WO2022160896A1

WO2022160896A1 - Method for aligning container truck and crane, and related device

Info

Publication number: WO2022160896A1
Application number: PCT/CN2021/132576
Authority: WO
Inventors: 谭黎敏; 赵钊
Original assignee: 上海西井信息科技有限公司
Priority date: 2021-01-27
Filing date: 2021-11-23
Publication date: 2022-08-04
Also published as: CN112897345B; CN112897345A; EP4279436A1; EP4279436A9

Abstract

A method for aligning a container truck and a crane, and a related device. The alignment method comprises: scanning three-dimensional information by means of a traveling radar of the container truck; when the three-dimensional information matches with preset crane profile information, starting an alignment radar of the container truck, and projecting a target region, which is obtained according to the three-dimensional information and corresponds to the crane, to an alignment coordinate system of the alignment radar; obtaining a target working position of the crane according to three-dimensional data scanned by the alignment radar and located in the target region; guiding the container truck to travel by means of cooperation between the traveling radar and the alignment radar, such that a preset hoisting position of the container truck coincides with the target working position. By means of cooperation and linkage between the traveling radar and the alignment radar, the method for aligning the container truck and the crane and the related device efficiently and accurately implement fine alignment of the container truck and the crane, and are applicable for different types of port hoisting machinery.

Description

Alignment method and related equipment of container truck and crane

technical field

The present disclosure relates to the technical field of port operations, and in particular, to a method for aligning a container truck and a crane and related equipment.

Background technique

In port container operations, it is necessary to align the crane and the container truck so that the crane can lift the container from the container truck or put the container on the container truck.

The traditional alignment process is: obtain the position of the container truck through a fixed device, such as a camera, set at the port site; compare the position of the container truck with the position of the crane to obtain the relative position of the two; The relative position of the container truck is adjusted according to the relative position; this cycle is repeated until the container truck travels to the designated position where the crane can accurately pick and place the container.

In the traditional alignment process, the data collected by the fixed device is limited, and multiple cyclic operations are needed to realize the alignment of the container truck and the crane. The amount of data calculation is large, the alignment process is slow, and the alignment accuracy is not high, which affects the crane's performance. Pick and place box operation.

It should be noted that the information disclosed in the above Background section is only for enhancing understanding of the background of the present disclosure, and therefore may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

In view of this, the present disclosure provides an alignment method and related equipment for a container truck and a crane, which can efficiently and accurately realize the fine alignment of a container truck and a crane through the cooperation and linkage of the driving radar and the alignment radar, which is suitable for various types of Port cranes.

One aspect of the present disclosure provides a method for aligning a container truck and a crane, including: scanning three-dimensional information with a driving radar of the container truck; target area; start the alignment radar of the container truck, and project the obtained target area of the crane into the alignment coordinate system of the alignment radar; according to the alignment radar scanning The three-dimensional data of the crane is obtained to obtain the target operation position of the crane; and the driving radar and the alignment radar guide the container truck to travel to the container truck whose preset hoisting position coincides with the target operation position.

In some embodiments, the driving radar is arranged in front of the container truck, and the alignment radar is arranged on the top of the container truck.

In some embodiments, the driving radar and the alignment radar guide the container truck to travel, including: projecting the target operating position into the driving coordinate system of the driving radar; the container truck according to the driving coordinates Drive according to the position deviation of the preset hoisting position relative to the target working position in the system.

In some embodiments, the alignment method further includes: pre-storing various types of crane profile information; after matching the three-dimensional information with the crane profile information, obtaining the crane type according to the three-dimensional information; after obtaining the crane profile After the target operation position is determined, the target operation position is obtained according to the crane category and the three-dimensional data.

In some embodiments, the alignment method further includes: before the driving radar of the container truck scans the three-dimensional information, pre-adjusting the target operation position to a vertical projection on the guide lane of the crane; the driving radar of the container truck When scanning the three-dimensional information, the container truck runs along the guide lane, so that the vertical projection of the preset hoisting position is located on the guide lane; the driving radar and the alignment radar cooperate to guide the container truck to run At the time, according to the position deviation of the preset hoisting position and the target operation position along the guide lane, a position adjustment instruction along the guide lane is sent to the container truck.

In some embodiments, when the crane category is a gantry crane category, obtaining the target operating position includes: projecting the three-dimensional data to the X-Z coordinate plane of the alignment coordinate system to obtain a two-dimensional data map, where X The axis is parallel to the guide lane; perform straight line detection on the two-dimensional data map to obtain a line segment set; based on the X-Z coordinate plane, calculate the slopes of multiple line segments in the line segment set, and filter out the slopes within the target slope range The target line segment; according to the X-axis coordinate of the vertex of the target line segment, an intermediate X-axis coordinate is obtained as the X-axis coordinate of the target working position.

In some embodiments, obtaining a middle X-axis coordinate includes: obtaining the maximum coordinate X _max and the minimum coordinate X _min from the X-axis coordinates of the vertex of the target line segment; calculating the midpoint coordinate X _mid , where X _mid =(X _max +X _min )/2; based on the midpoint coordinate X _mid , classify the vertices of the target line segment into the first set whose X-axis coordinate is less than the mid-point coordinate X _mid and the X-axis coordinate is greater than the mid-point coordinate X The second set of _mid ; obtain the median coordinate X mid-front of the X-axis coordinates of each vertex in the first set, and the median coordinate X _mid _-front of the X-axis coordinates of each vertex in the second set _back ; calculate the middle X-axis coordinate X _middle , where X _middle =(X _mid-front +X _mid-back )/2.

In some embodiments, when the crane category is a quay crane category, obtaining the target operating position includes: projecting the three-dimensional data to the X-Z coordinate plane of the alignment coordinate system to obtain a two-dimensional data map, wherein The X-axis is parallel to the guide lane; perform line detection on the two-dimensional data map to obtain a line segment set; perform feature point detection on the three-dimensional data to obtain a feature point set; based on the X-Z coordinate plane, calculate the feature The slope difference between the multiple feature points in the point set and the two vertices of the multiple line segments in the line segment set, screen out the target feature points whose slope difference with at least one line segment is within the range of the target slope difference; according to the X-axis of the target feature point coordinate, and obtain an intermediate X-axis coordinate as the X-axis coordinate of the target working position.

In some embodiments, obtaining an intermediate X-axis coordinate includes: taking the center point of the crane detection frame as the target point, and classifying the target feature points into a front side set whose X-axis coordinate is smaller than the X-axis coordinate of the target point and the rear side set whose X-axis coordinates are greater than the X-axis coordinates of the target point; along the X-axis, obtain the X-axis coordinate X _front of a front side feature point closest to the target point in the front side set, and the X-axis coordinate X _back of a rear-side feature point closest to the target point in the rear-side set; calculate the middle X-axis coordinate X _middle , where X _middle =(X _front +X _back )/2.

Another aspect of the present disclosure provides an alignment system for a container truck and a crane, including: a driving detection module for scanning three-dimensional information through a driving radar of the container truck; The set crane profile information is matched, the alignment radar of the container truck is activated, and the target area of the corresponding crane obtained according to the three-dimensional information is projected into the alignment coordinate system of the alignment radar; the alignment detection module, is used to obtain the target operating position of the crane according to the three-dimensional data scanned by the alignment radar and located in the target area; The container truck runs, so that the preset hoisting position of the container truck coincides with the target operation position.

Yet another aspect of the present disclosure provides an electronic device, including a processor and a computer-readable storage medium, where computer instructions are stored in the storage medium, and when the computer instructions are executed by the processor, any of the foregoing embodiments are executed The described method for aligning a container truck and a crane.

Yet another aspect of the present disclosure provides a computer-readable storage medium for storing a program, when the program is executed, the method for aligning a container truck and a crane according to any of the foregoing embodiments is implemented. In some embodiments, the computer-readable storage medium is a non-transitory computer-readable storage medium.

According to yet another aspect of the present disclosure, there is also provided a computer program product, comprising computer instructions stored on a computer storage medium, the computer instructions, when executed by a processor, execute the pairing of a container truck and a crane according to any of the above embodiments. bit method.

According to yet another aspect of the present disclosure, there is also provided a computer program for causing a processor to execute the method for aligning a container truck and a crane according to any of the foregoing embodiments.

The beneficial effects of some embodiments of the present disclosure compared with the prior art include at least:

Through the scanning of the driving radar, it is determined that the collected 3D information matches the preset crane profile information, and fine alignment can be performed; by triggering the alignment radar, the fine 3D data of the crane is collected; according to the 3D information collected by the driving radar, the corresponding crane is determined and accurately calculate the target operating position of the crane according to the fine 3D data in the target area collected by the alignment radar; then adjust the position of the container truck to eliminate the positional deviation between the preset hoisting position and the target operating position ;

Therefore, some embodiments of the present disclosure efficiently and accurately realize the precise alignment of the container truck and the crane through the cooperation and linkage of the driving radar and the alignment radar, and are applicable to various types of port hoisting machinery.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative efforts.

FIG. 1 shows a schematic diagram of steps of a method for aligning a container truck and a crane in an exemplary embodiment of the present disclosure;

2-4 show schematic diagrams of the real-time process of the method for aligning a container truck and a crane in an exemplary embodiment of the present disclosure;

FIG. 5 shows a schematic top view of an alignment scene in an exemplary embodiment of the present disclosure;

FIG. 6 shows a schematic diagram of a module of an alignment system between a container truck and a crane in an exemplary embodiment of the present disclosure;

FIG. 7 shows a schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure;

FIG. 8 shows a schematic structural diagram of a computer-readable storage medium in an exemplary embodiment of the present disclosure.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted. Some of the block diagrams shown in the figures are functional entities that do not necessarily necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The sequence numbers of the steps in the following embodiments are only used to indicate different execution contents, and do not strictly limit the execution sequence between the steps. "First", "second" and similar words used in the detailed description do not denote any order, quantity or importance, but are only used to distinguish different components. It should be noted that the embodiments of the present disclosure and features in different embodiments may be combined with each other under the condition of no conflict.

FIG. 1 shows the main steps of a method for aligning a container truck and a crane. Referring to FIG. 1 , in some embodiments, the method for aligning a container truck and a crane includes:

Step S110, scan the three-dimensional information through the driving radar of the container truck.

In some embodiments, with reference to the driving stage before alignment shown in FIG. 2 , when the container truck 1 is driving to the crane 4 , the driving radar 2 scans the three-dimensional information of the surrounding environment to guide the container truck 1 to drive. The container truck 1 can realize automatic driving through the existing automatic driving method, obstacle avoidance method, etc., which will not be described here.

In some embodiments, the GPS positioning technology can also be combined to realize the driving guidance of the container truck 1 .

In some embodiments, the driving radar 2 is arranged in front of the container truck 1 to better scan the road ahead. Further, the driving radar 2 may include multiple ones, which are arranged on both sides of the front of the vehicle to better scan the surrounding environment.

In some embodiments, the driving radar 2 may specifically be a lidar, which obtains three-dimensional point cloud data by scanning, but is not limited thereto. The driving radar 2 may also be any detection device capable of scanning to obtain three-dimensional information.

In some embodiments, the driving coordinate system of the driving radar 2 is an X ₁ -Y ₁ -Z ₁ coordinate system, and its origin O ₁ is the center point of the driving radar 2 , but not limited thereto, for example, it may also be a container truck 1's center point. In some embodiments, the driving coordinate system takes the horizontal forward direction as the X ₁ axis, the vertical upward direction as the Z ₁ axis, and the horizontal right or left direction as the Y ₁ axis, but not limited thereto. The system can be flexibly calibrated as needed.

In some embodiments, the container truck 1 performs coordinate calibration based on the traveling coordinate system, so that its preset hoisting position is pre-stored in the traveling coordinate system. In some embodiments, when the container truck 1 carries a container, the preset hoisting position is usually the center point of the container; when the container truck 1 does not carry a container, the preset hoisting position is usually the bearing surface of the container truck 1 the center point. Of course, the preset hoisting position can be flexibly adjusted according to the actual carrying situation or carrying needs, as long as it is calibrated in advance based on the driving coordinate system.

Step S120: Match the three-dimensional information with the preset crane profile information to obtain the target area of the crane, and activate the alignment radar of the container truck to project the target area of the crane into the alignment coordinate system of the alignment radar.

In some embodiments, in conjunction with the alignment trigger stage shown in FIG. 3 , when the three-dimensional information collected by the driving radar 2 matches the preset crane profile information, on the one hand, it indicates that the container truck 1 has traveled to the crane 4 On the other hand, the target area corresponding to the crane 4 can be accurately framed according to the three-dimensional information collected by the driving radar 2; 3D data. Therefore, the alignment radar 3 is triggered.

In some embodiments, the crane profile information includes at least a partial profile of the crane, and the partial profiles of different types of cranes are different. In some embodiments, crane profile information for different types of cranes is separately pre-stored in the system. For example, for gantry cranes, the pre-stored local contour information corresponds to the load-carrying beam of the spreader and the partial structures of the pillars at both ends of the load-carrying beam; for quay cranes, the pre-stored local contour information corresponds to the load-carrying beam of the spreader. and part of the structure of the pillar located in the middle of the load-bearing beam. In some embodiments, when the three-dimensional information collected by the driving radar 2 matches the local contour information of one of the cranes, the alignment radar 3 is triggered.

In some embodiments, the triggering condition of the alignment radar 3 may also be that the container truck 1 travels to a preset position of the crane 4 . In some embodiments, the preset position is located within a certain area radiating from the position of the crane 4 , and the coordinate information of the area is pre-stored in the driving coordinate system of the driving radar 2 .

In some embodiments, the alignment radar 3 is arranged on the top of the container truck 1 to better collect fine three-dimensional data of the crane 4 including the target working position of its spreader in the alignment scene with the crane 4 . In some embodiments, the target working position of the crane 4 generally refers to the center point of its spreader.

In some embodiments, the alignment radar 3 may specifically be a lidar, which obtains three-dimensional point cloud data by scanning, but is not limited thereto. The alignment radar 3 may also be any detection device capable of scanning to obtain three-dimensional information.

In some embodiments, the alignment coordinate system of the alignment radar 3 is an X ₂ -Y ₂ -Z ₂ coordinate system, and its origin O ₂ is the center point of the alignment radar 3 , but it is not limited to this, for example, it can also be is the center point of the container truck 1 . In some embodiments, the alignment coordinate system takes the horizontal backward direction as the X ₂ axis, the vertical upward direction as the Z ₂ axis, and the horizontal right or left direction as the Y ₂ axis, but not limited to this. The bit coordinate system can be flexibly calibrated as needed.

In some embodiments, the target area corresponding to the crane 4 is obtained according to the three-dimensional information collected by the driving radar 2 . In some embodiments, within the scanning range of the driving radar 2 , the three-dimensional information of the crane 4 and the three-dimensional information of the surrounding environment are collected; the target area corresponding to the crane 4 is determined therefrom and projected to the alignment coordinates of the alignment radar 3 In the system, the three-dimensional data framed by the target area is accurately screened from the three-dimensional data collected by the alignment radar 3, and the target operating position of the crane 4 is accurately calculated.

In some embodiments, determining the target area is accomplished using existing methods. For example, in some embodiments, in the embodiment in which the driving radar 2 is a lidar, an existing 3D target detection method can be used to analyze and process the point 3D cloud data collected by the driving radar 2 to obtain a crane that surrounds the detected crane. The minimum bounding box of the contour information forms the crane detection frame BBox ₁ as the target area corresponding to the crane 4 . The 3D object detection method is an existing technology, so it will not be described further.

In some embodiments, when the 3D target detection method is used to analyze and process the three-dimensional point cloud data collected by the driving radar 2, a crane category is also obtained, which specifically includes a gantry crane category and a quay crane category. Of course, the crane category can also be determined according to the crane profile information of a certain category matched with the three-dimensional information collected by the driving radar 2 .

In some embodiments, to project the target area into the alignment coordinate system of the alignment radar, the center point of the target area can be projected from the driving coordinate system to the alignment coordinate system, and then calculated according to the size information of the target area. The coordinate information of the target area in the alignment coordinate system; some characteristic corners of the target area can also be projected from the driving coordinate system to the alignment coordinate system, and then the coordinate information in the target area in the alignment coordinate system can be calculated.

In some embodiments, taking the crane detection frame BBox ₁ as an example, the projection process specifically includes: jointly detecting the positioning identification points through the driving radar 2 and the alignment radar 3, and obtaining a transformation matrix between the driving coordinate system and the alignment coordinate system, For example, a conversion matrix M _1-to-2 for converting from the driving coordinate system to the alignment coordinate system is obtained. The specific calculation method of the transformation matrix M _1-to-2 is realized by using the existing technology, so it will not be described further. Obtain the coordinates C ₁ of the center point of the crane detection frame BBox ₁ in the traveling coordinate system, and the size information of the crane detection frame BBox ₁ , which may specifically include length, width, and height information. According to the transformation matrix M _1-to-2 , the center point coordinate C ₁ of the crane detection frame BBox ₁ is converted into the center point coordinate C ₂ based on the alignment coordinate system, C ₂ =C ₁ ×M _1-to-2 . Finally, according to the center point coordinate C ₂ and the size information, the crane detection frame BBox ₂ in the alignment coordinate system is obtained.

In step S130, the target operating position of the crane is obtained according to the three-dimensional data in the target area scanned by the alignment radar. In this step, the target operation position is calculated according to the crane category and the three-dimensional data collected by the alignment radar, which will be specifically carried out in combination with the gantry crane and the quay crane in the following.

In step S140, the container truck is guided to travel through the cooperation of the driving radar and the alignment radar, so that the preset hoisting position of the container truck coincides with the target operation position.

In some embodiments, in conjunction with the fine alignment stage shown in FIG. 4 , after obtaining the target operating position in the alignment coordinate system, the target operating position is further projected into the driving coordinate system, and then hoisting is performed according to the preset in the driving coordinate system. The position deviation relative to the target operation position guides the container truck 1 to travel, so that the preset hoisting position 11 of the container truck 1 coincides with the vertical projection of the target operation position 41 of the crane 4 . Therefore, the positional deviation in the horizontal direction, including the X ₁ -axis direction and the Y ₁ -axis direction of the driving coordinate system is eliminated, so that the preset hoisting position 11 is directly below the target working position 41, so that the crane 4 can accurately pick and place when putting down the spreader. box operation.

In some embodiments, when the alignment radar 3 is triggered, the container truck 1 can be controlled to park; after the position deviation is calculated, the container truck 1 can be guided to travel; thus, the container truck 1 can be efficiently realized through a joint scan and position calculation Fine alignment between truck 1 and crane 4.

In the alignment method of the above embodiment, through the scanning of the driving radar, it is determined that the collected three-dimensional information matches the preset crane profile information, indicating that the container truck has traveled to the vicinity of the crane, and fine alignment can be performed; by triggering the alignment radar , collect the fine 3D data of the crane; determine the target area of the corresponding crane according to the 3D information collected by the driving radar, and accurately calculate the target operating position of the crane according to the fine 3D data collected by the alignment radar in the target area; and then adjust the container truck position, eliminate the position deviation between its preset hoisting position and the target operation position; thus, through the cooperation of the driving radar and the alignment radar, the precise alignment of the container truck and the crane can be efficiently and accurately realized, which is suitable for various types of ports. Hoisting Machinery.

The calculation process of the target working position of the crane will be described in detail below with reference to a specific example.

In this example, before scanning the three-dimensional information through the driving radar of the container truck, the target operation position is preset to the vertical projection on the guide lane of the crane; when scanning the three-dimensional information through the driving radar of the container truck, the container truck is driven along the guide lane, The vertical projection of the preset hoisting position is located on the guide lane; when the container truck is guided through the combination of the driving radar and the alignment radar, according to the positional deviation between the preset hoisting position and the target operation position along the guide lane, the container truck is sent along the guide lane to send a message to the container truck along the guide lane. position adjustment command.

That is, in this example, the positional deviation between the container truck and the crane in the left-right direction is eliminated in advance before the alignment and the driving stage before the alignment. To eliminate, no need to go through data calculation; therefore, in the fine alignment stage, only need to pay attention to the positional deviation between the container truck and the crane in the front-rear direction, that is, along the guide lane.

It should be noted that there can be multiple guide lanes for the crane. In this example, one guide lane can be determined according to the port operation requirements, and the vertical projection of the crane's target operation position can be adjusted to fall on the guide lane. Even, the guide lane can be virtual, and the virtual guide lane can be determined by projecting the target working position of the crane to the ground vertically, and extending the projection point perpendicular to the direction of the load beam of the crane, and the location information of the determined guide lane can be determined. It can be calibrated to the driving coordinate system.

However, the description of this example should not be considered as a limitation of the present disclosure. In other examples, according to the method of calculating the positional deviation in the front-rear direction, the positional deviation in the left-right direction can be calculated, and the position of the container truck can be adjusted by using the two sets of positional deviations.

Figure 5 shows an example alignment scenario. At this time, the container truck 1 has traveled along the guide lane 40 of the crane 4 until its driving radar 2 collects preset three-dimensional information, and the vertical projection of the preset hoisting position 11 of the container truck 1 is located on the guide lane 40 . In addition, the target working position 41 of the crane 4 has been preset so that the vertical projection is located on the guide lane 40 . The target working position 41 of the crane 4 is specifically located on the bearing beam 400 of the crane 4 . At this time, the X ₁ axis of the driving coordinate system of the driving radar 2 and the X ₂ axis of the positioning coordinate system of the positioning radar 3 are both parallel to the guidance lane 40 . When calculating the target working position 41 in the alignment coordinate system, it is only necessary to calculate the X ₂ -axis coordinate of the target working position 41, convert it to the driving coordinate system to obtain the X ₁ -axis coordinate of the target working position 41, and convert the preset hoisting position 11 to the X 1-axis coordinate. The X1 _- axis coordinate is subtracted from the X1 _- axis coordinate of the target operation position 41, and the positional deviation between the container truck 1 and the crane 4 can be quickly and accurately calculated, and then the container truck 1 is guided along the guide lane 40 through the position adjustment command. You can go forward or backward.

When the crane category is the gantry crane category, the process of obtaining the target operation position specifically includes: projecting the three-dimensional data collected by the alignment radar and located in the target area to the X-Z coordinate plane of the alignment coordinate system to obtain a two-dimensional data map; Line detection is performed on the graph to obtain a line segment set; based on the X-Z coordinate plane, the slope of each line segment in the line segment set is calculated, and the target line segment whose slope is within the range of the target slope is filtered out; according to the X-axis coordinates of the vertices of all target line segments, a middle The X-axis coordinate is used as the X-axis coordinate of the target work position.

Take the alignment radar as the lidar and collect the 3D point cloud data as an example. When projecting the three-dimensional point cloud data in the crane detection frame BBox ₂ to the XZ coordinate plane of the alignment coordinate system (hereinafter referred to as the X ₂ -Z ₂ coordinate plane), redundant dimensions unrelated to the guidance lane can be removed to obtain a two-dimensional The point cloud map reduces the amount of data and facilitates the quick and accurate calculation of the X ₂ -axis coordinates of the target operating position.

The process of performing straight line detection on the two-dimensional point cloud image to obtain a set of line segments specifically includes: dividing the two-dimensional point cloud image into uniform grids, for example, dividing the two-dimensional point cloud image into rectangular grids at intervals of 0.05m; Whether the grid contains point cloud, assign value to each grid, set 1 if there is a point cloud in a grid, set 0 if there is no point cloud, and finally obtain a two-dimensional feature map; perform Hough line on the feature map Transform to obtain the line segment set composed of all straight line segments in the feature map. The Hough line transform is an existing technique, so it will not be described further.

When calculating the slope, the calculation is performed according to the X ₂ -axis coordinates and the Z ₂ -axis coordinates of the two vertices of the line segment. Suppose the coordinates of the two vertices of a line segment are (X _2-0 , Z _2-0 ) and (X _2-1 , Z _2-1 ), then its slope is K=(Z _2-1 -Z _2-0 )/ (X _2-1 -X _2-0 ). When filtering line segments, if the slope of the line segment is K<threshold or K>-threshold, and the threshold is the threshold, the line segment is removed from the line segment set. That is, the target line segment whose lower slope is within the target slope range of threshold˜−threshold is reserved. Threshold can be set as needed to filter out target line segments that are as vertical as possible.

When calculating the intermediate X ₂ -axis coordinates, in order to improve the accuracy, the following methods are adopted: from the X ₂ -axis coordinates of the vertices of all target line segments, obtain a maximum coordinate X _2-max and a minimum coordinate X _2-min ; calculate the midpoint Coordinates X _2-mid , X _2-mid =(X _2-max +X _2-min )/2; based on the midpoint coordinate X _2-mid , classify the vertices of all target line segments as the X ₂ -axis coordinate is less than the mid-point coordinate The first set of X 2- _mid and the second set of X ₂ -axis coordinates are greater than the midpoint coordinates X _2-mid ; obtain the median coordinate X _2-mid-front of the X ₂ -axis coordinates of each vertex in the first set, And the median coordinate X _2-mid-back of the X ₂ -axis coordinates of each vertex in the second set; the middle X ₂ -axis coordinate X _2-middle is obtained by calculation, X _2-middle =(X _2-mid-front +X _2-mid-back )/2.

When the crane category is the quay crane category, the process of obtaining the target operation position specifically includes: projecting the three-dimensional data collected by the alignment radar and located in the target area to the X-Z coordinate plane of the alignment coordinate system to obtain a two-dimensional data map; Perform straight line detection on the data graph to obtain a line segment set; perform feature point detection on the three-dimensional data to obtain a feature point set; based on the X-Z coordinate plane, calculate the slope difference between each feature point in the feature point set and the two vertices of each line segment in the line segment set , screen out the target feature points whose slope difference with at least one line segment is within the range of the target slope difference; according to the X-axis coordinates of all target feature points, obtain an intermediate X-axis coordinate as the X-axis coordinate of the target operation position.

Also take the alignment radar as the lidar and collect the three-dimensional point cloud data as an example. For the projection of the 3D point cloud data and the acquisition method of the line segment set, refer to the above description.

Feature point detection can be realized by Harris operator calculation on 3D point cloud data. The Harris operator is a corner detection operator, which can extract point features from the 3D point cloud data in the crane detection frame BBox ₂ . The Harris operator is an existing technology, so it will not be explained further.

When calculating the slope difference between each feature point and the two vertices of each line segment, set the coordinates of a feature point P to be (P _X2 , P _Z2 ), and the coordinates of the two vertices of a line segment to be (X _2-2 , Z _{2- 2} ) and (X _2-3 , Z _2-3 ), the slope difference V is: V=|(P _Z2 -Z _2-2 )/(P _X2 -X _2-2 )|-|(P _Z2 - Z _2-3 )/(P _X2 -X _2-3 )|. When screening feature points, the target slope difference range is less than a set value. If the slope difference V between a feature point and one or more line segments satisfies V<ε, the feature point is retained as the target feature point. ε can be set as required to filter out the target feature points that are located at the same end of each line segment as much as possible.

Further, when calculating the intermediate X ₂ -axis coordinates, in order to improve the accuracy, the following method is adopted: take the center point of the crane detection frame BBox ₂ as the target point, and classify all the target feature points as the X ₂ -axis coordinates of which are smaller than the X ₂ of the target point. The front side set of axis coordinates and the rear side set of X ₂ axis coordinates are greater than the X ₂ axis coordinates of the target point; along the X ₂ axis, obtain the X ₂ axis coordinate X of the front side feature point closest to the target point in the front side set _2-front , and the X ₂ -axis coordinate X _2-back of a rear feature point closest to the target point in the back set; calculate the intermediate X ₂ -axis coordinate X _2-middle , X _2-middle = (X _2-front +X _2-back )/2.

Subsequently, when projecting the X ₂ -axis coordinate of the target operation position to the driving coordinate system, a transformation matrix M _1-to-2 may be used. Since the vertical projection of the preset hoisting position of the container truck and the target operation position of the crane are both on the guide lane, the position deviation between the two only needs to be considered parallel to the guide lane, but is actually the coordinates on the same vertical plane as the guide lane. axis, that is, the coordinate information on the X ₁ axis and the X ₂ axis. On the basis of accurately obtaining the X ₂ -axis coordinates of the target operating position, the Y ₂ -axis coordinates and Z ₂ -axis coordinates of the target operating position can be filled with any suitable value to obtain the Pos ₂ coordinates of the target operating position in the alignment coordinate system. . Then, according to Pos ₁ =Inv(M _1-to-2 )×Pos ₂ , the coordinate Pos ₁ of the target working position projected to the driving coordinate system can be obtained, so as to obtain the X ₁ axis coordinate of the target working position.

Further, the X1 _- axis coordinate of the preset hoisting position is subtracted from the X1 _- axis coordinate of the target operation position to obtain the position deviation; then, according to the position deviation, the actual deviation distance is converted, and the position containing the actual deviation distance is sent to the container truck. Adjust the command to guide the container truck to move forward or backward along the guide lane by the actual deviation distance, and then the precise alignment between the container truck and the crane can be completed.

Embodiments of the present disclosure further provide an alignment system for a container truck and a crane, which can be used to implement the alignment method described in any of the foregoing embodiments. FIG. 6 shows the main modules of the alignment system. Referring to FIG. 6 , in some embodiments, the alignment system 600 of a container truck and a crane includes: a driving detection module 610 for scanning the three-dimensional information through the driving radar of the container truck The alignment trigger module 620 is used to start the alignment radar of the container truck when the three-dimensional information matches the preset crane profile information, and project the target area of the corresponding crane obtained according to the three-dimensional information to the alignment coordinates of the alignment radar In the system; the alignment detection module 630 is used to obtain the target operating position of the crane according to the three-dimensional data in the target area scanned by the alignment radar; the position adjustment module 640 is used to guide the container truck through the cooperation of the driving radar and the alignment radar Drive, so that the preset hoisting position of the container truck coincides with the target operating position.

Further, the alignment system 600 for a container truck and a crane may further include modules for implementing other detailed process steps in the above-mentioned embodiments of the alignment methods. The description will not be repeated here.

As described above, the alignment system of the container truck and the crane in some embodiments of the present disclosure can efficiently and accurately realize the fine alignment of the container truck and the crane through the cooperation and linkage of the driving radar and the alignment radar, and is suitable for various types of Port cranes.

Embodiments of the present disclosure further provide an electronic device including a processor and a memory, where executable instructions are stored in the memory, and when the executable instructions are executed by the processor, the method for aligning a container truck and a crane described in any of the foregoing embodiments is implemented.

As described above, the electronic device in some embodiments of the present disclosure can efficiently and accurately realize the fine alignment of the container truck and the crane through the cooperation and linkage of the driving radar and the alignment radar, and is suitable for various types of port hoisting machinery.

FIG. 7 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. It should be understood that FIG. 7 only schematically shows various modules, and these modules may be virtual software modules or actual hardware modules. Splitting and addition of other modules are within the scope of the present disclosure.

As shown in FIG. 7, electronic device 700 takes the form of a general-purpose computing device. Components of the electronic device 700 include, but are not limited to, at least one processing unit 710, at least one storage unit 720, a bus 730 connecting different platform components (including the storage unit 720 and the processing unit 710), a display unit 740, and the like.

The storage unit stores program codes, and the program codes can be executed by the processing unit 710, so that the processing unit 710 executes the steps of the method for aligning a container truck and a crane described in any of the foregoing embodiments. For example, the processing unit 710 may perform the steps shown in FIG. 1 .

The storage unit 720 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 7201 and/or a cache storage unit 7202 , and may further include a read only storage unit (ROM) 7203 .

The storage unit 720 may also include a program/utility 7204 having one or more program modules 7205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, examples of which are Each or some combination of these may include an implementation of a network environment.

The bus 730 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.

The electronic device 700 may also communicate with one or more external devices 800, which may be one or more of a keyboard, a pointing device, a Bluetooth device, and the like. These external devices 800 enable the user to interact with the electronic device 700 . Electronic device 700 is also capable of communicating with one or more other computing devices, including routers, modems, as shown. Such communication may take place through input/output (I/O) interface 750 . Also, the electronic device 700 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 760 . Network adapter 760 may communicate with other modules of electronic device 700 through bus 730 . It should be appreciated that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives And data backup storage platform, etc.

Embodiments of the present disclosure further provide a computer-readable storage medium for storing a program, and when the program is executed, the method for aligning a container truck and a crane described in any of the foregoing embodiments is implemented. In some possible implementations, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program code that, when the program product runs on a terminal device, is used to cause the terminal device to perform any of the above-mentioned implementations The method of alignment between container trucks and cranes is described in this example.

As described above, the computer-readable storage medium in some embodiments of the present disclosure can efficiently and accurately realize the fine alignment between the container truck and the crane through the cooperation of the driving radar and the alignment radar, and is suitable for various types of port lifting. mechanical.

FIG. 8 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present disclosure. Referring to FIG. 8 , a program product 900 for implementing the above method according to an embodiment of the present disclosure is described, which can adopt a portable compact disk read only memory (CD-ROM) and include program codes, and can be stored in a terminal device, For example running on a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of readable storage media include, but are not limited to, electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable Read-only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

A computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable storage medium can also be any readable medium other than a readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural programming Language - such as the "C" language or similar programming language. The program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on. Where remote computing devices are involved, the remote computing devices may be connected to the user computing device over any kind of network, including a local area network (LAN) or wide area network (WAN), or may be connected to an external computing device, such as using an Internet service provider business to connect via the Internet.

The above content is a further detailed description of the present disclosure in conjunction with specific preferred embodiments, and it cannot be considered that the specific implementation of the present disclosure is limited to these descriptions. For those of ordinary skill in the technical field to which the present disclosure pertains, without departing from the concept of the present disclosure, some simple deductions or substitutions can be made, which should be regarded as belonging to the protection scope of the present disclosure.

Claims

A method for aligning a container truck and a crane, comprising:

The driving radar of container truck scans 3D information;

Matching the three-dimensional information and the outline information of the crane to obtain the target area of the crane;

Start the alignment radar of the container truck, and project the obtained target area of the crane into the alignment coordinate system of the alignment radar;

obtaining the target working position of the crane according to the three-dimensional data in the target area scanned by the alignment radar; and

The driving radar and the alignment radar guide the container truck to travel to a preset hoisting position of the container truck that coincides with the target operating position.
The alignment method according to claim 1, wherein the driving radar is arranged in front of the container truck, and the alignment radar is arranged on the top of the container truck.
The alignment method according to claim 1 or 2, wherein the driving radar and the alignment radar guide the container truck to travel, comprising:

Projecting the target operating position into the driving coordinate system of the driving radar; and

The container truck travels according to the positional deviation of the preset hoisting position relative to the target operating position in the traveling coordinate system.
The alignment method according to any one of claims 1 to 3, further comprising:

Pre-store the profile information of the crane;

After matching the three-dimensional information with the outline information of the crane, obtaining a crane category of the crane according to the three-dimensional information; and

After the target working position of the crane is obtained, the target working position is obtained according to the crane category and the three-dimensional data.
The alignment method of claim 4, further comprising:

Before the driving radar of the container truck scans the three-dimensional information, adjust the target operation position to the vertical projection on the guide lane of the crane;

When the driving radar of the container truck scans the three-dimensional information, the container truck runs along the guide lane, so that the vertical projection of the preset hoisting position is located on the guide lane; and

When the driving radar and the alignment radar cooperate to guide the container truck to drive, according to the positional deviation between the preset hoisting position and the target operation position along the guide lane, send a signal to the container truck along the guide lane. Guidance lane position adjustment command.
The alignment method according to claim 5, wherein the crane category is a gantry crane category, and the obtaining the target operating position comprises:

Projecting the three-dimensional data to the X-Z coordinate plane of the alignment coordinate system to obtain a two-dimensional data map, wherein the X axis is parallel to the guide lane;

performing straight line detection on the two-dimensional data graph to obtain a line segment set;

Based on the X-Z coordinate plane, calculating the slopes of a plurality of line segments in the line segment set, and filtering out a plurality of target line segments whose slopes are within a target slope range; and

According to the X-axis coordinates of the vertices of the multiple target line segments, an intermediate X-axis coordinate is obtained as the X-axis coordinate of the target working position.
The alignment method according to claim 6, wherein said obtaining an intermediate X-axis coordinate comprises:

Obtain the maximum coordinate X max and the minimum coordinate X min from the X-axis coordinates of the vertices of the multiple target line segments;

Calculate the midpoint coordinate X mid , where X mid =(X max +X min )/2;

Based on the midpoint coordinate X mid , the vertices of the target line segment are classified into a first set whose X-axis coordinates are less than the mid-point coordinate X mid and a second set whose X-axis coordinates are greater than the mid-point coordinate X mid ;

Obtain the median coordinate X mid-front of the X-axis coordinates of each vertex in the first set, and the median coordinate X mid-back of the X-axis coordinates of each vertex in the second set; and

Calculate the middle X-axis coordinate X middle , where X middle =(X mid-front +X mid-back )/2.
The alignment method according to claim 5, wherein the crane category is a quay crane category, and obtaining the target operation position includes:

Projecting the three-dimensional data to the X-Z coordinate plane of the alignment coordinate system to obtain a two-dimensional data map, wherein the X axis is parallel to the guide lane;

performing straight line detection on the two-dimensional data graph to obtain a line segment set;

Performing feature point detection on the three-dimensional data to obtain a feature point set;

Based on the X-Z coordinate plane, calculate the slope difference between the multiple feature points in the feature point set and the two vertices of the multiple line segments in the line segment set, and filter out at least one line segment whose slope difference is within the target slope difference range. multiple target feature points; and

According to the X-axis coordinates of the multiple target feature points, an intermediate X-axis coordinate is obtained as the X-axis coordinate of the target operation position.
The alignment method according to claim 8, wherein said obtaining an intermediate X-axis coordinate comprises:

Taking the center point of the crane detection frame as the target point, classifying the plurality of target feature points into a front side set whose X-axis coordinate is smaller than the X-axis coordinate of the target point and an X-axis coordinate whose X-axis coordinate is greater than the X-axis coordinate of the target point backside collection of axis coordinates;

Along the X-axis, obtain the X-axis coordinate X front of a front-side feature point closest to the target point in the front-side set, and a rear-side feature closest to the target point in the back-side set the point's X-axis coordinate X back ; and

Calculate the middle X-axis coordinate X middle , where X middle =(X front +X back )/2.
An alignment system for a container truck and a crane, comprising:

The driving detection module is used to scan the three-dimensional information through the driving radar of the container truck;

The alignment trigger module is used to start the alignment radar of the container truck when the three-dimensional information matches the preset crane profile information, and project the target area of the corresponding crane obtained according to the three-dimensional information to the alignment radar. in the alignment coordinate system of the radar;

an alignment detection module, configured to obtain the target operating position of the crane according to the three-dimensional data in the target area scanned by the alignment radar; and

The position adjustment module is used to guide the container truck to travel through the cooperation of the driving radar and the alignment radar, so that the preset hoisting position of the container truck coincides with the target operation position.
An electronic device comprising:

processor; and

A storage medium having computer instructions stored thereon, and when the computer instructions are executed by the processor, the method for aligning a container truck and a crane according to any one of claims 1-9 is executed.
A computer-readable storage medium having computer instructions stored thereon, the computer instructions executing the method for aligning a container truck and a crane according to any one of claims 1-9 when the computer instructions are executed by a processor.
A computer program product comprising computer instructions stored on a computer storage medium, the computer instructions executing the method for aligning a container truck and a crane according to any one of claims 1 to 9 when the computer instructions are executed by a processor.
A computer program for causing a processor to execute the method for aligning a container truck and a crane according to any one of claims 1 to 9.