Gas collection control method, apparatus and system, and computer program product

Abstract

The present application relates to a gas collection control method, apparatus and system, and a computer program product. The gas collection control method is used for collecting gas inside a container, and comprises: a ranging apparatus measuring the distance to a container carried on a moving vehicle to serve as a ranging result; on the basis of the ranging result, if the container enters an area to be measured, starting an image collection apparatus to perform image collection on at least a specific position of the container during the movement of the vehicle; on the basis of an image recognition result for an image, determining whether there is a vent cover on the container; if there is a vent cover, combining the image recognition result and the ranging result to calculate an arrangement position of the vent cover; using the ranging apparatus to measure the position of a robotic arm, a gas collection apparatus being mounted on the robotic arm; and controlling a mobile device equipped with the robotic arm, to enable the robotic arm to move to the arrangement position of the vent cover, and performing gas collection by means of the gas collection apparatus.

Description

Gas sampling and control methods, devices, systems, and computer program products

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411837098.6, filed on December 12, 2024, entitled "Gas Collection and Control Method, Apparatus, System and Computer Program Product", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of container safety inspection, and in particular to gas collection control methods, apparatus, systems, and computer programs for collecting gases inside containers. Background Technology

[0004] In recent years, the field of container security inspection has required the ability to count the gases inside containers without opening them. In particular, there is a need to collect and analyze gases that can cause adverse effects on human health, such as harmful chemicals, toxic gases, alcohol, and drugs, without personnel entering the container.

[0005] In response, Patent Document 1 describes a technique that involves: identifying the spatial location of a gas collection point on a target object using an image acquisition device; driving a robot's robotic arm to reach the gas collection area corresponding to the spatial location; and controlling a gas collection device mounted on the robotic arm to collect gas from the target object at the gas collection location. This patent automatically identifies relatively fixed spatial locations for gas collection on the target object within the detection area and adjusts the robot's position based on the specific location of the gas collection location, thereby effectively collecting gas from inside the container.

[0006] Patent Document 1: CN114813250A Summary of the Invention

[0007] However, the aforementioned prior art has the following technical problems:

[0008] (1) In the aforementioned prior art, only targets with a single and fixed gas collection location can be detected. For example, a container truck must be parked in a fixed position to collect images and locate the gas collection location, and it is assumed that there is only one fixed gas collection location. That is, firstly, in the prior art, the container truck must be parked in a fixed position, making it impossible to detect randomly parked vehicles. Due to the high requirements for the vehicle's parking position, the detection efficiency is affected. Secondly, the gas collection locations on the container (e.g., usually a ventilation hood) are diverse. That is, there may be no gas collection location, the gas collection location may be left front right rear, the gas collection location may be right front left rear, etc. When encountering double or multiple container combinations, the gas collection location becomes even more complex. In the prior art, only targets that meet specific requirements can be measured. If the requirements are not met, manual screening is highly likely, resulting in a low degree of automation.

[0009] (2) In the prior art, the method of obtaining the setting position of gas collection position (e.g., ventilation hood) on the container is limited and inflexible. Only by placing the gas collection position in advance within the detection range of the image acquisition device can the setting position of the gas collection position be obtained by relying on the image recognition method. If the preset range is exceeded, the setting position of the gas collection position cannot be obtained.

[0010] This application proposes a gas collection control method, apparatus, system, and computer program product capable of accurately collecting gases from containers mounted on moving vehicles.

[0011] One aspect of this application provides a gas collection and control method for collecting gas inside a container. The gas collection and control method includes: a ranging device measuring the distance of a container mounted on a moving vehicle as the ranging result; based on the ranging result, if the container enters a measurement area, activating an image acquisition device to collect images of at least a specific location of the container during the vehicle's movement; determining whether there is a ventilation hood on the container based on image recognition results; if there is a ventilation hood, calculating the location of the ventilation hood by combining the image recognition result and the ranging result; measuring the position of a robotic arm equipped with a gas collection device using the ranging device; and controlling a mobile device equipped with the robotic arm to move the robotic arm to the location of the ventilation hood and collect gas through the gas collection device.

[0012] In some embodiments, when image acquisition is performed, multiple images are taken at specific locations on the container during vehicle movement; the distance measurement results include the distances from the front and rear surfaces of the container to the distance measuring device; the specific locations include the front and rear surfaces of the container.

[0013] In some embodiments, determining the placement position of the ventilation hood by combining image recognition results and distance measurement results includes: determining the length of the container based on the distance measurement results, image recognition results, or the type of container; determining the distance from the rear surface of the container to the distance measuring device based on the distance measurement results; obtaining the distance from the ventilation hood to the nearest surface of the container from the image recognition results; when there is only one container, calculating the distance between the ventilation hood and the distance measuring device based on the distance between the ventilation hood and the nearest surface of the container, the distance from the rear surface of the container to the distance measuring device, and the length of the container; when there are multiple containers, calculating the distance between the ventilation hood and the distance measuring device based on the distance from the rear surface of the container to the distance measuring device, the distance between the ventilation hood and the nearest surface of the container, the length of the container, and the spacing between the multiple containers.

[0014] In some embodiments, determining the length of a container based on ranging results, image recognition results, or the type of container includes: determining the type of container based on the positions of the front and rear sides of the container; or, determining the type of container based on the information in the image recognition results, which include at least one of the container number, container type code, and container size code; or, determining the type of container based on a combination of ranging results and image recognition results, and then determining the length of the container based on the type of container.

[0015] In some embodiments, the image acquisition device is provided with at least one, the ranging device and the robotic arm are located on the same side of the container, and at least one of the image acquisition devices is located on the same side of the container as the ranging device and the robotic arm.

[0016] In some embodiments, when multiple image acquisition devices are provided and located on both sides of the container, the arrangement of the ventilation hoods is determined based on the image recognition results. The arrangement is either left-front-right-rear or right-front-left-rear. Based on the distances of the ventilation hoods located on different sides from the front and rear container surfaces and the arrangement of the ventilation hoods, the distance of the ventilation hoods located on the same side as the robotic arm and the ranging device from the nearest container surface is obtained.

[0017] In some embodiments, controlling the movement of the robotic arm to move the robotic arm to the set position of the ventilation hood includes: calculating a first distance, the first distance representing the distance between the ventilation hood and the ranging device; calculating a second distance, the second distance representing the distance between the robotic arm and the ranging device; and calculating the second distance in real time during the movement of the robotic arm, and stopping the movement of the robotic arm when the second distance is equal to the first distance.

[0018] In some embodiments, the ranging device is at least one of lidar, multi-line laser, and distance sensor; the image acquisition device is at least one of camera, video camera, and camera, wherein the camera includes a network camera and an area array camera, and the video camera includes a network camera capable of continuously outputting bitstreams.

[0019] In some embodiments, the mobile device includes: a guide rail and a movable part that moves along the guide rail, or a movable vehicle, or a movable robot.

[0020] Another aspect of this application provides a gas collection and control device for collecting gas inside a container. The gas collection and control device includes: a ranging control module, which controls a ranging device to measure the distance of a container mounted on a moving vehicle as the ranging result; an image acquisition control module, which, based on the ranging result, activates an image acquisition device to collect images of at least a specific position of the container during the vehicle's movement if the container enters the measurement area; a ventilation hood presence / absence determination module, which determines whether a ventilation hood is present on the container based on image recognition results; a ventilation hood position calculation module, which, when a ventilation hood is present, calculates the placement position of the ventilation hood by combining the image recognition result and the ranging result; a robotic arm position measurement module, which controls a ranging device to measure the position of a robotic arm on which a gas collection device is mounted; and a robotic arm control module, which controls a mobile device equipped with a robotic arm to move the robotic arm to the placement position of the ventilation hood and collect gas through the gas collection device.

[0021] In some embodiments, when the image acquisition control module acquires images, it takes multiple images at specific locations on the container during the vehicle's movement. The distance measurement results include the distances from the front and rear surfaces of the container to the distance measuring device, and the specific locations include the front and rear surfaces of the container.

[0022] In some embodiments, the ventilation hood position calculation module includes: a length determination unit, which determines the length of the container based on the distance measurement result, the image recognition result, or the type of container; a rear container surface distance determination unit, which determines the distance between the rear container surface and the distance measuring device in the container based on the distance measurement result; a nearest container surface distance acquisition unit, which acquires the distance between the ventilation hood and the nearest container surface in the container from the image recognition result; and a ventilation hood distance calculation unit, which calculates the distance between the ventilation hood and the distance measuring device based on the distance between the ventilation hood and the nearest container surface in the container, the distance between the rear container surface and the distance measuring device in the container, and the length of the container when there is one container; and calculates the distance between the ventilation hood and the distance measuring device based on the distance between the rear container surface and the distance measuring device in the container, the distance between the ventilation hood and the nearest container surface in the container, the length of the container, and the spacing between the multiple containers when there are multiple containers.

[0023] In some embodiments, the length determination unit determines the type of container based on the position of the front and rear sides of the container; or, the image recognition result includes at least one of the following: container number, container type code, and container size code, and the length determination unit determines the type of container based on the information; or, by combining the distance measurement result and the image recognition result, the length determination unit determines the type of container and determines the length of the container based on the type of container.

[0024] In some embodiments, the image acquisition device is provided with at least one, the ranging device and the robotic arm are located on the same side of the container, and at least one of the image acquisition devices is located on the same side of the container as the ranging device and the robotic arm.

[0025] In some embodiments, when multiple image acquisition devices are provided and located on both sides of the container, the arrangement of the ventilation hoods is determined based on the image recognition results. The arrangement is either left-front-right-rear or right-front-left-rear. The nearest container surface distance acquisition unit obtains the distance of the ventilation hood located on the same side as the robotic arm and the ranging device from the front and rear container surfaces, as well as the arrangement of the ventilation hoods, from the front and rear container surfaces.

[0026] In some embodiments, the robotic arm control module includes: a first distance calculation unit for calculating a first distance, the first distance representing the distance between the ventilation hood and the ranging device; a second distance calculation unit for calculating a second distance, the second distance representing the distance between the robotic arm and the ranging device; and a movement control unit for calculating the second distance in real time during the movement of the robotic arm, and stopping the movement of the robotic arm when the second distance is equal to the first distance.

[0027] In some embodiments, the ranging device is at least one of lidar, multi-line laser, and distance sensor; the image acquisition device is at least one of camera, video camera, and camera, wherein the camera includes a network camera and an area array camera, and the video camera includes a network camera capable of continuously outputting bitstreams.

[0028] In some embodiments, the mobile device includes: a guide rail and a movable part that moves along the guide rail, or a movable vehicle, or a movable robot.

[0029] Another aspect of this application provides a gas collection system inside a container, comprising: an image acquisition device; a ranging device; a robotic arm and its mobile device; and the aforementioned gas collection control device.

[0030] Another aspect of this application provides a computer program product, including a computer program that causes a computer to perform the steps in the above-described gas collection and control method.

[0031] According to the gas acquisition and control method of this application, in addition to the image acquisition device, a ranging device is also used to measure the distance to a specific position on a container mounted on a moving vehicle as the ranging result; based on the ranging result, it is determined whether the container has entered the area to be measured; if it has entered the area to be measured, the image acquisition device can be started to acquire images of the moving container without the vehicle stopping at a fixed position, thereby enabling image acquisition and image recognition results to be obtained while the vehicle is in motion.

[0032] Furthermore, based on the image recognition results of the collected images, it is determined whether there is a ventilation hood on the container. Only when a ventilation hood is present, the location of the ventilation hood is calculated by combining the image recognition results and the distance measurement results. The position of the robotic arm is measured using a distance measuring device, and the robotic arm is controlled to move to the location of the ventilation hood. This fully considers whether the container is a closed container or an open container. Moreover, for open containers, the location of the ventilation hood can be accurately located by combining the image recognition results and the distance measurement results, thereby improving the gas collection efficiency and the gas analysis accuracy.

[0033] Furthermore, the robotic arm is mounted on the mobile device, meaning it is also mobile. Therefore, there is no need to park the vehicle within a specific area of ​​the robotic arm's reach; the robotic arm can be moved to the precise location of the ventilation hood. Attached Figure Description

[0034] Figure 1 is a flowchart schematically illustrating the main process of the gas collection and control method.

[0035] Figure 2 is a schematic diagram illustrating an application scenario of the gas collection and control method.

[0036] Figure 3 is a schematic diagram illustrating another embodiment of the gas collection and control method in an application scenario.

[0037] Figures 4(a) and (b) are schematic diagrams illustrating an embodiment of capturing images when a container mounted on a vehicle arrives at a preset position.

[0038] Figure 5 is a flowchart illustrating an example of the process for calculating the placement location of the ventilation hood.

[0039] Figures 6(a) to (c) are schematic diagrams illustrating the arrangement of common container vents.

[0040] Figures 7(a) to (f) are schematic diagrams illustrating an example of calculating the placement of the ventilation hood.

[0041] Figure 8 is a schematic diagram illustrating an example of the process of controlling the robotic arm to move to the set position of the ventilation hood.

[0042] Figure 9 is a schematic diagram showing the configuration of the gas collection and control device of this application.

[0043] Figure 10 is a functional block diagram showing an example of the ventilation hood position calculation module.

[0044] Figure 11 is a functional block diagram showing an example of a robotic arm control module.

[0045] Figure 12 shows a schematic diagram of the structure of an electronic device according to this application.

[0046] Symbol Explanation: 1: Image acquisition device; 2: Distance measuring device; 3: Mobile device; 4: Guide rail; 5: Robotic arm; 10: Distance measuring control module; 20: Image acquisition control module; 30: Ventilation hood presence / absence judgment module; 40: Ventilation hood position calculation module; 50: Robotic arm position measurement module; 60: Robotic arm control module; 41: Length determination unit; 42: Rear box surface distance determination unit; 43: Nearest box surface distance acquisition unit; 44: Ventilation hood distance calculation unit; 61: First distance calculation unit; 62: Second distance calculation unit; 63: Movement control unit; 801: Processor; 802: Memory; 803: Communication interface; 810: Bus. Detailed Implementation

[0047] Exemplary embodiments or examples of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments or examples set forth herein. Rather, these embodiments or examples are provided to enable a clearer understanding of this application.

[0048] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects, not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments or examples of this application described herein can be implemented in a sequence other than that illustrated or described. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such as a process, method, system, product, or apparatus that includes a series of steps or units, not limited to those explicitly listed, but may include other steps or units not explicitly listed. Identical or similar reference numerals throughout the document denote constituent elements having the same or similar functions.

[0049] To address the issue that gas collection can only be performed when a container-carrying vehicle is parked in a fixed location, the inventors of this application have explored a technique for locating the gas collection position on a container mounted on a moving vehicle.

[0050] One aspect of this application provides a gas harvesting control method for harvesting gases inside a container. Figure 1 is a flowchart schematically illustrating the main flow of the gas harvesting control method. Figure 2 is a schematic diagram illustrating an embodiment of an application scenario of the gas harvesting control method. The application scenario of the gas harvesting control method can also constitute a gas harvesting system inside a container. Figure 3 is a schematic diagram illustrating another embodiment of an application scenario of the gas harvesting control method.

[0051] Before explaining the main process of the gas acquisition and control method, let's first explain the application scenarios of the gas acquisition and control method, that is, the composition of the gas acquisition system.

[0052] As shown in Figure 2, the gas acquisition system includes: an image acquisition device 1, a ranging device 2, a mobile device, and a robotic arm 5. The robotic arm 5 is mounted on the mobile device. X indicates the direction of entry of the vehicle carrying the container. In the embodiment shown in Figure 2, the mobile device includes: a movable assembly device 3 and a guide rail 4 for the reciprocating movement of the movable assembly device 3.

[0053] Image acquisition device 1 is a device used to acquire images, which may be a camera, video camera, webcam, etc. Among them, cameras include network cameras and area array cameras, and video cameras include network cameras that can continuously output bitstreams, etc., but are not limited to these.

[0054] The image acquisition device 1 can be one or more. Preferably, one is installed on each side of the entrance to the passageway of the vehicle carrying the container, thereby obtaining images of both sides of the container.

[0055] The ranging device 2 is a device used to measure distance, and can be a lidar, multi-line laser, distance sensor, etc., but is not limited to these. As shown in Figure 2, the ranging device 2 can be installed on one side of the entrance to the passageway of a vehicle carrying a container.

[0056] In the embodiment shown in Figure 3, the difference from the embodiment shown in Figure 2 is that the mobile device includes a mobile vehicle 3' equipped with a robotic arm 5, or a mobile robot 3'. 4' in Figure 3 shows the passageway through which the vehicle travels.

[0057] Preferably, the image acquisition device 1, the ranging device 2, and the robotic arm 5 are located at least on the same side of the container. This arrangement makes it easy to determine the position of the ventilation hood on the same side as the robotic arm 5, facilitating control of the robotic arm 5 for gas collection.

[0058] The gas harvesting control method of this application can be implemented by a control device of the gas harvesting system. This control device can be integrated with the gas harvesting system or set up independently. The control device can be an electronic device capable of communicating with and controlling various devices in the gas harvesting system. The gas harvesting control method of this application will be specifically described below with reference to Figure 1.

[0059] As shown in Figure 1, in step S10, the ranging device 2 measures the distance of the container mounted on the moving vehicle and uses the distance measurement result as the result.

[0060] Optionally, when a truck carrying a container enters the lane, the ranging device 2 collects the positions of the front surface Fs and / or the rear surface Rs of the container in real time. The ranging result includes at least the distances from the front surface Fs and / or the rear surface Rs to the ranging device 2. Preferably, the ranging result includes at least the distances from the front surface Fs and the rear surface Rs to the ranging device 2.

[0061] In step S20, the distance measurement result of the distance measuring device 2 is used to determine whether the container has entered the area to be measured by the image acquisition device 1.

[0062] Based on the positional relationship between the distance measured by the ranging device 2 and the area to be measured, it can be determined whether the container mounted on the moving vehicle has entered the area to be measured by the image acquisition device 1.

[0063] If it is determined in step S20 that the area to be tested has been entered, then in step S30, the image acquisition device 1 is activated to acquire images of at least a specific location of the container during the vehicle's movement. The specific location includes at least the front surface Fs and the rear surface Rs.

[0064] Optionally, when the ranging device 2 detects that the front surface Fs and / or the rear surface Rs of the container have reached the set photo-taking position (entered the area to be measured), it immediately triggers the image acquisition device 1 to continuously take a predetermined number of photos and store them in a folder. The image recognition result is then obtained through an image recognition algorithm.

[0065] Alternatively, images of the container can be continuously captured as the vehicle travels and enters the area to be tested. However, continuously capturing images while the vehicle is in motion would increase the amount of image data.

[0066] Optionally, during vehicle operation, as shown in Figure 4(a), the ranging device 2 detects that the front box surface Fs has reached a preset position and takes multiple preset images. Then, as shown in Figure 4(b), it detects that the rear box surface Rs has also reached a preset position and takes multiple preset images again. By taking multiple preset images at positions where the front box surface Fs and the rear box surface Rs can be located, as shown in Figures 4(a) and (b), the amount of data can be reduced while still being sufficient to identify the required information.

[0067] In summary, in this application, in addition to the image acquisition device 1, a ranging device 2 is also used to measure the distance to a specific position on the container mounted on a moving vehicle. Based on the ranging result of the ranging device 2, it is determined whether the container has entered the area to be measured. If it has entered the area to be measured, the image acquisition device 1 can be started to acquire images of the moving container without the vehicle stopping at a fixed position, thereby enabling image acquisition and image recognition results to be obtained while the vehicle is in motion.

[0068] Therefore, in this application, the target object with a breathable hood T can be automatically selected.

[0069] In step S40, based on the image recognition results of the image acquired by the image acquisition device 1, it is determined whether there is a ventilation hood on the container.

[0070] Image recognition can be performed on the images acquired by image acquisition device 1 to obtain image recognition results. This image recognition can be performed by image acquisition device 1 or by other devices based on the image data acquired by image acquisition device 1.

[0071] Image recognition results can not only determine whether a container has ventilation hoods, but also obtain the following information: the arrangement of the ventilation hoods on the container, and the distance between the ventilation hood (specifically, the center point) and the container's surface. Image recognition results may also include: the distance between the ventilation hood and the nearest surface of the container. Additionally, image recognition results can also obtain: the container number, container type code, and container size code.

[0072] In step S50, if it is determined in step S40 that there is a ventilator, the setting position of the ventilator T is calculated by combining the above image recognition results and the ranging results of the ranging device 2.

[0073] In some embodiments, as shown in FIG5, step S50 may further include steps S51 to S54.

[0074] In step S51, the length of the container is determined based on the ranging results, image recognition results, or the type of container.

[0075] In some embodiments, the length of the container is determined based on the distance measured by the distance measuring device 2. The length of the container can be obtained by measuring the distance between the front face Fs and the rear face Rs of the container using the distance measuring device 2.

[0076] In some embodiments, the length of the container is determined based on the image recognition result of the image acquisition device 1. The image recognition result may include the length of the container.

[0077] In some embodiments, the length of the container is determined according to the type of container.

[0078] If the type of container is defined, then the length of each type of container is a standard, fixed value. Therefore, the accurate length of the container can be obtained based on its type.

[0079] Although there are other ways to determine the length of a container, the methods described above can provide a relatively convenient and accurate way to obtain the length of a container.

[0080] The length of the container is obtained by combining the distance measurement results from the distance measuring device 2 with the image recognition results from the image acquisition device. While the calculation method is simple, the obtained length may still contain some error. However, the specifications of each type of container are standardized and must conform to national standards. For example, the common format for size codes and container type codes is X2G1, where X is the container size code (X=2 indicates a 20-foot container, X=4 indicates a 40-foot container, and X=L indicates a 45-foot container); G1 is the container type code, and containers with the G1 designation definitely have ventilation hoods. Therefore, determining the container length based on its type is more accurate.

[0081] The following explains the methods for determining the type of container.

[0082] Generally, shipping containers are divided into enclosed containers and open containers. Enclosed containers cannot exchange gases with the outside environment. Open containers, on the other hand, exchange gases with the outside environment through ventilation hoods. These ventilation hoods on open containers are usually arranged in two ways: left-front-right-rear or right-front-left-rear.

[0083] Figures 6(a) to (c) are schematic diagrams illustrating the arrangement of vent hoods T in a common container. Figure 6(a) shows a closed container without vent hoods, Figure 6(b) shows a container with vent hoods T arranged in a left-front-right-rear configuration, and Figure 6(c) shows a container with vent hoods T arranged in a right-front-left-rear configuration. In step S40, if a vent hood is determined to be present, it is a non-closed container as shown in Figure 6(b) or Figure 6(c). In this application, the presence or absence of a vent hood is first determined, and gas collection and analysis are performed only on such non-closed containers based on the determination result.

[0084] When a vehicle carrying a non-enclosed container enters the passage, the distances from the front side (Fs) and rear side (Rs) of the container to the distance measuring device 2 can be measured. Based on these distances, the type of container can be determined: short container, long container, or multi-container container. Multi-container containers refer to a vehicle carrying multiple containers; the most common type is a double container, but it is not limited to this. In this case, the type of container can be easily determined solely from the distance measurement results.

[0085] Optionally, when the image recognition result includes the container number, container type code, container size code, etc., the type of container can be determined based on this information, or the length of the container can be directly obtained. In this case, it is easier to obtain the type and length of the container, but this depends on the resolution of the image acquisition device and the shooting position.

[0086] Alternatively, the two methods can be combined. That is, the type of container can be determined by combining the ranging results from the ranging device 2 and the image recognition results. In this case, the type of container can be determined more accurately.

[0087] If there are multiple containers, the spacing between containers can be obtained by standard lookup or by image recognition results based on image acquisition device 1.

[0088] Returning to Figure 5, in step S52, the distance from the rear side Rs of the container to the distance measuring device 2 is obtained based on the distance measurement results. If the container type is multi-container, the distance from the rear side Rs of the container to the distance measuring device 2 here refers to the distance from the rear side Rs of the last container to the distance measuring device 2.

[0089] In step S53, the distance between the vent hood T and the nearest container surface is obtained from the image recognition results. If there are multiple containers, the distance between the vent hood T and the nearest container surface is obtained for each container.

[0090] When the image recognition result does not directly include the distance between the vent on the container and the nearest surface of the container, the distance between the vent T and the nearest surface of the container can be obtained by comparing the distances between the vent on the container and the two surfaces of the container.

[0091] In step S54, when there is only one container, the distance between the vent T and the distance measuring device 2 is calculated based on the distance between the rear box surface Rs of the container and the distance between the vent T and the nearest box surface in the container, and the length of the container.

[0092] When there are multiple containers, the distance between the vent T and the distance measuring device 2 is calculated based on the distance Rs of the rear container surface in the container to the distance measuring device 2, the distance between the vent T and the nearest container surface in the container, the length of the container, and the spacing between the containers.

[0093] Image recognition results can be used to determine whether there is one or multiple containers. Alternatively, if the container type is short container or long container, it can be considered as one container, and if the container type is multi-container, it can be considered as multiple containers.

[0094] Although steps S51 to S53 are shown in the order shown in Figure 5, this is only an example. There is no order between steps S51 to S53. The order of the three steps can be arbitrary and they can be executed in parallel.

[0095] In this application, the distance between the vent T and the distance measuring device 2 is calculated based on the distance between the rear box surface Rs of the container and the distance between the vent T and the nearest box surface of the container, the length of the container, the spacing between the containers, etc., so that the vent T can be accurately positioned.

[0096] Figures 7(a) to (f) schematically illustrate an example of calculating the placement of the vent hood T. In the examples of Figures 7(a) to (f), multiple boxes are exemplified by two boxes.

[0097] In Figure 7, L1 is set as the distance from the distance measuring device to the rear surface Rs of the container, L2 and L3 are the distances from the vent T to the nearest surface of the container, L4 and L5 are the lengths of the container, and L6 is the spacing between the two containers.

[0098] As shown in Figure 7(a), when there is one container and one vent is close to the rear container surface, the distance between the vent and the distance measuring device is L1 + L2.

[0099] As shown in Figure 7(b), when there is one container and one vent is close to the front of the container, the distance between the vent and the distance measuring device is L1 + L4 - L2.

[0100] Therefore, when there is only one container, the distance between the vent and the distance measuring device is equal to the distance L1 from the distance measuring device to the rear surface Rs of the container plus the distance T from the vent to the rear surface Rs of the container.

[0101] Alternatively, the distance between the ventilator and the distance measuring device can be obtained by measuring the distance between the ventilator T and the rear surface Rs of the container, regardless of which side the ventilator is close to.

[0102] However, in this example, by utilizing the distances L2 and L3 from the vent T to the nearest container surface, errors caused by measurement can be reduced, and the installation position of the vent can be calculated more accurately.

[0103] As shown in Figure 7(c), when there are two containers and both vents are close to the front of the container, the distance from the first vent to the distance measuring device is L1+L5+L6+L4-L2, and the distance from the second vent to the distance measuring device is L1+L5-L3.

[0104] As shown in Figure 7(d), when there are two containers and the first vent is close to the front of the container and the second vent is close to the rear of the container, the distance from the first vent to the distance measuring device is L1+L5+L6+L4-L2, and the distance from the second vent to the distance measuring device is L1+L3.

[0105] As shown in Figure 7(e), when there are two containers and the first vent is close to the rear container and the second vent is close to the front container, the distance from the first vent to the distance measuring device is L1+L5+L6+L2, and the distance from the second vent to the distance measuring device is L1+L5-L3.

[0106] As shown in Figure 7(f), when there are two containers and both vents are close to the rear side of the container, the distance from the first vent to the distance measuring device is L1+L5+L6+L2, and the distance from the second vent to the distance measuring device is L1+L3.

[0107] Therefore, when there are two containers, the distance from the vent hood of the second container to the distance measuring device = the distance from the distance measuring device to the rear surface Rs of the container L1 + the distance from the vent hood T to the rear surface Rs of the container; the distance from the distance measuring device of the first container to the rear surface Rs of the container L1 + the distance from the vent hood T to the rear surface Rs of the container + the spacing between the containers + the length of the second container.

[0108] Therefore, alternatively, the distance between the ventilator and the distance measuring device can be obtained by measuring the distance between the ventilator T and the rear surface Rs of the container, regardless of which side the ventilator is close to.

[0109] However, in the case of two containers, by utilizing the distances L2 and L3 from the vent T to the nearest container surface, errors caused by measurement can be reduced, and the installation position of the vent can be calculated more accurately.

[0110] In the examples shown in Figures 7(a) to (f), the location of the vent T refers to the location of the vent T on the same side as the ranging device 1 and the robotic arm 5, which facilitates the robotic arm 5 to collect gas.

[0111] In some embodiments, there is a problem that the distance of the ventilation hood T, which is located on the same side as the ranging device 1 and the robotic arm 5, relative to the front surface Fs and the rear surface Rs of the container cannot be accurately obtained from the image recognition results. For example, the image acquisition effect on the same side is not ideal, so some image recognition results on the same side cannot be obtained.

[0112] In this case, the image acquisition results and image recognition results from the other side can be used to supplement or correct the image recognition results from the same side.

[0113] Alternatively, the distance of the vents on the same side can be calculated using the arrangement of the vents and the distance of the vent T on the other side relative to the front face Fs and / or rear face Rs of the container.

[0114] Optionally, the arrangement of the ventilation hoods on the container can be obtained from the image recognition results on the other side. Since the ventilation hoods can be arranged in either a left-front-right-rear or right-front-left-rear arrangement, the image recognition results can be used to determine whether it is a left-front-right-rear or right-front-left-rear arrangement.

[0115] In this case, the distance of the vent T located on the same side as the ranging device 1 and the robotic arm 5 relative to the nearest container surface can be obtained based on the distance of the vent T located on different sides of the container relative to the front and rear surfaces of the container, as well as the arrangement of the vents.

[0116] As an example, the distances of the ventilation hoods T located on the same side as the measuring device 1 and the robotic arm 5 relative to the front and rear sides of the container can be obtained based on the distances of the ventilation hoods T located on different sides of the container relative to the front and rear sides of the container, as well as the arrangement of the ventilation hoods. Based on these distances of the ventilation hoods T located on the same side as the measuring device 1 and the robotic arm 5 relative to the front and / or rear sides of the container, the distance of the ventilation hood T located on the same side as the measuring device 1 and the robotic arm 5 relative to the nearest side of the container can be obtained.

[0117] As another example, the distance between the vent T located on different sides of the container and the nearest container surface can be obtained directly based on the distances of the vent T located on different sides of the container and the distances of the vent T located on different sides of the container and the distances of the vent T located on different sides of the container and the distances of the vent T located on different sides of the container and the distances of the vent T located on the same side of the container and the distances of the vent T located on different sides of the container and the arrangement of the vents.

[0118] Here, given a fixed arrangement of the ventilation hoods and a fixed type of container, the distance between two ventilation hoods T on the same container is also a standard fixed value. Therefore, the distance between a ventilation hood T located on the same side as the ranging device 1 and the robotic arm 5 can be obtained by measuring the distance between the ventilation hood T located on a different side from the ranging device 1 and the robotic arm 5.

[0119] Therefore, in this application, by combining the arrangement of the ventilation hoods, even if the image recognition result of the ventilation hood T located on the same side as the ranging device 1 and the robotic arm 5 is not good, the image recognition result of the ventilation hood T on the opposite side can be used to supplement it, so as to avoid the situation that the position of the ventilation hood T cannot be located, thereby improving work efficiency.

[0120] Returning to Figure 1 for further explanation, in step S60, the position of the robotic arm 5 is measured using the ranging device 2.

[0121] Optionally, the distance between the robotic arm 5 and the distance measuring device 2 can be measured in real time using the ranging device 2.

[0122] In step S70, the movement of the robotic arm 5 is controlled so that the robotic arm 5 moves to the gas collection position and the gas is collected by the gas collection device.

[0123] The gas sampling location is the position of the vent T where gas sampling will be performed. The gas sampling device can be any device used for gas sampling, or it can have both sampling and analysis functions; no special restrictions are imposed here.

[0124] Figure 8 is a schematic diagram illustrating an example of the process of controlling the robotic arm 5 to move to the set position of the ventilation hood T.

[0125] In some embodiments, as shown in FIG8, controlling the movement of the robotic arm 5 to move the robotic arm 5 to the designated position of the ventilation hood T may include:

[0126] Calculate the distance Lt between the ventilation hood T and the distance measuring device 2;

[0127] Calculate the distance La between robotic arm 5 and ranging device 2; and

[0128] As the robotic arm 5 moves along with the mobile device, the distance La is calculated in real time. When the distance La equals the distance Lt, the movement of the robotic arm 5 stops.

[0129] In step S80, the gas sampling process is terminated.

[0130] According to the gas acquisition control method of this application, in addition to the image acquisition device 1, a ranging device 2 is also used to measure the distance to a specific position on the container mounted on a moving vehicle as the ranging result; based on the ranging result, it is determined whether the container has entered the area to be measured; if it has entered the area to be measured, the image acquisition device 1 can be started to acquire images of the moving container without the vehicle stopping at a fixed position, thereby enabling image acquisition and image recognition results to be obtained while the vehicle is in motion.

[0131] Furthermore, based on the image recognition results of the collected images, it is determined whether there is a ventilation hood on the container. Only when a ventilation hood is present, the location of the ventilation hood is calculated by combining the image recognition results and the distance measurement results. The position of the robotic arm is measured using a distance measuring device, and the robotic arm is controlled to move to the location of the ventilation hood. This fully considers whether the container is a closed container or an open container. Moreover, for open containers, the location of the ventilation hood can be accurately located by combining the image recognition results and the distance measurement results, thereby improving the gas collection efficiency and the gas analysis accuracy.

[0132] In addition, the robotic arms are all mounted on mobile devices, meaning they are mobile. Therefore, there is no need to park the vehicle within a specific area of ​​the robotic arm's reach; the robotic arm can be moved to the precise position of the ventilation hood.

[0133] Another aspect of this application may provide a gas collection and control device for the interior of a container. Figure 9 is a schematic diagram showing the configuration of the gas collection and control device of this application. This gas collection and control device may also be the executing entity for performing the gas collection and control method described above.

[0134] The gas acquisition and control device can be integrated with the gas acquisition system or installed independently. The gas acquisition and control device is an electronic device capable of communicating with and controlling various devices within the gas acquisition system. The following functional modules are divided according to their functions; physically, one component can perform the functions of multiple modules, or multiple components can perform the functions of one module.

[0135] As shown in Figure 9, the gas acquisition and control device includes: a distance measurement control module 10, an image acquisition control module 20, a ventilation hood presence / absence judgment module 30, a ventilation hood position calculation module 40, a robotic arm position measurement module 50, and a robotic arm control module 60.

[0136] The ranging control module 10 controls the ranging device 2 to measure the distance of the container mounted on the moving vehicle and use the measurement result as the distance measurement result.

[0137] Optionally, the ranging control module 10 controls the ranging device 2 to collect the distance between the front surface Fs and / or rear surface Rs of the container and the ranging device 2 in real time when a truck carrying a container enters the channel.

[0138] Based on the ranging results, if the container enters the area to be measured, the image acquisition control module 20 activates the image acquisition device 1 to acquire images of specific locations on the container during vehicle movement. These specific locations include at least the front surface Fs and the rear surface Rs.

[0139] The ventilation cover presence / absence determination module 30 determines whether there is a ventilation cover T on the container based on the image recognition results of the image.

[0140] When there is a ventilator T, the ventilation hood position calculation module 40 calculates the setting position of the ventilator T by combining the image recognition results and the distance measurement results.

[0141] The robotic arm position measurement module 50 controls the ranging device 2 to measure the position of the robotic arm 5, which is equipped with a gas collection device.

[0142] The robotic arm control module 60 controls the movement of the robotic arm 5, causing the robotic arm 5 to move to the set position of the ventilation hood and collect gas through the gas collection device.

[0143] The specific processing and effects performed by the ranging control module 10 correspond to the processing and effects in S10 of the gas acquisition control method described above; the specific processing and effects performed by the image acquisition control module 20 correspond to the processing and effects in S20 to S30 of the gas acquisition control method described above; the specific processing and effects performed by the ventilation hood presence / absence judgment module 30 correspond to the processing and effects in S40 of the gas acquisition control method described above; the specific processing and effects performed by the ventilation hood position calculation module 40 correspond to the processing and effects in S50 of the gas acquisition control method described above; the specific processing and effects performed by the robotic arm position measurement module 50 correspond to the processing and effects in S60 of the gas acquisition control method described above; and the specific processing and effects performed by the robotic arm control module 60 correspond to the processing and effects in step S70 of the gas acquisition control method described above. Therefore, the details of steps S10 to S70 can be referred to above, and will not be repeated here.

[0144] Figure 10 is a functional block diagram showing an example of the ventilation hood position calculation module 40.

[0145] As shown in Figure 10, the ventilation hood position calculation module 40 may include a length determination unit 41, a rear box surface distance determination unit 42, a nearest box surface distance acquisition unit 43, and a ventilation hood distance calculation unit 44.

[0146] The length determination unit 41 determines the length of the container based on the image recognition results, the distance measurement results, or the length of the container.

[0147] The rear container surface distance determination unit 42 determines the distance between the rear container surface Rs and the distance measuring device 2 based on the distance measurement results.

[0148] The nearest container surface acquisition unit 43 obtains the distance between the ventilation hood T and the nearest container surface from the image recognition results.

[0149] When there is only one container, the vent T distance calculation unit 44 calculates the distance between the vent T and the distance measuring device 2 based on the distance between the vent T and the nearest container surface, the distance between the rear container surface Rs and the distance measuring device 2, and the length of the container. When there are multiple containers, the vent T distances relative to the distance measuring device 2 are calculated based on the distance between the rear container surface Rs and the distance measuring device 2, the distance between the vent T and the nearest container surface, the length of the container, and the spacing between the containers.

[0150] The specific processing and effects performed by the length determination unit 41, the rear box surface distance determination unit 42, the nearest box surface distance acquisition unit 43, and the ventilation hood distance calculation unit 44 correspond to the processing and effects in steps S51 to S54 of the above-mentioned gas collection and control method. Therefore, the details of steps S51 to S54 can be referred to above, and will not be repeated here.

[0151] Figure 11 is a functional block diagram showing an example of a robotic arm control module 60.

[0152] As shown in Figure 11, the robotic arm control module 60 may include a first distance calculation unit 61, a second distance calculation unit 62, and a movement control unit 63.

[0153] The first distance calculation unit 61 calculates the first distance, where the first distance represents the distance between the vent T and the distance measuring device 2.

[0154] The second distance calculation unit 62 calculates a second distance, which represents the distance between the robotic arm 5 and the ranging device 2.

[0155] The motion control unit 63 calculates the second distance in real time during the movement of the robotic arm 5, and stops the movement of the robotic arm 5 when the second distance equals the first distance.

[0156] The specific processing and effects performed by the first distance calculation unit 61, the second distance calculation unit 62, and the movement control unit 63 correspond to the processing and effects in step S70 of the gas acquisition control method described above. Therefore, the details of step S70 can be referred to above, and will not be repeated here.

[0157] The gas collection and control device according to this application can achieve the same effect as the gas collection and control method described above.

[0158] One aspect of this application may also provide an electronic device.

[0159] Figure 12 shows a schematic diagram of the structure of an electronic device according to this application. As shown in Figure 12, the electronic device may include a processor 801 and a memory 802 storing computer programs or instructions.

[0160] Specifically, the processor 801 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0161] Memory 802 may include mass storage for data or instructions. For example, and not limitingly, memory 802 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 802 may include removable or non-removable (or fixed) media. Where appropriate, memory 802 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 802 is non-volatile solid-state memory. In a particular embodiment, memory 802 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0162] The processor 801 reads and executes computer program instructions stored in the memory 802 to implement any of the gas collection and control methods in the above embodiments.

[0163] In one example, the electronic device may also include a communication interface 803 and a bus 810. As shown in Figure 12, the processor 801, memory 802, and communication interface 803 are connected via the bus 810 and communicate with each other.

[0164] The communication interface 803 is mainly used to realize communication between various modules, devices, units and / or devices in the embodiments of this application.

[0165] Bus 810 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 810 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0166] The electronic device can execute the gas collection and control method of this application, thereby realizing the gas collection and control device of this application.

[0167] In addition, in conjunction with the gas harvesting and control method described above, this application can also provide a readable storage medium for implementation. This readable storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the gas harvesting and control methods described above.

[0168] In conjunction with the gas harvesting and control methods described above, this application can also provide a computer program product for implementation. This computer program product includes a computer program whose instructions, when executed by a processor, implement any of the gas harvesting and control methods described in the above embodiments.

[0169] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0170] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0171] It should also be noted that the exemplary embodiments mentioned in this application describe methods or apparatuses based on a series of steps or devices. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0172] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0173] It should be understood that the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in this application, and such modifications or substitutions should all be covered within the scope of protection of this application.

Claims

1. A gas collection and control method for collecting gas inside a container, the gas collection and control method comprising: The ranging device measures the distance of a container mounted on a moving vehicle and uses the distance measurement result as the measurement result; Based on the distance measurement results, if the container enters the area to be measured, the image acquisition device is activated to acquire images of at least a specific location of the container during the vehicle's movement. Based on the image recognition results of the image, determine whether there is a ventilation cover on the container; If the ventilation cover is present, the placement position of the ventilation cover is calculated by combining the image recognition result and the distance measurement result; The position of the robotic arm is measured using the ranging device, and a gas collection device is installed on the robotic arm. as well as The mobile device equipped with the robotic arm is controlled to move the robotic arm to the designated position of the ventilation hood, and gas is collected by the gas collection device.

2. The gas acquisition and control method as described in claim 1, wherein, During image acquisition, multiple images are taken at specific locations on the container while the vehicle is moving. The distance measurement results include: the distances from the front and rear surfaces of the container to the distance measuring device; The specific locations include the front and rear sides of the container.

3. The gas acquisition and control method as described in claim 2, wherein, Determining the placement location of the ventilation hood by combining the image recognition results and the ranging results includes: The length of the container is determined based on the ranging results, the image recognition results, or the type of container. Based on the distance measurement results, determine the distance between the rear surface of the container and the distance measurement device; From the image recognition results, obtain the distance between the ventilation hood and the nearest container surface in the container; When there is only one container, the distance between the vent and the distance measuring device is calculated based on the distance between the vent and the nearest container surface, the distance between the rear surface of the container and the distance measuring device, and the length of the container. When there are multiple containers, the distance between the vent and the distance measuring device is calculated based on the distance from the rear surface of the container to the distance measuring device, the distance from the vent to the nearest surface of the container, the length of the container, and the spacing between the multiple containers.

4. The gas acquisition and control method as described in claim 3, wherein, Determining the length of the container based on the ranging results, the image recognition results, or the type of container includes: The type of container is determined based on the positions of the front and rear sides of the container. Alternatively, the image recognition result may include at least one of the following: container number, container type code, and container size code, and the type of container may be determined based on the information provided. Alternatively, by combining the ranging results and the image recognition results, the type of container can be determined. The length of the container is determined according to the type of container.

5. The gas acquisition and control method as described in claim 4, wherein, The image acquisition device is provided with at least one. The ranging device and the robotic arm are located on the same side of the container, and at least one of the image acquisition devices is located on the same side of the container as the ranging device and the robotic arm.

6. The gas acquisition and control method as described in claim 5, wherein, When multiple image acquisition devices are installed and located on both sides of the container, the arrangement of the ventilation hoods is determined based on the image recognition results: either a left-front-right-rear arrangement or a right-front-left-rear arrangement. Based on the distances of the ventilators located on different sides from the front and rear surfaces of the container, and the arrangement of the ventilators, the distance of the ventilator located on the same side as the robotic arm and the distance measuring device from the nearest surface of the container is obtained.

7. The gas acquisition and control method as described in claim 1, wherein, Controlling the movement of the robotic arm to move it to the designated position of the ventilation hood includes: Calculate a first distance, which represents the distance between the ventilated cover and the ranging device; Calculate a second distance, which represents the distance between the robotic arm and the ranging device; and During the movement of the robotic arm, a second distance is calculated in real time, and the movement of the robotic arm is stopped when the second distance equals the first distance.

8. The gas acquisition and control method as described in claim 1, wherein, The ranging device is at least one of lidar, multi-line laser, and distance sensor; The image acquisition device is at least one of a camera, a video camera, and a webcam. The camera includes a network camera and a snap-on camera. The video camera includes a network webcam capable of continuously outputting bitstreams.

9. The gas acquisition and control method as described in claim 1, wherein, The mobile device includes: a guide rail and a movable part that moves along the guide rail, or a movable vehicle, or a movable robot.

10. A gas collection and control device for collecting gas inside a container, the gas collection and control device comprising: The ranging control module controls the ranging device to measure the distance of the container mounted on the moving vehicle and obtain the ranging result. The image acquisition control module, based on the ranging results, if the container enters the area to be measured, then activates the image acquisition device to acquire images of at least a specific location of the container during the vehicle's movement. A module for determining whether a ventilation cover exists determines whether a ventilation cover is present on the container based on the image recognition results of the image. The ventilation hood position calculation module calculates the placement position of the ventilation hood by combining the image recognition result and the distance measurement result when the ventilation hood is present. The robotic arm position measurement module controls the ranging device to measure the position of the robotic arm, and a gas collection device is installed on the robotic arm; as well as The robotic arm control module controls the mobile device equipped with the robotic arm, causing the robotic arm to move to the designated position of the ventilation hood and collect gas through a gas collection device.

11. The gas collection and control device as described in claim 10, wherein, During image acquisition, the image acquisition control module takes multiple images at specific locations on the container while the vehicle is moving. The distance measurement results include the distances from the front and rear surfaces of the container to the distance measuring device. The specific locations include the front and rear sides of the container.

12. The gas collection and control device as described in claim 11, wherein, The ventilation hood position calculation module includes: The length determination unit determines the length of the container based on the distance measurement result, the image recognition result, or the type of container. The rear container surface distance determination unit determines the distance between the rear container surface and the distance measuring device based on the distance measurement result. The nearest container surface distance acquisition unit obtains the distance between the ventilation hood and the nearest container surface from the image recognition results; and The venting hood distance calculation unit calculates the distance between the venting hood and the distance measuring device based on the distance between the venting hood and the nearest container face, the distance between the rear container face and the distance measuring device, and the length of the container when there is only one container. When there are multiple containers, the unit calculates the distance between the venting hood and the distance measuring device based on the distance between the rear container face and the distance measuring device, the distance between the venting hood and the nearest container face, the length of the container, and the spacing between the multiple containers.

13. The gas collection and control device as described in claim 12, wherein, The length determination unit determines the type of container based on the position of the front and rear sides of the container. Alternatively, the image recognition result may include at least one of the following: container number, container type code, and container size code, and the length determination unit may determine the type of container based on the information. Alternatively, the length determination unit combines the ranging result and the image recognition result to determine the type of container. The length determining unit determines the length of the container based on the type of container.

14. The gas collection and control device as described in claim 13, wherein, The image acquisition device is provided with at least one. The ranging device and the robotic arm are located on the same side of the container, and at least one of the image acquisition devices is located on the same side of the container as the ranging device and the robotic arm.

15. The gas collection and control device as described in claim 14, wherein, When multiple image acquisition devices are installed and located on both sides of the container, the arrangement of the ventilation hoods is determined based on the image recognition results: either a left-front-right-rear arrangement or a right-front-left-rear arrangement. The nearest container surface distance acquisition unit acquires the distance from the front and rear container surfaces of the ventilator located on the same side as the robotic arm and the ranging device to the nearest container surface based on the distances from the ventilator to the front and rear container surfaces of the ventilator located on different sides from the ranging device and the robotic arm, as well as the arrangement of the ventilator.

16. The gas collection and control device as described in claim 10, wherein, The robotic arm control module includes: A first distance calculation unit calculates a first distance, which represents the distance between the vent and the ranging device. A second distance calculation unit calculates a second distance, which represents the distance between the robotic arm and the ranging device; and The motion control unit calculates a second distance in real time during the movement of the robotic arm, and stops the movement of the robotic arm when the second distance equals the first distance.

17. The gas collection and control device as described in claim 10, wherein, The ranging device is at least one of lidar, multi-line laser, and distance sensor; The image acquisition device is at least one of a camera, a video camera, and a webcam. The camera includes a network camera and a snap-on camera. The video camera includes a network webcam capable of continuously outputting bitstreams.

18. The gas collection and control device as described in claim 10, wherein, The mobile device includes: a guide rail and a movable part that moves along the guide rail, or a movable vehicle, or a movable robot.

19. A gas collection system for the interior of a container, comprising: Image acquisition device; Distance measuring device; robotic arms and their mobile devices; as well as The gas collection and control device as described in any one of claims 10 to 18.

20. A computer program product comprising a computer program that causes a computer to perform the steps of the gas collection and control method according to any one of claims 1 to 9.

Images