CN114955579A - Shell position calibration method, device, equipment and system for container yard - Google Patents
Shell position calibration method, device, equipment and system for container yard Download PDFInfo
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- CN114955579A CN114955579A CN202210380859.4A CN202210380859A CN114955579A CN 114955579 A CN114955579 A CN 114955579A CN 202210380859 A CN202210380859 A CN 202210380859A CN 114955579 A CN114955579 A CN 114955579A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/04—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors
- B65G63/042—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/06—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit
- B65G63/062—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a method, a device, equipment and a system for calibrating a position of a container yard. The method is applied to calibration equipment which synchronously moves along with a bridge cart in a container yard, and a marker is arranged in the container yard, and comprises the following steps: identifying the marker in the process that the bridge cart moves towards the direction of the marker; determining the position of the bridge cart when the marker is identified as the position of the marker; determining the position of a shellfish to be calibrated based on the position of the marker and the relative position relationship between the marker and the designated position; wherein, the designated position is the central position of the adjacent berth in the container yard. Through the scheme, the calibration of the parking lot can be simply, conveniently and rapidly realized by using the marker and the calibration equipment without adjusting a lifting appliance of a bridge, so that the overall calibration efficiency can be improved, and the processing period can be shortened.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method, a device, equipment and a system for calibrating the position of a container yard.
Background
With the development of economic globalization, the logistics transportation of containers is also rapidly developed. Since the size of a container yard is increased and the number of containers in the yard is increased, it is necessary to accurately determine the positions of the containers in order to improve the efficiency of loading and unloading the containers in the yard.
Based on this, the berth of the container yard needs to be calibrated. In the related art, calibration is usually performed by a yard and bridge cart, when one bunk is calibrated each time, the yard and bridge cart is controlled to move manually, when the yard and bridge cart moves to a position near a specified bunk, a lifting appliance is lowered to a certain height, the yard and bridge cart is controlled to move continuously until the lifting appliance is aligned with a box corner line of the specified bunk, and finally the position of the specified bunk is calibrated based on the position of the yard and bridge cart.
According to the beta calibration process of the related art, when the method is used for calibration, the positions of the large bridge vehicle and the lifting appliance need to be frequently adjusted, and the calibration efficiency is very low.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a device and a system for calibrating the position of a container yard, which can improve the calibration efficiency.
An embodiment of the present application provides a position calibration method for a container yard, which is applied to a calibration device that moves synchronously with a bridge and a cart in the container yard, and a marker is arranged in the container yard, and the method includes:
identifying the marker in the process that the field bridge cart moves towards the direction of the marker;
determining the position of the bridge cart when the marker is identified as the position of the marker;
determining the position of a shellfish to be calibrated based on the position of the marker and the relative position relationship between the marker and the specified position; wherein the designated position is the central position of the adjacent berth in the container yard.
In one embodiment, optionally, the calibration device includes a distance measurement device, and the distance measurement device collects distance information toward a fixed direction; the identifying the marker comprises:
the markers are identified based on distance information collected by the ranging device.
In one embodiment, optionally, the identifying the marker based on the distance information collected by the ranging apparatus includes:
and if the change rule of the distance information accords with a preset change rule, determining that the marker is identified.
In one embodiment, optionally, the identifying the marker further comprises:
determining a middle position of the marker in a cart moving direction based on the distance information;
the determining that the position of the bridge cart when the marker is identified is the position of the marker comprises:
and determining the position of the bridge cart when the intermediate position is identified as the position of the marker.
In one embodiment, optionally, the determining the position of the scallop to be calibrated based on the position of the marker and the relative position relationship between the marker and the specified position includes:
if the position of the marker is coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker;
and if the position of the marker is not coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker and the relative direction and the relative distance between the marker and the specified position.
In one embodiment, optionally, the ranging device comprises a first ranging device and a second ranging device;
the determining the position of the shellfish to be calibrated based on the position of the marker and the relative position relationship between the marker and the specified position comprises:
determining a first position of a shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the first distance measuring equipment and the relative position relation between the marker and the specified position;
determining a second position of the shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the second distance measuring equipment and the relative position relationship between the marker and the specified position;
and determining the position of the scallop position to be calibrated based on the first position of the scallop position to be calibrated and the second position of the scallop position to be calibrated.
In an embodiment, optionally, the determining the position of the scallop to be calibrated according to the first position of the scallop to be calibrated and the second position of the scallop to be calibrated includes:
if the difference between the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated is smaller than a set value, determining that the first position of the shellfish to be calibrated or the second position of the shellfish to be calibrated is the position of the shellfish to be calibrated, or fusing the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated to obtain the position of the shellfish to be calibrated.
In one embodiment, optionally, the identifying the marker based on the distance information collected by the ranging apparatus includes:
extracting distance information of which the distance value is positioned in a preset distance interval from the distance information acquired by the distance measuring equipment to obtain effective distance information;
identifying the marker based on the effective distance information.
Another aspect of the embodiments of the present application provides a position calibration apparatus for a container yard, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the position calibration method for a container yard described in any one of the above when executing the computer program.
In one embodiment, optionally, the position calibration device of the container yard further includes: a ranging device configured to acquire distance information toward a fixed direction.
Another aspect of the embodiments of the present application provides a crane, including:
a field bridge cart;
the berth-defining equipment for a container yard according to any one of the above claims, configured to move synchronously with the bridge crane.
In the method, the device, the equipment and the system for calibrating the shellfish position of the container yard, the marker is arranged in the container yard in advance, the marker is identified by utilizing the calibration equipment which synchronously moves along with the bridge cart in the process that the bridge cart moves to the marker, the current position of the bridge cart is determined as the position of the marker when the marker is identified, and the shellfish position to be calibrated is determined based on the position of the marker and the relative position of the marker and the specified position. Through the scheme, the calibration of the parking lot can be simply, conveniently and rapidly realized by using the marker and the calibration equipment without adjusting a lifting appliance of a bridge, so that the overall calibration efficiency can be improved, and the processing period can be shortened.
Drawings
Fig. 1 is a schematic flow chart illustrating a method for beta scaling of a container yard according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a location of a ranging apparatus according to an embodiment of the present application;
FIG. 3 is a schematic view of the position of the marker in one embodiment of the present application;
FIG. 4 is an enlarged schematic view of the placement of a marker in one embodiment of the present application;
fig. 5 is a schematic structural diagram of a bunk calibration device of a container yard according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Summary of the application
As described in the background section, in the related art, calibration is usually performed by a bridge cart, and each time a bay is calibrated, the bridge cart is manually controlled to move, and when the bridge cart moves to a position near a designated bay, a spreader is lowered to a certain height and is continuously controlled to move until the spreader is aligned with a box corner line of the designated bay, and finally the position of the designated bay is calibrated based on the position of the bridge cart. When the method is adopted for calibration, the positions of the field bridge cart and the lifting appliance need to be frequently adjusted, and the calibration efficiency is very low.
In order to solve the problems, the application provides a method, a device, equipment and a system for calibrating the position of the container yard, which can improve the calibration efficiency. The following non-limiting description of specific implementations is provided by way of exemplary embodiments.
Exemplary method
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for beta scaling of a container yard according to an embodiment of the present application. The method is applied to calibration equipment which synchronously moves along with a bridge cart in a container yard, namely the calibration equipment executes, and a marker is arranged in the container yard (hereinafter referred to as yard). As shown in fig. 1, the method comprises at least the following steps:
step S101: and identifying the marker in the process that the field bridge cart moves towards the direction of the marker.
Specifically, the movement of the bridge truck in the direction of the marker refers to the movement of the bridge truck in the direction of approaching the marker along the traffic lane. Wherein, the purpose of setting up the marker lies in: during the moving process of the bridge cart, the setting position of the marker is firstly identified, and then the position of the shell to be calibrated is determined according to the relative position relation between the marker and the shell to be calibrated. Based on this, factors such as easy acquisition and manufacture, convenient detection and convenient movement can be comprehensively considered, specific materials and structures of the marker are selected according to actual conditions, the marker can be a cylinder, a cuboid or an irregular-shaped upright column made of wood or other materials with a certain height, and the diameter (or width) of the marker can be about 15cm (centimeter). Also, in order to facilitate the movement of the marker, a wheel may be additionally provided to the marker.
Before calibration, the marker needs to be arranged at a preset position in a storage yard in advance, and the preset position corresponds to the shell position to be calibrated, and can be overlapped with the shell position to be calibrated or not. And optionally, to facilitate better detection of the marker by the calibration apparatus, the marker may be disposed on a side of the yard that is closer to the calibration apparatus.
Furthermore, the whole of the calibration device, or at least a sub-device for detecting the markers, is arranged in a suitable position on the bridge cart, so that the calibration device is able to identify the markers at least for a period of time during the movement of the bridge cart. For example, in some embodiments, the calibration device may include a controller and a detection device communicatively connected to each other, the detection device is configured to detect the marker, and send the detection result to the controller, and the controller identifies the marker according to the detection result, in which case, at least the detection device is disposed at a suitable position on the bridge cart where the marker can be detected.
In some embodiments, the detection device may comprise a ranging device, such as a laser ranging device such as a single point laser. Of course, the detection device may also adopt other devices, such as a visual ranging device, which is not limited as long as the marker can be detected so as to identify the position of the marker. In addition, in some embodiments, referring to fig. 2, a detection device such as a ranging device may be provided on a leg of the bridge cart.
Specifically, in the case that the calibration device includes a ranging device, the process of the calibration device identifying the marker based on the ranging device may include: the distance measuring device is first set to acquire distance information towards a fixed direction, and then the marker is identified based on the distance information acquired by the distance measuring device.
More specifically, since the distance measuring device collects distance information toward a fixed direction, the distance information obtained before the marker is detected and when the marker is detected during the movement of the distance measuring device following the bridge cart is different from that obtained when the marker is detected, and therefore the marker can be identified according to the change in the distance information, i.e., whether the marker is detected can be determined.
For ease of understanding, the following is illustrated:
taking laser ranging equipment as an example, the working principle is as follows: the laser ranging device transmits a laser signal to the detection target and receives a reflected signal of the detection target to the laser signal, so that the distance between the laser ranging device and the detection target is determined according to the speed and the round trip time of the laser. On the basis, the laser ranging equipment is set to emit laser towards a fixed direction, and the diameter (relative to the scene) of the laser can be ignored, so that in the process that a bridge cart moves towards the direction of the marker, the laser ranging equipment cannot detect the marker at first (the marker is not positioned on the straight line where the laser is positioned, and therefore the laser cannot be reflected by the marker), and the acquired distance information is not the distance relative to the marker; and along with the continuous movement of the bridge cart, the laser ranging equipment can detect the markers within a certain time, namely, the distance information relative to the markers can be acquired. Therefore, according to the change of the distance information, it is possible to determine whether the marker is recognized, and it is also possible to further determine the time when the marker is recognized.
As a possible implementation manner, the identifying the marker based on the distance information acquired by the ranging apparatus may specifically include: and if the change rule of the distance information accords with a preset change rule, determining that the marker is identified.
Specifically, as described above, the distance measuring apparatus obtains distance information before the marker is detected, which is different from the distance information obtained when the marker is detected, and there is a certain rule in the change of the distance information, and therefore, when the actual change rule of the distance information conforms to the preset change rule, it can be considered that the marker is detected. For example, in some embodiments, the distance information collected by the ranging device may be continuously obtained and a curve of the distance over time may be obtained, a falling edge may occur in the distance curve from when the marker is not detected to when just one side edge of the marker is detected, i.e., the distance information generates a decreasing jump, then a smooth region may occur in the distance curve, the smooth region corresponds to the distance information when the marker is continuously detected, and then a rising edge may occur in the distance curve from when the marker is detected to when just the other side edge of the marker cannot be detected, i.e., the distance information generates an increasing jump. Thus, by using the rule as a preset change rule, whether the marker is identified can be determined based on the preset change rule.
Of course, whether to identify the markers may be determined in other reasonable manners, which are not specifically described.
In addition, in some embodiments, the identifying the marker based on the distance information acquired by the ranging apparatus may further include: extracting distance information of which the distance value is positioned in a preset distance interval from the distance information acquired by the distance measuring equipment to obtain effective distance information; identifying the marker based on the effective distance information.
Specifically, in this embodiment, it is considered that when a marker is detected, a value of distance information between the ranging apparatus and the marker may be predetermined, and therefore, when the marker is identified based on the distance information, a "region of interest", that is, a preset distance interval, may be set according to a distance between the ranging apparatus and the marker, and when the actually acquired distance information exceeds the preset distance interval, it indicates that it is certainly impossible to detect the marker at this time, and therefore, the obtained distance information is invalid distance information, and when the actually acquired distance information is located in the preset distance interval, it indicates that it is possible to detect the marker at this time, and therefore, the obtained distance information is valid distance information. For example, assuming that the distance from the ranging apparatus to the marker is 10m (meters) when the marker is detected, the preset distance interval may be set to 8m-12 m. Therefore, after the calibration equipment acquires the distance information acquired by the distance measuring equipment, the calibration equipment can selectively store the distance information, and the storage pressure is reduced.
Step S102: and determining the position of the bridge cart with invalid distance information obtained at the moment when the marker is identified as the position of the marker.
Specifically, after the marker is identified, the current position of the bridge cart at the moment can be further determined according to the time for identifying the marker. The current position of the field bridge cart can be determined through the existing approach, specifically, in the process of loading and unloading operations of the field bridge cart, in order to accurately control the operation position of the field bridge cart, in practical application, the current position of the field bridge cart is usually determined in real time based on an encoder or a magnetic nail unit, and the specific principle and the process are the prior art, so detailed description is omitted. After the current position of the bridge cart is determined, the current position can be used as the position of the marker.
However, since the volume of the bridge truck is large relative to the marker, the position of the bridge truck in this step is not equivalent to the position of the marker, but actually means that the position of the marker is represented by the current position of the bridge truck.
Step S103: determining the position of a shellfish to be calibrated based on the position of the marker and the relative position relationship between the marker and the specified position; wherein the designated position is the central position of the adjacent shellfish in the container yard.
Specifically, the specified position is a position for representing a barycenter to be calibrated. Referring to fig. 3 and 4, the designated position, i.e., point a in fig. 3 and 4, is located at the center position of the adjacent shellfish, i.e., the center position of the adjacent bin corner line shown in fig. 4.
In some embodiments, in the relative positional relationship between the marker and the designated position, the marker may coincide with the designated position, that is, the marker is disposed at the position of a point shown in fig. 3; in other embodiments, the marker may not coincide with the designated position, for example, the marker is disposed at the position of point B shown in fig. 3, and the point B has a relative direction and a relative distance with respect to the point a.
Based on this, step S103 may specifically include: if the position of the marker is coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker; and if the position of the marker is not coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker and the relative direction and the relative distance between the marker and the specified position.
In practical applications, it is preferable to make the marker coincide with the designated position (point a), so that on one hand, the process of setting the marker can be conveniently performed by the user, and on the other hand, the calculation amount of the calibration equipment can be reduced, so as to obtain the processing result more quickly.
Through the above steps, the position of one of the shellfish positions to be calibrated can be calibrated, then the marker is moved to the designated position corresponding to the next shellfish position to be calibrated, that is, the position of point C in fig. 3, and the processes of steps S101 to S103 are repeated, so that the next shellfish position to be calibrated can be calibrated. And continuously repeating the process until all the positions are calibrated, and finishing the calibration of the storage yard.
In the method, a marker is arranged in a container yard in advance, a calibration device which synchronously moves along with a bridge cart is used for identifying the marker in the process that the bridge cart moves to the marker, the current position of the bridge cart is determined as the position of the marker when the marker is identified, and the position of the shellfish to be calibrated is determined based on the position of the marker and the relative position of the marker and the designated position. Through the scheme, the calibration of the bunk can be simply, conveniently and quickly realized by using the marker and the calibration equipment without adjusting the lifting appliance of the field bridge, so that the overall calibration efficiency can be improved, and the processing period can be shortened.
Furthermore, in some embodiments, to ensure that the markers can be accurately identified, the markers generally need to have a sufficient width in the direction of movement (horizontal direction) of the bridge cart. Taking the laser ranging device as an example, it needs to be ensured that the laser emitted by the laser ranging device can continuously irradiate the marker within a certain duration in the moving process of the bridge cart. On this basis, in some embodiments, the identifying the marker in step S101 may further include: determining a middle position of the marker in a cart moving direction based on the distance information; correspondingly, the determining, in step S102, that the position of the bridge cart is the position of the marker when the marker is identified may specifically include: and determining the position of the bridge cart when the intermediate position is identified as the position of the marker.
That is, in the present embodiment, the set position of the marker is indicated by the intermediate position of the marker in the cart moving direction. In some more specific embodiments, if it is determined whether the marker is identified by identifying the falling edge and the rising edge in the distance curve according to the method in the foregoing embodiments, the process of determining the middle position of the marker in the moving direction of the cart may include: and determining the position corresponding to the middle moment of the falling edge and the rising edge, namely the middle position of the marker in the moving direction of the cart.
It should be understood that if the requirement for the final calibration accuracy is low, the middle position of the marker in the moving direction of the cart may not be determined, and any point on the marker may be used as the setting position of the marker.
In addition, considering that the transverse length (i.e. the distance perpendicular to the moving direction) of the large bridge truck is large, the wheels on two sides may be out of synchronization during the moving process of the large bridge truck, and in a popular way, namely, one side is fast and the other side is slow, the finally obtained calibration result in such a situation may have errors.
To address this issue, in some embodiments, the ranging apparatus comprises a first ranging apparatus and a second ranging apparatus; as shown in fig. 2, the first distance measuring device and the second distance measuring device are respectively disposed on the support legs at two sides of the bridge cart, and the first distance measuring device and the second distance measuring device are disposed oppositely, that is, the detection directions of the first distance measuring device and the second distance measuring device are both perpendicular to the traffic lane and parallel to the ground, but the detection directions are opposite.
The distance measuring equipment is arranged to be perpendicular to the traffic lane in the detection direction and parallel to the ground, so that the distance measuring equipment is convenient to arrange, and the calibration equipment is convenient to perform subsequent processing according to the distance measuring result of the distance measuring equipment. Of course, it should be understood that the detection direction of the ranging apparatus may not be perpendicular to the traffic lane or parallel to the ground, as long as the marker can be detected in practical applications.
Also, the first ranging apparatus is used to detect the marker during movement of the bridge cart in a first direction (i.e., the direction of the arrow in fig. 3), and the second ranging apparatus is used to detect the marker during movement of the bridge cart in a second direction (i.e., the direction opposite to the direction of the arrow in fig. 3).
Based on this, step S103 may specifically include:
determining a first position of a shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the first distance measuring equipment and the relative position relationship between the marker and the specified position;
determining a second position of the shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the second distance measuring equipment and the relative position relationship between the marker and the specified position;
and determining the position of the scallop position to be calibrated based on the first position of the scallop position to be calibrated and the second position of the scallop position to be calibrated.
Specifically, the first position of the shellfish part to be calibrated and the second position of the shellfish part to be calibrated refer to the positions obtained by calibration relative to the same shellfish part, for example, when the marker is set at point a in fig. 3, the first position of the shellfish part to be calibrated is obtained by the method of steps S101-S103; then, when the marker is set at the point a' in fig. 3, the method of steps S101-S103 is again adopted to obtain the second position of the shellfish to be calibrated.
That is, for the same scallop, the same scallop is calibrated twice by using the distance measuring equipment arranged at different positions, and then the position of the scallop is determined according to the results of the two calibrations. Therefore, the calibration precision can be improved.
More specifically, in some embodiments, the determining the position of the scallop to be calibrated based on the first position of the scallop to be calibrated and the second position of the scallop to be calibrated specifically may include:
if the difference between the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated is smaller than a set value, determining that the first position of the shellfish to be calibrated or the second position of the shellfish to be calibrated is the position of the shellfish to be calibrated, or fusing the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated to obtain the position of the shellfish to be calibrated.
That is, after two calibration results are obtained for the same decibel, the two calibration results are compared, if the difference between the two calibration results is smaller than a set value, the two calibration results are accurate, and any one calibration result can be selected as a final calibration result; alternatively, the results of the two calibrations may be merged, for example, an average of the first position and the second position is calculated as the final calibration result.
And if the difference between the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated is larger than the set value, indicating that a large error exists in at least one calibration process, and performing shellfish calibration again according to the method of the steps S101-S103 according to actual needs.
It should be understood that if the possibility of deviation during the movement of the cart is small, or the requirement on the calibration accuracy is low, the calibration may be performed by using only one side of the distance measuring device. Therefore, the calibration efficiency can be improved, and the calibration time can be shortened.
Exemplary devices
In one embodiment, as shown in fig. 5, there is provided a beta calibration device for a container yard, which is applied to a calibration apparatus that follows a bridge crane in the container yard to move synchronously, and in which a marker is provided, the device comprising: a marker identification module 51, a marker position determination module 52 and a shellfish position determination module 53; wherein:
the marker identification module 51 is used for identifying the markers in the process that the field bridge cart moves towards the direction of the markers;
a marker position determining module 52, configured to determine that the position of the bridge cart when the marker is identified is the position of the marker;
the scallop position determining module 53 is configured to determine a position of a scallop to be calibrated based on the position of the marker and a relative position relationship between the marker and the specified position; and the designated position is the central position of a corner line between adjacent berths in the container yard.
In one embodiment, the calibration device comprises a distance measuring device, and the distance measuring device collects distance information towards a fixed direction; the marker recognition module 51 is specifically configured to, when recognizing the marker: the markers are identified based on distance information collected by the ranging device.
In one embodiment, the marker identification module 51, when identifying the marker based on the distance information acquired by the ranging apparatus, is specifically configured to: and if the change rule of the distance information accords with a preset change rule, determining that the marker is identified.
In one embodiment, the marker identification module 51, when identifying the marker, is further configured to: determining a middle position of the marker in a cart moving direction based on the distance information; and determining the position of the bridge cart when the intermediate position is identified as the position of the marker.
In an embodiment, the scallop position determining module 53, when determining the position of the scallop to be calibrated based on the position of the marker and the relative position relationship between the marker and the designated position, is specifically configured to: if the position of the marker is coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker; and if the position of the marker is not coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker and the relative direction and the relative distance between the marker and the specified position.
In one embodiment, the ranging apparatus comprises a first ranging apparatus and a second ranging apparatus; when the position determining module 53 determines the position of the scallop to be calibrated based on the position of the marker and the relative position relationship between the marker and the designated position, it is specifically configured to: determining a first position of a shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the first distance measuring equipment and the relative position relationship between the marker and the specified position; determining a second position of the shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the second distance measuring equipment and the relative position relationship between the marker and the specified position; and determining the position of the shellfish to be calibrated based on the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated.
In an embodiment, when the position determining module 53 determines the position of the scallop to be calibrated according to the first position of the scallop to be calibrated and the second position of the scallop to be calibrated, it is specifically configured to: if the difference between the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated is smaller than a set value, determining that the first position of the shellfish to be calibrated or the second position of the shellfish to be calibrated is the position of the shellfish to be calibrated, or fusing the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated to obtain the position of the shellfish to be calibrated.
In one embodiment, the marker identification module 51, when identifying the marker based on the distance information acquired by the ranging apparatus, is specifically configured to: extracting distance information of which the distance value is positioned in a preset distance interval from the distance information acquired by the distance measuring equipment to obtain effective distance information; identifying the marker based on the effective distance information.
For specific definition of the beta calibration device of the container yard, reference may be made to the above definition of the beta calibration method of the container yard, and details are not repeated here. The modules in the position calibration device of the container yard can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Exemplary calibration apparatus
In one embodiment, a beta scaling device for a container yard is provided, comprising a memory storing a computer program and a processor implementing the steps of the method of any of the above exemplary methods when the computer program is executed by the processor.
In some embodiments, the beta scaling device of the container yard further comprises: a ranging device configured to acquire distance information toward a fixed direction.
Exemplary Crane
In one embodiment, there is provided a crane comprising:
a field bridge cart;
the beta calibration device for a container yard, as described in the exemplary calibration device section above, is configured to move synchronously with the bridge crane.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods, apparatuses, devices and systems, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method for beta scaling of a container yard according to embodiments of the present application described in the above-mentioned exemplary method section of this specification.
The computer program product may be used to write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the device or as a stand-alone software package.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for beta scaling of a container yard as illustrated in the exemplary method portion embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A berth calibration method of a container yard is characterized by being applied to calibration equipment which synchronously moves along with a bridge cart in the container yard, and markers are arranged in the container yard, and the method comprises the following steps:
identifying the marker in the process that the field bridge cart moves towards the direction of the marker;
determining the position of the bridge cart when the marker is identified as the position of the marker;
determining the position of a shellfish to be calibrated based on the position of the marker and the relative position relationship between the marker and the specified position; wherein the designated position is the central position of the adjacent berth in the container yard.
2. The method of claim 1, wherein the calibration device comprises a distance measuring device, and the distance measuring device collects distance information towards a fixed direction; the identifying the marker comprises:
the markers are identified based on distance information collected by the ranging device.
3. The method of claim 2, wherein identifying the marker based on the distance information collected by the ranging device comprises:
and if the change rule of the distance information accords with a preset change rule, determining that the marker is identified.
4. The method of claim 2, wherein said identifying said marker further comprises:
determining a middle position of the marker in a cart moving direction based on the distance information;
the determining that the position of the bridge cart when the marker is identified is the position of the marker comprises:
and determining the position of the bridge cart when the intermediate position is identified as the position of the marker.
5. The method according to claim 1, wherein the determining the position of the shellfish to be calibrated based on the positions of the markers and the relative positional relationship between the markers and the specified position comprises:
if the position of the marker is coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker;
and if the position of the marker is not coincident with the specified position, determining the position of the shellfish to be calibrated based on the position of the marker and the relative direction and the relative distance between the marker and the specified position.
6. The method of claim 2, wherein the ranging device comprises a first ranging device and a second ranging device;
the determining the position of the shellfish to be calibrated based on the position of the marker and the relative position relationship between the marker and the specified position comprises:
determining a first position of a shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the first distance measuring equipment and the relative position relationship between the marker and the specified position;
determining a second position of the shellfish to be calibrated by using the position of the marker determined based on the distance information acquired by the second distance measuring equipment and the relative position relation between the marker and the specified position;
and determining the position of the scallop position to be calibrated based on the first position of the scallop position to be calibrated and the second position of the scallop position to be calibrated.
7. The method of claim 6, wherein determining the position of the scallop to be calibrated based on the first position of the scallop to be calibrated and the second position of the scallop to be calibrated comprises:
if the difference between the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated is smaller than a set value, determining that the first position of the shellfish to be calibrated or the second position of the shellfish to be calibrated is the position of the shellfish to be calibrated, or fusing the first position of the shellfish to be calibrated and the second position of the shellfish to be calibrated to obtain the position of the shellfish to be calibrated.
8. The method of claim 2, wherein identifying the marker based on the distance information collected by the ranging device comprises:
extracting distance information of which the distance value is positioned in a preset distance interval from the distance information acquired by the distance measuring equipment to obtain effective distance information;
identifying the marker based on the effective distance information.
9. A beta scaling device for a container yard comprising a memory and a processor, said memory storing a computer program, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 8 when executing said computer program.
10. The beta scaling device for a container yard according to claim 9, further comprising: a ranging device configured to acquire distance information toward a fixed direction.
11. A crane, comprising:
a field bridge cart;
a beta scaling device for a container yard as claimed in claim 9 or claim 10 arranged to follow the synchronous movement of said bridge trolleys.
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| CN202210380859.4A CN114955579A (en) | 2022-04-12 | 2022-04-12 | Shell position calibration method, device, equipment and system for container yard |
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| CN202210380859.4A CN114955579A (en) | 2022-04-12 | 2022-04-12 | Shell position calibration method, device, equipment and system for container yard |
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