Control method and system for telescopic arm for container number capturing camera

Abstract

A control method and system for a telescopic arm for a container number capturing camera. The method comprises the following steps: in response to detecting that a spreader is in a hoisting state, controlling a capturing camera to capture a first image of a target placement area for a hoisted container, and extracting area features of the target placement area from the first image; on the basis of the area features and a preset collision avoidance rule, determining a capturing point position at which the capturing camera captures a container number, and on the basis of the capturing point position and the area features, determining a target telescopic length of a telescopic arm when the capturing camera captures the container number; and controlling the telescopic arm to adjust the telescopic length thereof to be the target telescopic length when reaching the capturing point position, and controlling the capturing camera to capture a second image of the container, wherein the second image is used for extracting the number of the container.

Description

Method and system for controlling telescopic arm of container number snapshot camera TECHNICAL FIELD

[0001] The present application relates to the technical field of smart port, in particular to a control method and system for a telescopic arm of a container number snapshot camera. BACKGROUND

[0002] When a spreader is used to hoist a container, a snapshot camera needs to be arranged on the spreader to capture the container number sprayed on the container body. In order to improve the convenience of container number capturing, a container number snapshot recognition device based on a telescopic arm is disclosed in patent document (CN109941885B), which comprises a shell and a telescopic arm arranged in the shell, one end of the telescopic arm is connected with a driving motor, and the other end is provided with a camera; the telescopic arm comprises a parallel force sleeve, a fixed balance shaft, a telescopic horizontal shaft, a transmission shaft, a contraction linkage plate, and a base; the transmission shaft is sleeved with the parallel force sleeve and the base at both ends respectively; the telescopic balance rod is sleeved in the parallel force sleeve, and both ends thereof are fixedly connected with the camera and the contraction linkage plate respectively; the fixed balance rod is sleeved in the contraction linkage plate, and both ends thereof are fixedly connected with the parallel force sleeve and the base. The patent document changes the snapshot position by driving the snapshot camera arranged on the spreader through the telescopic arm, so as to obtain a better shooting angle, and the snapshot camera does not need to be arranged on the shore crane, which effectively reduces the implementation cost.

[0003] However, the scheme in the above-mentioned patent document lacks detailed control scheme for the telescopic arm and lacks consideration of some actual situations, and needs to be improved. SUMMARY

[0004] In order to solve the technical problems in the background art, the present application provides a control method, system, electronic device, computer storage medium and computer program product for a telescopic arm of a container number snapshot camera.

[0005] The present application provides a control method for a telescopic arm of a container number snapshot camera, which comprises the following steps:

[0006] In response to detecting that the spreader is in a hoisting state, controlling the snapshot camera to capture a first image of a target placement area of the hoisted container, and extracting a region feature of the target placement area from the first image;

[0007] According to the region feature and a preset collision avoidance rule, determining a snapshot point position of the snapshot camera for capturing the container number, and according to the snapshot point position and the region feature, determining a target telescopic length of the telescopic arm when the snapshot camera captures the container number;

[0008] The telescopic arm is controlled to adjust its telescopic length to the target telescopic length when reaching the snapshot point, and the snapshot camera is controlled to capture a second image of the container, which is used to extract the container number of the container.

[0009] Optionally, the lifting state of the spreader is determined by:

[0010] The snapshot camera captures a third image, extracts background feature variation data of the target reference object in the third image, determines the motion state of the spreader according to the background feature variation data, and determines whether the spreader is in the lifting state according to the motion state.

[0011] Optionally, the control of the snapshot camera to capture the first image of the target placement area of the lifted container includes:

[0012] According to the background feature variation data, the first target telescopic length is determined, and the telescopic arm is controlled to extend to the first target telescopic length.

[0013] According to the target placement area of the lifted container and the real-time position and posture of the snapshot camera, the snapshot posture of the snapshot camera is determined, and the snapshot camera is controlled to capture the first image of the target placement area of the lifted container according to the snapshot posture.

[0014] The first target telescopic length is determined according to the background feature variation data of the target reference object in the third image extracted in the foregoing.

[0015] Optionally, the determination of the first target telescopic length according to the background feature variation data includes:

[0016] According to the background feature variation data, the lifting speed is determined, and the first target telescopic length is calculated according to the lifting speed and a corresponding conversion formula.

[0017] In the conversion formula, the first target telescopic length and the lifting speed conform to a positive correlation.

[0018] Optionally, the determination of the snapshot point for the snapshot camera to capture the container number according to the region feature and the preset collision avoidance rule includes:

[0019] According to the region feature, the degree of the target placement area being surrounded by other containers is determined, the snapshot distance is determined according to the degree and a distance table in the collision avoidance rule, and the snapshot point for the snapshot camera to capture the container number is determined according to the snapshot distance.

[0020] Optionally, the determination of the target telescopic length of the telescopic arm for the snapshot camera to capture the container number according to the snapshot point and the region feature includes:

[0021] determine a position of the first traveled container in the target placement area according to the region feature determination;

[0022] calculate a distance between the snapping point and the position of the first traveled container, and determine a second target telescopic length of the telescopic arm when the container number is snapped by the snapping camera according to the distance;

[0023] wherein the target telescopic length and the distance conform to a positive correlation relationship.

[0024] The application further provides a control system for a telescopic arm of a container number snapping camera, the system comprising a first control module, a second control module and a third control module which are electrically connected in sequence; wherein:

[0025] The first control module is configured to control the snapping camera to capture a first image of a target placement area of a hoisted container in response to detecting that the spreader is in a hoisting state, and extract a region feature of the target placement area from the first image.

[0026] The second control module is configured to determine a snapping point of the container number snapped by the snapping camera according to the region feature and a preset collision avoidance rule, and determine a target telescopic length of the telescopic arm when the container number is snapped by the snapping camera according to the snapping point and the region feature.

[0027] The third control module is configured to control the telescopic arm to adjust its telescopic length to the target telescopic length when the telescopic arm reaches the snapping point, and control the snapping camera to capture a second image of the container, the second image being used to extract the container number.

[0028] The application further provides an electronic device, comprising a memory storing executable program codes, and a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to execute the method according to any one of the above.

[0029] The application further provides a computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to execute the method according to any one of the above.

[0030] The application further provides a computer program product, comprising a computer program stored on a non-transitory computer readable medium, the computer program being executed by a processor to execute the method according to any one of the above.

[0031] The scheme of the present application can change the shooting point of the snapshot camera through the telescopic arm arranged on the lifting appliance, and can adjust the length of the telescopic arm and the optimal shooting point of the snapshot camera according to the target placement area of the container, so as to avoid collision between the telescopic arm, the snapshot camera and the obstacle. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of the drawings.

[0033] Fig. 1 is a flowchart of a control method of a telescopic arm for a container number snapshot camera according to an embodiment of the present application.

[0034] Fig. 2 is a schematic diagram of the degree of the target placement area surrounded by other containers according to an embodiment of the present application.

[0035] Fig. 3 is a structural schematic diagram of a high-definition camera for construction site safety management according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application, and obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art on the basis of the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0038] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0039] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, only for the convenience of describing the present application and simplifying the description, and it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0040] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0041] As shown in FIG. 1, the present application discloses a control method for a telescopic arm of a container number snapshot camera, which comprises the following steps:

[0042] In response to detecting that the spreader is in a lifting state, the snapshot camera is controlled to capture a first image of a target placement area of the lifted container, and the area feature of the target placement area is extracted from the first image;

[0043] According to the area feature and a preset collision avoidance rule, a snapshot point of the snapshot camera for capturing the container number is determined, and according to the snapshot point and the area feature, a target telescopic length of the telescopic arm when the snapshot camera captures the container number is determined;

[0044] The telescopic arm is controlled to adjust its telescopic length to the target telescopic length when reaching the snapshot point, and the snapshot camera is controlled to capture a second image of the container, which is used to extract the container number.

[0045] In the scheme of the present application, when it is detected that the spreader is currently in a lifting state, the snapshot camera is controlled to capture a first image of a target placement area (i.e. a specific placement position in the yard, which can be obtained through communication with the port platform) of the lifted container, from which the area feature of the target placement area can be extracted. According to the set preset collision avoidance rule, a suitable snapshot point of the snapshot camera for capturing the container number can be determined which is adapted to the area feature, and according to the snapshot point and the area feature, a target telescopic length of the telescopic arm when the snapshot camera captures the container number is determined. When the spreader lifts the container to the snapshot point, the telescopic length of the telescopic arm reaches the target telescopic length, so that the snapshot camera can obtain the best shooting angle, and the telescopic arm and the snapshot camera will not collide with other already stacked containers, other containers being lifted, even other shore crane equipment, etc.

[0046] Therefore, the scheme of the present application can change the shooting point of the snapshot camera through the telescopic arm arranged on the lifting appliance, and can adjust the length of the telescopic arm and the optimal shooting point of the snapshot camera according to the target placement area of the container, so as to avoid collision between the telescopic arm, the snapshot camera and the obstacle.

[0047] It should be noted that the scheme of the present application focuses on how to control the telescopic length of the telescopic arm and the shooting timing of the snapshot camera, and the structure of the telescopic arm, the mounting mode of the camera and the telescopic arm, and the mounting mode of the telescopic arm on the lifting appliance, etc. can refer to the existing patent CN109941885B mentioned in the background art, and will not be described in detail.

[0048] Optionally, the hoisting state of the lifting appliance is determined by the following method:

[0049] The snapshot camera shoots a third image, extracts the background feature variation data of the target reference object in the third image, judges the motion state of the lifting appliance according to the background feature variation data, and draws a conclusion whether the lifting appliance is in a hoisting state according to the motion state.

[0050] In this embodiment, the present application sets that the snapshot camera periodically shoots a third image when the lifting appliance is not working, and the shooting angle of the third image can be the initial orientation of the snapshot camera, and the snapshot camera returns to the initial orientation after the lifting appliance finishes the hoisting operation of the last batch. A target reference object can be selected from the third image, and the background feature variation data of the target reference object in the third image is analyzed, so that the motion state of the lifting appliance can be determined, and a conclusion whether the lifting appliance is in a hoisting state can be drawn according to the motion state.

[0051] Specifically, when the lifting appliance is not in a hoisting state, it is fixed or slightly shakes, in this case, the position of the target reference object in the third image is also fixed or slightly changes (the change is also corresponding to the shaking of the lifting appliance, that is, it is regular), and the background feature variation of the target reference object is also slightly changed; on the contrary, when the lifting appliance is in a hoisting state, since the content of the field of view shot by the snapshot camera is changing, the position of the target reference object in the third image is greatly and rapidly changed. Therefore, the present application first determines a target reference object as a foreground target in the third image, and then analyzes the motion state of the snapshot camera and the lifting appliance by analyzing the background target except the foreground target, and when it is judged that the lifting appliance is in a motion state, it is determined that the lifting appliance is in a hoisting state, otherwise it is in a non-hoisting state (mainly the fixed state when waiting for hoisting operation).

[0052] Optionally, the control of the snapshot camera to shoot the first image of the target placement area of the hoisted container comprises:

[0053] determine a first target telescopic length according to the background feature variation data, and control the telescopic arm to extend to the first target telescopic length;

[0054] determine a snapshot posture of the snapshot camera according to the target placement area of the hoisted container and a real-time position posture of the snapshot camera, and control the snapshot camera to shoot the first image of the target placement area of the hoisted container according to the snapshot posture.

[0055] In this embodiment, during the process of hoisting the container by the lifting tool to the target placement area, the telescopic arm is first extended to the first target telescopic length, and then the snapshot posture of the snapshot camera is determined according to the target placement area of the hoisted container and the real-time position posture of the snapshot camera. At this time, the snapshot camera can complete the shooting of the target placement area during the movement, and further obtain the area feature of the target placement area.

[0056] The first target telescopic length is determined according to the background feature variation data of the target reference object obtained in the foregoing.

[0057] Optionally, the determination of the first target telescopic length according to the background feature variation data comprises:

[0058] determine a hoisting speed according to the background feature variation data, and calculate the first target telescopic length according to the hoisting speed and a corresponding conversion formula;

[0059] In the conversion formula, the first target telescopic length and the hoisting speed are in a positive correlation.

[0060] In this embodiment, the hoisting speed, i.e., the speed of the lifting tool hoisting the container, can be determined according to the background feature variation data of the target reference object obtained in the foregoing. When the lifting tool is far away from the target placement area, the corresponding hoisting speed is higher, and when the lifting tool approaches the target placement area, the hoisting speed is reduced, and when the lifting tool reaches above the target placement area, the hoisting speed is further reduced to slowly descend, so as to realize accurate positioning and reduce the probability of collision with other containers. According to the actual hoisting rule, the present application sets a corresponding conversion formula, in which the first target telescopic length and the hoisting speed are in a positive correlation. That is, when the hoisting speed is higher, it indicates that the distance between the lifting tool (the telescopic arm and the snapshot camera) and the target placement area is farther, and the probability of collision with surrounding obstacles is lower. At this time, the first target telescopic length can be set to be larger, which is beneficial to the snapshot camera to quickly obtain the first image containing the complete area feature of the target placement area. On the contrary, when the hoisting speed is lower, it indicates that the distance between the lifting tool (the telescopic arm and the snapshot camera) and the target placement area is closer, and the probability of collision with surrounding obstacles is higher. At this time, the first target telescopic length can be set to be smaller, which is beneficial to reduce the collision probability of the snapshot camera or the telescopic arm.

[0061] In addition, the present application does not limit the specific formula form of the conversion formula, as long as the first target telescopic length is positively correlated with the lifting speed. After the first image is captured, the telescopic arm can be controlled to return to the initial position in time.

[0062] It should be noted that due to factors such as periodic shooting of the third image and computing power, the spreader may have been lifted for a period of time before the first image is captured. At this time, it may be far from the target placement area, or it may be close to the target placement area.

[0063] Optionally, the determination of the shooting point of the shooting camera according to the region feature and the preset collision avoidance rule includes:

[0064] According to the degree of being surrounded by other containers and the distance comparison table in the collision avoidance rule, the shooting distance of the shooting camera is determined, and the shooting point of the shooting camera shooting the container number is determined according to the shooting distance.

[0065] In this embodiment, when the spreader runs close to the target placement area, the telescopic arm can continue to extend, and the shooting camera captures the second image to obtain the container number. At this time, the actual situation of the target placement area needs to be further considered to avoid collision of the extended telescopic arm and the shooting camera.

[0066] Specifically, according to the region feature, the degree of being surrounded by other containers of the target placement area can be determined. For example, when the target placement area is located at the highest place of the yard and there is no other container around, the degree of being surrounded by other containers of the target placement area is low (for example, the A area in FIG. 2); and when the target placement area is located at the low place of the yard and there are other containers around, especially above (for example, the B area in FIG. 2), the degree of being surrounded by other containers of the target placement area is high. The degree of being surrounded by other containers of the target placement area can be determined based on the number of containers directly adjacent to the target placement area and located at the same level and above the level. The more the number of such containers, the higher the degree of being surrounded by other containers, and vice versa.

[0067] At the same time, a distance comparison table is set in the collision avoidance rule, and the appropriate shooting distance of the shooting camera can be determined according to the degree of being surrounded determined above and the distance comparison table. Obviously, the higher the degree of being surrounded, the greater the corresponding shooting distance, which can reduce the risk of collision.

[0068] Optionally, the determination of the target telescopic length of the telescopic arm when the shooting camera shoots the container number according to the shooting point and the region feature includes:

[0069] determine a position of a first passed container in the target placement area according to the region features of the target placement area and the lifting trajectory of the spreader;

[0070] calculate a distance between the snapping point and the position of the first passed container, and determine a second target telescopic length of the telescopic arm when the container number is snapped by the snapping camera according to the distance;

[0071] wherein the target telescopic length and the distance conform to a positive correlation relationship.

[0072] In this embodiment, the lifting trajectory of the spreader lifting the container into the target placement area can also be predicted according to the region features of the target placement area, so that the position of the first "contact" container in the adjacent area of the target placement area along the lifting trajectory can be determined, and the collision probability of the container and the spreader (telescopic arm, snapping camera) is the largest. Therefore, the distance between the position of the container and the aforementioned snapping point is calculated, and the target telescopic length of the telescopic arm is determined according to the distance. The greater the distance, the greater the corresponding target telescopic length, that is, the snapping camera can be more greatly explored out of the spreader to take a more close-to-perpendicular angle of the container, which is beneficial to obtain a clearer and more recognizable container number. Similarly, the specific form of the formula that the target telescopic length and the distance conform to a positive correlation relationship is not limited in the present application.

[0073] wherein the telescopic arm can be controlled to retract to the initial position in time after completing the shooting of the second image, so as to ensure that the collision with other containers does not occur during the process of the spreader lifting the container down to the target placement area.

[0074] It should be noted that the lifting trajectory of the spreader in the present application can be determined in advance, which includes the complete trajectory from lifting the target container to placing the target container into the target placement area, and the trajectory can be generated by the lifting system itself or generated by the port platform and fed back to the lifting system.

[0075] Referring to FIG. 3, the present application further discloses a control system of a telescopic arm of a container number snapping camera, which comprises first, second and third control modules connected in sequence; wherein:

[0076] the first control module is used to control the snapping camera to shoot a first image of a target placement area of a hoisted container in response to detecting that the spreader is in a hoisting state, and extract region features of the target placement area from the first image;

[0077] The second control module is configured to determine a snapping point of the snapping camera for snapping the container number according to the region feature and a preset collision avoidance rule, and determine a target telescopic length of the telescopic arm when the snapping camera snaps the container number according to the snapping point and the region feature.

[0078] The third control module is configured to control the telescopic arm to adjust the telescopic length to the target telescopic length when the telescopic arm reaches the snapping point, and control the snapping camera to capture a second image of the container, the second image being used to extract the container number.

[0079] The embodiment of the present application further discloses an electronic device, comprising: a memory in which executable program codes are stored; and a processor coupled to the memory; the processor invokes the executable program codes stored in the memory to execute the method as described in the foregoing embodiments.

[0080] The embodiment of the present application further discloses a computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to execute the method as described in the foregoing embodiments.

[0081] The embodiment of the present application further discloses a computer program product, comprising a computer program stored on a non-transitory computer readable medium, the computer program being executed by a processor to execute the method as described in any one of the foregoing embodiments.

[0082] It should be noted that the storage module (102) in the second embodiment, the memory in the third embodiment, and the computer storage medium in the fourth embodiment can be, but are not limited to, a phase change memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other memory technology, a compact disc read-only memory (CD-ROM), a digital versatile disc (DVD) or other optical storage, a magnetic cassette, and the like.

[0083] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0084] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0086] The above descriptions are only specific embodiments of the application, but the protection scope of the application is not limited thereto, and any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed by the application should be covered within the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A control method for a telescopic arm of a container number snapshot camera, characterized in that, The method comprises the following steps: In response to detecting that the spreader is in a lifting state, the method comprises the following steps: According to the region feature and a preset collision avoidance rule, a snapping point of the snapping camera for snapping the container number is determined, and according to the snapping point and the region feature, a target telescopic length of the telescopic arm when the snapping camera snaps the container number is determined; When the telescopic arm reaches the snapping point, the telescopic length of the telescopic arm is adjusted to the target telescopic length, and the snapping camera is controlled to capture a second image of the container, which is used to extract the container number.

2. A method of controlling a telescopic arm for a container number snap camera according to claim 1, characterized in that: The lifting state of the spreader is determined by the following method: The snapping camera captures a third image, extracts background feature variation data of a target reference object in the third image, judges the motion state of the spreader according to the background feature variation data, and determines whether the spreader is in a lifting state according to the motion state.

3. A method of controlling a telescopic arm for a container number snap camera according to claim 2, characterized in that: The method comprises the following steps: According to the background feature variation data, a first target telescopic length is determined, and the telescopic arm is controlled to extend to the first target telescopic length; According to the target placement region of the lifted container and the real-time position and posture of the snapping camera, a snapping posture of the snapping camera is determined, and the snapping camera is controlled to capture the first image of the target placement region of the lifted container according to the snapping posture.

4. A method of controlling a telescopic arm for a container number snap camera according to claim 3, characterized in that: The method comprises the following steps: According to the background feature variation data, a lifting speed is determined, and the first target telescopic length is calculated according to the lifting speed and a corresponding conversion formula; In the conversion formula, the first target telescopic length and the lifting speed are positively correlated.

5. A method of controlling a telescopic arm for a container number snap camera according to claim 1, characterized in that: The method comprises the following steps: According to the region feature, the degree to which the target placement region is surrounded by other containers is determined, the snapping distance is determined according to the degree and a distance table in the collision avoidance rule, and the snapping point of the snapping camera for snapping the container number is determined according to the snapping distance.

6. A method of controlling a telescopic arm for a container number snap camera according to claim 1, characterized in that: The method comprises the following steps: According to the region feature, the position of the first passed container in the target placement region is determined; The distance between the snapping point and the position of the first passed container is calculated, and the second target telescopic length of the telescopic arm when the snapping camera snaps the container number is determined according to the distance; The target telescopic length and the distance are positively correlated.

7. A control system for a telescopic arm of a container number snap camera, characterized in that, The system comprises a first control module, a second control module and a third control module connected in sequence; The first control module is configured to, in response to detecting that the spreader is in a hoisting state, control the snapshot camera to capture a first image of a target placement area of the hoisted container, and extract a region feature of the target placement area from the first image; The second control module is configured to determine a snapshot point of the snapshot camera for capturing the container number according to the region feature and a preset collision avoidance rule, and determine a target telescopic length of the telescopic arm when the snapshot camera captures the container number according to the snapshot point and the region feature; The third control module is configured to control the telescopic arm to adjust the telescopic length to the target telescopic length when the telescopic arm reaches the snapshot point, and control the snapshot camera to capture a second image of the container, the second image being used to extract the container number.

8. An electronic device comprising: a memory storing executable program code; a processor coupled to the memory, wherein the processor invokes the executable program code stored in the memory to execute the method according to any one of claims 1-6.

9. A computer storage medium having stored thereon a computer program, characterized in that: The computer program, when executed by a processor, performs the method according to any one of claims 1-6.

10. A computer program product comprising a computer program stored on a non-transitory computer readable medium, characterized in that: The computer program, when executed by a processor, implements the method according to any one of claims 1-6.

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