected with the data acquisition unit, and the high-low container safety detection unit is configured to determine, according to the first scanning result, whether there are two planes with different heights on the top surface of the container, and to determine, according to the container color, the side ISO, and the proportion of the container in the image in the second group of images, whether there are high-low containers, so as to ensure that there are no high-low containers during container grabbing, and to ensure the safety during container grabbing. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0028] Figure 1 is a structural schematic diagram of a grab box safety guarantee system based on multiple groups of laser radars and multiple groups of cameras in an embodiment of the present application.

[0029] Figure 2 is a structural schematic diagram of a grab box safety guarantee system based on multiple groups of laser radars and multiple groups of cameras in another embodiment of the present application.

[0030] The specific embodiments have been shown and described in the foregoing detailed description. Although the above descriptions only show the specific embodiments of the present application, the skilled in the art can make various modifications and changes to these embodiments without departing from the spirit and principle of the present application. Therefore, the scope of the present application should not be limited to the specific embodiments described above, but should be determined by the scope of the claims. DETAILED DESCRIPTION

[0031] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals represent like elements, unless the context of use indicates otherwise. The following description of exemplary embodiments is not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] The external container truck is an important tool for port logistics. When the external container truck transports the container, the lock head is used to fix the container to prevent the container from falling off. After entering the port, the lock head needs to be opened manually, and the port crane can then grab the container. In the automatic operation process, it is necessary to detect whether the lock head locks the container, and this function is called anti-lifting. In addition, in the port operation, the lock hole of the container unloaded from the cargo ship often has a lock head. During the lifting process of the automatic crane, various sensors are used to detect whether the lock head is in the lock hole of the container.

[0033] To solve the above problems, the present application provides a grab box safety guarantee system based on multiple groups of laser radars and multiple groups of cameras. Based on the detection results of multiple groups of laser radars and multiple groups of cameras, the safety during grabbing is improved.

[0034] Figure 1 is a structural schematic diagram of a grab box safety guarantee system based on multiple groups of laser radars and multiple groups of cameras in an embodiment of the present application, now referring to Figure 1 , the present application provides a grab box safety guarantee system based on multiple groups of laser radars and multiple groups of cameras, comprising:

[0035] A plurality of groups of laser radars, wherein a first group of laser radars 11 is arranged on a road line over a girder, and a second group of laser radars 12 is arranged on a truck plate;

[0036] A plurality of groups of cameras, wherein a first group of cameras 13 is arranged on a spreader, and a second group of cameras 14 is arranged on a side of a cart;

[0037] The first group of laser radars 11 is used to scan a spreader pose and a container top surface to obtain a first scanning result;

[0038] The second group of laser radars 12 is used to scan a truck plate lock head and a container lock hole to obtain a second scanning result;

[0039] The first group of cameras 13 is used to obtain a first group of images, which are container top surface images;

[0040] The second group of cameras 14 is used to obtain a second group of images, which are truck plate images, spreader images, container lock hole images, and container images;

[0041] A data acquisition unit 2 is configured to acquire the first scanning result, the second scanning result, the first group of images, and the second group of images;

[0042] A container grabbing anti-lifting detection unit 31 is connected to the data acquisition unit 2, and is configured to determine, according to the second scanning result, whether a container is completely separated from a truck plate at a truck plate lock head, to determine, according to the second group of images, whether the truck plate moves upward during lifting of the spreader, and to determine, according to the first scanning result, whether a center of a spreader pose is offset;

[0043] A container entering with lock detection unit 32 is connected to the data acquisition unit 2, and is configured to determine, according to the second scanning result, whether a lock head is hung below a container lock hole, and to determine, according to the second group of images, whether the lock head is hung below the container lock hole;

[0044] A control unit 4 is connected to the container grabbing anti-lifting detection unit 31 and the container entering with lock detection unit 32, respectively, and is configured to send a warning reminder or a work stop signal according to a judgment result of the container grabbing anti-lifting detection unit 31 and the container entering with lock detection unit 32.

[0045] Specifically, through real-time detection of a plurality of groups of laser radar sensors and a plurality of groups of cameras, multi-directional and multi-angle real-time sensing of container grabbing operation safety is realized, and multiple protections for various complex scenes during the container grabbing operation are realized.

[0046] In specific implementation, the first group of laser radars 11 and the second group of laser radars 12 are planar array laser radars.

[0047] In specific implementations, the first group of cameras 13 and the second group of cameras 14 are monocular cameras or binocular cameras.

[0048] In specific implementations, a display unit is further included, which is connected to the control unit 4, and the display unit is used to display warning reminder information or operation stop information.

[0049] In specific implementations, a voice broadcast unit is further included, which is connected to the control unit 4, and the voice broadcast unit is used to broadcast warning reminders or operation stops.

[0050] In specific implementations, the first group of laser radars 11 includes at least two laser radars, and the second group of laser radars 12 includes at least five laser radars.

[0051] In specific implementations, the first group of cameras 13 includes at least four cameras, and the second group of cameras 14 includes at least two cameras.

[0052] When a container is grabbed, it is necessary to detect whether there are large foreign matters on the top surface of the container to prevent foreign matters from entering the box area and causing unknown risks. In addition, in port operations, there is a scenario of loading two 20-foot containers with different heights by an external container truck, and in automated operations, it is necessary to detect the relative height difference between the high and low containers to protect the spreader and the camera and other sensor devices installed on the spreader.

[0053] Figure 2 For the structure diagram of the container grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras in another embodiment of the present application, now referring to Figure 2 The present application provides a container grabbing safety guarantee system based on multiple groups of laser radars and multiple groups of cameras, which comprises:

[0054] Multiple groups of laser radars, wherein a first group of laser radars 11 is arranged on a girder above a lane line, and a second group of laser radars 12 is arranged on a container truck plate;

[0055] Multiple groups of cameras, wherein a first group of cameras 13 is arranged on a spreader, and a second group of cameras 14 is arranged on the side of a cart;

[0056] The first group of laser radars 11 is used to scan the pose of the spreader and the top surface of the container to obtain a first scanning result;

[0057] The second group of laser radars 12 is used to scan the lock head of the container truck plate and the lock hole of the container to obtain a second scanning result;

[0058] The first group of cameras 13 is used to obtain a first group of images, which are images of the top surface of the container;

[0059] The second group of cameras 14 are used to acquire a second group of images, which are container truck plate images, spreader images, container lock hole images, and container images.

[0060] A data acquisition unit 2 is configured to acquire the first scanning result, the second scanning result, the first group of images, and the second group of images.

[0061] A grab box anti-lifting detection unit 31 is connected to the data acquisition unit 2. The grab box anti-lifting detection unit 31 is configured to determine, according to the second scanning result, whether the container at the container truck plate lock head is completely separated from the truck plate, to determine, according to the second group of images, whether the container truck plate moves upward during the lifting of the spreader, and to determine, according to the first scanning result, whether the center of the pose of the spreader is offset.

[0062] An in-box with lock detection unit 32 is connected to the data acquisition unit 2. The in-box with lock detection unit 32 is configured to determine, according to the second scanning result, whether there is a lock head under the container lock hole, and to determine, according to the second group of images, whether there is a lock head under the container lock hole.

[0063] A box top foreign matter detection unit 33 is connected to the data acquisition unit 2. The box top foreign matter detection unit 33 is configured to determine, according to the first scanning result, whether there is foreign matter on the top surface of the container, and to determine, according to the first group of images, whether there is foreign matter on the top surface of the container.

[0064] A high-low box safety detection unit 34 is connected to the data acquisition unit 2. The high-low box safety detection unit 34 is configured to determine, according to the first scanning result, whether there are two planes with different heights on the top surface of the container, and to determine, according to the color of the container, the side ISO, and the proportion of the container in the second group of images, whether there is a high-low box.

[0065] A control unit 4 is connected to the grab box anti-lifting detection unit 31, the in-box with lock detection unit 32, the box top foreign matter detection unit 33, and the high-low box safety detection unit 34. The control unit 4 is configured to send a warning reminder or a work stop signal according to the judgment results of the grab box anti-lifting detection unit 31, the in-box with lock detection unit 32, the box top foreign matter detection unit 33, and the high-low box safety detection unit 34.

[0066] Specifically, the ISO identification content of the side of the container includes a size code and a box type code. The size code is composed of two letters and numbers, the first character represents the length of the container, and the second character represents the width and height of the container. For example, “22” represents 20 feet long, 8 feet 6 inches high, and 8 feet wide. The box type code is used to identify the type and characteristics of the container. For example, “G” represents a general-purpose container, “V” represents a ventilated container, “B” represents a dry bulk cargo container, and so on.

[0067] In summary, the embodiment of the present application provides a kind of based on the safety guarantee system of grabbing box of multiple groups of laser radar and multiple groups of cameras, comprising: multiple groups of laser radar, wherein the first group of laser radar is arranged on the girder above lane line, and the second group of laser radar is arranged on the truck plate;Multiple groups of cameras, wherein the first group of cameras is arranged on the spreader, and the second group of cameras is arranged on the side of the car;The first group of laser radar is used to scan the pose of spreader, container top surface to obtain first scanning result;The second group of laser radar is used to scan the lock head of truck plate, container lock hole to obtain second scanning result;The first group of cameras is used to obtain first group of images, and the first group of images are container top surface images;The second group of cameras is used to obtain second group of images, and the second group of images are truck plate images, spreader images, container lock hole images and container images;Data acquisition unit is used to obtain the first scanning result, second scanning result, first group of images and second group of images;Grabbing box anti-lifting detection unit is connected with the data acquisition unit, and the grabbing box anti-lifting detection unit judges whether container and truck plate are completely separated at the lock head of truck plate according to the second scanning result, judges whether truck plate moves upward in the process of lifting on spreader according to the second group of images, and judges whether the center of spreader pose is offset according to the first scanning result;In-box with lock detection unit is connected with the data acquisition unit, and the in-box with lock detection unit judges whether the lock head is hung below container lock hole according to the second scanning result, and judges whether the lock head is hung below container lock hole according to the second group of images;Control unit is connected with the grabbing box anti-lifting detection unit and in-box with lock detection unit respectively, sends warning reminder or operation stop signal according to the judgment result of grabbing box anti-lifting detection unit and in-box with lock detection unit, improves the safety of grabbing box based on the detection result of multiple groups of laser radar and multiple groups of cameras.

[0068] Further, it also includes box top foreign matter detection unit, which is connected with the data acquisition unit, and the box top foreign matter detection unit judges whether there is foreign matter on the top surface of container according to the first scanning result, and judges whether there is foreign matter on the top surface of container according to the first group of images, so as to ensure that there is no foreign matter on the top surface of container when grabbing box, and ensure the safety of grabbing box.

[0069] Further, it also includes high-low box safety detection unit, which is connected with the data acquisition unit, and the high-low box safety detection unit judges whether there are two planes with different heights on the top surface of container according to the first scanning result, and judges whether there are high-low boxes according to the color of container, side ISO and the proportion of container in the second group of images, so as to ensure that there is no high-low box when grabbing box, and ensure the safety of grabbing box.

[0070] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0071] It is to be understood that the application is not limited to the precise construction herein described and as shown in the attached drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is to be indicated by the appended claims, rather than the description.

Claims

1. A multi-laser-radar and multi-camera based bin-picking safety assurance system, characterized in that, The application relates to a container loading and unloading safety detection system. The application comprises: a plurality of groups of laser radars, wherein a first group of laser radars is arranged on a road line upper beam, and a second group of laser radars is arranged on a truck plate; a plurality of groups of cameras, wherein a first group of cameras is arranged on a spreader, and a second group of cameras is arranged on a side of a large vehicle; the first group of laser radars is used for scanning a spreader pose and a container top surface to obtain a first scanning result; the second group of laser radars is used for scanning a truck plate lock head and a container lock hole to obtain a second scanning result; the first group of cameras is used for acquiring a first group of images, which are container top surface images; the second group of cameras is used for acquiring a second group of images, which are truck plate images, spreader images, container lock hole images and container images; a data acquisition unit is used for acquiring the first scanning result, the second scanning result, the first group of images and the second group of images; a container grabbing anti-lifting detection unit is connected with the data acquisition unit, the container grabbing anti-lifting detection unit judges whether the container is completely separated from the truck plate at the truck plate lock head according to the second scanning result, judges whether the truck plate moves upward in the process of lifting the spreader according to the second group of images, and judges whether the center of the spreader pose is offset according to the first scanning result; a container entering with lock detection unit is connected with the data acquisition unit, the container entering with lock detection unit judges whether the lock head is hung below the container lock hole according to the second scanning result, and judges whether the lock head is hung below the container lock hole according to the second group of images; 2. The multi-group lidar and multi-group camera based catchbox safety assurance system of claim 1, wherein, a control unit is connected with the container grabbing anti-lifting detection unit and the container entering with lock detection unit, and sends a warning reminder or a work stop signal according to the judgment results of the container grabbing anti-lifting detection unit and the container entering with lock detection unit.

3. The multi-group lidar and multi-group camera based catch box safety assurance system of claim 1, wherein, The application further comprises a container top foreign matter detection unit connected with the data acquisition unit, the container top foreign matter detection unit judges whether foreign matters exist on the container top surface according to the first scanning result and the first group of images.

4. The multi-group lidar and multi-group camera based catch box safety assurance system of claim 1, wherein, The application further comprises a high-low container safety detection unit connected with the data acquisition unit, the high-low container safety detection unit judges whether two planes with different heights exist on the container top surface according to the first scanning result, and judges whether high-low containers exist according to the container color, the side ISO and the container proportion in the second group of images.

5. The multi-group lidar and multi-group camera based catch box safety assurance system of claim 1, wherein, The first group of laser radars and the second group of laser radars are planar array laser radars.

6. The multi-group lidar and multi-group camera based catchbox safety assurance system of claim 1, wherein, The first group of cameras and the second group of cameras are monocular cameras or binocular cameras.

7. The multi-group lidar and multi-group camera based catchbox safety assurance system of claim 1, wherein, The application further comprises a display unit connected with the control unit, the display unit is used for displaying warning reminder information or work stop information.

8. The multi-group lidar and multi-group camera based catchbox safety assurance system of claim 1, wherein, The application further comprises a voice broadcast unit connected with the control unit, the voice broadcast unit is used for broadcasting a warning reminder or a work stop.

9. The multi-group lidar and multi-group camera based catchbox safety assurance system of claim 1, wherein The first group of laser radars comprises at least two laser radars, and the second group of laser radars comprises at least five laser radars. The first group of cameras comprises at least four cameras, and the second group of cameras comprises at least two cameras.

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