CN113086847B

CN113086847B - Method and device for determining state information of gantry crane equipment

Info

Publication number: CN113086847B
Application number: CN202110302056.2A
Authority: CN
Inventors: 刘飞; 周发明; 史永乐; 刘松; 张忠河
Original assignee: China Railway Guangzhou Group Co Ltd
Current assignee: China Railway Guangzhou Group Co Ltd
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2024-04-19
Anticipated expiration: 2041-03-22
Also published as: CN113086847A

Abstract

The embodiment of the application provides a method and a device for determining state information of gantry crane equipment. In the embodiment of the application, the corresponding movement speed is determined by identifying the corresponding position of the gantry crane body and the corresponding position of the lifting appliance, so that the movement of the gantry crane equipment is controlled more accurately and safely. The position and the speed of the gantry crane equipment can be automatically determined, so that the working efficiency and the operation safety of the gantry crane equipment can be improved.

Description

Method and device for determining state information of gantry crane equipment

Technical Field

The invention relates to the field of control, in particular to a method and a device for determining state information of gantry crane equipment.

Background

With the rapid development of modern logistics industry, various transportation modes such as highways, railways, waterways and the like are increasingly competitive, and traditional transportation enterprises apply advanced logistics modes and technologies. Railway transportation is taken as a main transportation mode of national economy, and has certain advantages in the development of large-scale logistics. In recent years, the container transportation is very important in China, a series of measures such as strengthening container equipment and facilities, improving the transportation service quality, pushing out cross-border transportation classes and the like are taken, and the container sending amount is greatly increased year by year.

Under the large trend, the production management of the railway freight yard puts forward the construction requirement of a digital and visual operation management system for lifting containers by using portal crane equipment, thereby improving the working efficiency and the operation safety, realizing the remote lifting operation of taking, placing, turning and the like of the railway containers, improving the comprehensive competitiveness of railway freight and realizing the aim of modern logistics comprehensively for railway freight.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects of the prior art and providing a method and a device for determining the state information of gantry crane equipment, which are used for accurately and safely controlling the gantry crane equipment so as to improve the working efficiency and the operation safety.

In order to achieve the above technical object, in one aspect, the present invention provides a method for determining status information of gantry crane apparatus, where the gantry crane apparatus includes: the device comprises a gantry crane body vertically arranged on the ground and a lifting appliance sliding on the gantry crane body in parallel, wherein a first image acquisition device is arranged at the gantry crane body, and a second image acquisition device is arranged at the lifting appliance; the method comprises the following steps: acquiring a first image through the first image acquisition device, wherein the first image records the current line number corresponding to the position of the gantry crane body in a goods area on the ground; acquiring a second image through the second image acquisition device, wherein the second image records the current column number corresponding to the position of the lifting appliance in a goods area on the ground; identifying the current line number in the first image, determining a current first position corresponding to the gantry crane body according to the current line number, and determining a first moving speed of the gantry crane body according to the current first position; and identifying the current column number in the second image, determining the current second position corresponding to the lifting appliance according to the current column number, and determining the second moving speed of the lifting appliance according to the current second position.

On the other hand, the invention provides a state information determining device of gantry crane equipment, which comprises: the device comprises a gantry crane body vertically arranged on the ground and a lifting appliance sliding on the gantry crane body in parallel, wherein a first image acquisition device is arranged at the gantry crane body, and a second image acquisition device is arranged at the lifting appliance; the device comprises: the first acquisition module is used for acquiring a first image through the first image acquisition device, wherein the first image records the current line number corresponding to the position of the gantry crane body in a goods area on the ground; the second acquisition module is used for acquiring a second image through the second image acquisition device, wherein the second image records the current column number corresponding to the position of the lifting appliance in a goods area on the ground; the first identification module is used for identifying the current line number in the first image, determining the current first position corresponding to the gantry crane body according to the current line number, and determining the first moving speed of the gantry crane body according to the current first position; the second identification module is used for identifying the current column number in the second image, determining the current second position corresponding to the lifting appliance according to the current column number, and determining the second moving speed of the lifting appliance according to the current first position.

In the embodiment of the application, the corresponding movement speed is determined by identifying the corresponding position of the gantry crane body and the corresponding position of the lifting appliance, so that the movement of the gantry crane equipment is controlled more accurately and safely. The position and the speed of the gantry crane equipment can be automatically determined, so that the working efficiency and the operation safety of the gantry crane equipment can be improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a method for determining state information of gantry crane equipment according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a status information determination system according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a mounting position of a camera according to an embodiment of the present application;

FIG. 4 is a schematic view of the longitudinal coordinate position of a gantry crane body according to an embodiment of the present application;

FIG. 5 is a schematic view of the lateral coordinate position of a spreader according to an embodiment of the present application;

FIG. 6 is a schematic diagram of controlling movement of gantry crane apparatus according to an embodiment of the present application;

fig. 7 is a schematic frame diagram of a status information determining apparatus of a gantry crane according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1, the present application provides a method for determining state information of a gantry crane apparatus, wherein the gantry crane apparatus includes: the device comprises a gantry crane body vertically arranged on the ground and a lifting appliance sliding on the gantry crane body in parallel, wherein a first image acquisition device is arranged at the gantry crane body, and a second image acquisition device is arranged at the lifting appliance; the method 100 includes:

101: and acquiring a first image through a first image acquisition device.

The first image records the current line number corresponding to the position of the gantry crane body in the goods area on the ground.

102: And acquiring a second image through a second image acquisition device.

The second image records the current column number corresponding to the position of the lifting appliance in the goods area on the ground.

103: The method comprises the steps of identifying the current line number in a first image, determining the current first position corresponding to the gantry crane body according to the current line number, and determining the first moving speed of the gantry crane body according to the current first position.

104: And identifying the current column number in the second image, determining the current second position corresponding to the lifting appliance according to the current column number, and determining the second moving speed of the lifting appliance according to the current second position.

It should be noted that the execution body of the method 100 may be a device having a computing function, such as a server, a computer, or the like. The portal crane equipment is mainly used for loading and unloading operations of outdoor goods yards, stock yards and bulk goods. Including the portal crane body, its metal structure is like portal frame setting on subaerial perpendicularly, and this portal crane body can include portal crane bridge and bear two stabilizer blades of this bridge for can walk on the track on ground directly, be provided with the hoist on this bridge, can carry out the parallel slip, thereby carry out the hoist and mount of goods.

The following is a detailed description of the above steps:

101: and acquiring a first image through a first image acquisition device.

The first image records the current line number corresponding to the position of the gantry crane body in the goods area on the ground. For the number of rows and columns of cargo marked in the cargo area on the ground. As can be seen from the foregoing, the gantry crane apparatus may further include: the gantry crane track is arranged on the ground; the number of rows of the cargo areas marked on the ground and the number of columns of the cargo areas on the ground can be set based on the gantry crane track. It should be understood that the transverse direction is a row and the longitudinal direction is a column.

For example, as can be seen from the foregoing, the first image capturing device may be disposed on the leg of the gantry crane body, or may be disposed below the gantry crane bridge, as long as the corresponding number of rows can be obtained.

Specifically, the first image acquisition device includes: a first camera; the gantry crane body comprises a gantry crane bridge parallel to the ground, and a first camera facing the ground is arranged below the gantry crane bridge, so that the first camera collects the number of lines of a cargo area marked on the ground, and a first image recorded with the current number of lines is acquired.

The first camera can be a zoom ball camera, and the number of lines of the ground marks of the storage yard, such as numerals, letters or characters, are subjected to real-time focusing shooting after fixed focal length adjustment.

For example, as shown in fig. 3, as can be seen from the foregoing, the first camera 302, i.e., the camera of the gantry crane body, may be disposed below the gantry crane bridge 307 of the gantry crane body 306, where the first camera 302 is shooting toward the ground, and the number of shooting lines 308. And the gantry crane body moves on the gantry crane track 303 on the ground.

As shown in fig. 2, the camera 201 of the gantry crane body transmits the clear video image (i.e., the corresponding image) obtained after photographing to the central system 203 through the remote communication module, and the central system may be composed of a server and/or a computer.

The remote communication module can be used for installing a WiFi wireless communication module on camera equipment installed on the gantry crane body and the lifting appliance and transmitting shot images to the central system, and transmitting control instructions such as camera focusing and the like fed back by the central system for shooting clear images to the camera.

102: And acquiring a second image through a second image acquisition device.

The second image records the current column number corresponding to the position of the lifting appliance in the goods area on the ground. For example, as can be seen from the foregoing, the second image acquisition device may be disposed on a hanger, and may face the ground, and the number of columns may be recorded. Or the number of columns can be recorded towards the lower part of the gantry crane bridge, and the number of columns which correspond to the number of columns on the ground are required to be arranged below the gantry crane bridge when the columns are towards the lower part of the gantry crane bridge.

Specifically, the second image acquisition device includes: a second camera; the gantry crane body comprises a gantry crane bridge parallel to the ground, the number of columns of the cargo areas marked below the gantry crane bridge corresponds to the number of columns of the cargo areas on the ground; at least one second camera is arranged on two sides of the lifting hook of the lifting appliance, and the at least one second camera faces towards the lower part of the gantry crane bridge, so that the at least one second camera can acquire a second image, and the second image records the number of columns of the cargo area marked below the corresponding gantry crane bridge.

The second camera can be a zoom ball camera, and the column number marked at the bottom of the gantry crane bridge after fixed focal length adjustment, such as numerals, letters or characters, are subjected to real-time focusing shooting. The number of the second cameras can be 1, two or more. Correspondingly, the number of the first cameras can be multiple, and the image processing modes of the second cameras can be referred to later for the first cameras.

For example, as shown in fig. 3, as can be seen from the foregoing, 2 second cameras 301, i.e. the cameras of the lifting appliance, may be disposed on both sides of the lifting hook of the lifting appliance 305, and the first cameras 302 are shot towards the lower side of the gantry crane 307, and the number of shot columns 304. And the spreader 305 moves laterally over the gantry bridge 307. It should be appreciated that the number of columns 304 corresponds to the number of columns on the ground (not shown in FIG. 3) and is also in a row-column relationship with the number of columns 308 on the ground.

As shown in fig. 2, the camera 202 of the lifting appliance transmits the clear video image (i.e., the corresponding image) obtained after shooting to the central system through the remote communication module.

The first image capturing device and the second image capturing device respectively capture images. But for subsequent identification, the final position and speed of the gantry crane apparatus should be determined by identifying two images at the same time, determining the position, or determining the speed.

The first moving speed refers to a parallel moving speed of the gantry crane body relative to the ground or a gantry crane track or a longitudinal moving speed when the gantry crane body is overlooked.

Specifically, identifying the current line number in the first image, and determining the current first position corresponding to the gantry crane body according to the current line number, including: identifying a first straight line in the first image for marking a cargo area on the ground based on a Hough transform algorithm, and determining an angle between the first straight line and the first image; determining a position of the first line in the first image based on the angle; based on a coordinate conversion algorithm, adjusting the first image so that the first straight line becomes a vertical line; detecting first marks for marking the number of lines of a cargo area on the ground in a first image based on a convolutional neural network, wherein the first marks are arranged between two adjacent first lines; identifying each first identifier from the detected first identifiers based on a similarity algorithm; and drawing a first mark line parallel to the first straight line from the midpoint of the boundary at the top of the first image, intersecting the region where the number of lines of the cargo area on the ground is located at a first intersection point, and determining the ordinate of the first intersection point in the first image and the corresponding first mark based on the position of the first straight line in the first image and each first mark.

Wherein the cargo area may be a container area, i.e. a box area. The first straight line may be a dividing straight line. The first logo may be a logo letter, which may be disposed between two adjacent separation lines.

For example, as can be seen from the foregoing, as shown in fig. 4, the yard floor draws the identification letters 405 from A, B, C to Z in order to identify the bin line number, and draws the separation line 401 (which may be a white separation line) between the letters. The length (i.e. the height of the box area, in fig. 4, the longitudinal height and the width of the identification area 404) where the letters are located are fixed values, and are preset values, and before identification, the length, the width and the width of the identification area 404 can be configured by the position basic parameter configuration module, namely, the necessary parameter configuration for completing the subsequent automatic detection and identification algorithm is completed. The line of sight 402 of the first camera 302, which is parallel to the separation line 401, intersects the identification area 404 at an X point 403, and the determination process of the position of the X point 403 is as follows:

a. The server in the central system can detect the separation line 401 in the first image by adopting the hough transform algorithm of image recognition, recognize the angle of the separation line 401 in the image to the image, and determine the coordinates of each separation line 401 in the image based on the angle, so that the position, namely the coordinates, of the identification area 404 in the image can be restored. b. The image rotation is performed using a coordinate conversion algorithm such that the dividing straight line 401 becomes a vertical line and the vertical line at the vertical midpoint of each of the identification letters 405 becomes a horizontal line. c. An object detection algorithm is performed by using a convolutional neural network, and all objects to be identified, such as identification letters 405 (representing the number of rows), are detected. d. All the identification letters 405 are identified by text feature recognition using a similarity algorithm, so that the coordinates of the identification letters 405 are determined. e. From the midpoint of the boundary at the top of the image, a straight line (i.e., line of sight 402) parallel to the separation line 401 intersects the identification region 404 at an X point 403, thereby determining an identification letter 405 corresponding to the identification region 404 where the X point 403 is located, e.g., letter B and the ordinate position in fig. 4. Wherein each cargo in the number of rows occupies a rectangular area in which letter C is located in area 406.

Furthermore, the method 100 further comprises: based on the identified adjacent first identifications, an occluded first identification is determined.

For example, as can be seen from the foregoing, all the identification letters 405 are identified by text features using a similarity algorithm in step d. And the identification letters 405 that may be occluded are deduced from the adjacent identification letters 405.

For the first image, the minimum ordinate point of the first column may be regarded as the origin of coordinates, and the calculation of the corresponding number of lines may be performed.

The position basic parameter configuration module is as follows: the parameters of the container, such as the number of rows and columns of stacked containers in the yard, the row width (row spacing) and the column width (column spacing), numbers, letters or characters corresponding to the number of rows and columns, marks dividing the box area, standard layer height of the container, the height of the gantry crane bridge, the relative coordinate position of the yard and the gantry crane track, and the like are all preset values.

In addition, the position of the line of sight 402 may be determined by a deep-learned image line of sight height detection algorithm, so as to determine the corresponding X point 403.

Specifically, determining a first movement speed of the gantry crane body according to the current first position includes: determining a difference value of the ordinate according to the current ordinate and the ordinate corresponding to the target moving position of the gantry crane body; determining a time difference value according to the current time corresponding to the current ordinate and the target time corresponding to the target moving position; and determining the longitudinal movement speed of the gantry crane body according to the difference value of the ordinate and the time difference value.

For example, as can be seen from the foregoing, the moving speed can be calculated by performing image capturing and identifying the position (the process described above) in the video image corresponding to the gantry crane body at the current time point T1 and the previous time point T0, and the calculation algorithm is as follows:

Longitudinal movement speed of gantry crane body= (longitudinal position of gantry crane body S1-longitudinal position of gantry crane body S0)/(T1-T0), wherein T1 and T0 correspond to the time of position S1 and position S0, respectively. The ordinate positions at different times can be determined in the manner described hereinbefore.

Thus, the server and/or the computer in the central system can calculate the moving speed between two longitudinal coordinates and in two corresponding times for the gantry crane body, and can take the moving speed as control information, as shown in fig. 2, the central system 203 sends the control information, such as the moving speed, to the control system 204 of the gantry crane, or the control system 204 of the gantry crane collects the control information, and then controls the gantry crane body to move according to the collected control information.

The second moving speed refers to the transverse moving speed of the lifting appliance on the gantry crane bridge, and also can refer to the vertical moving speed of the lifting appliance, namely the longitudinal moving speed. The second position may also be the transverse coordinate of the spreader moving in the transverse direction, and may also be the vertical coordinate of the spreader moving in the vertical direction, i.e. the ordinate.

Specifically, the method for identifying the current column number in the second image and determining the current second position corresponding to the lifting appliance according to the current column number includes: identifying a second straight line in the second image for marking the columns of the cargo area on the ground based on a Hough transform algorithm, and determining the angle between the second straight line and the second image; determining a position of the second line in the second image based on the angle; based on a coordinate conversion algorithm, adjusting the second image so that the second straight line becomes a vertical line; detecting second marks for marking the column number of the cargo area on the ground in the second image based on the convolutional neural network, wherein the second marks are arranged between two adjacent second straight lines; identifying each second identifier from the detected second identifiers based on a similarity algorithm; and drawing a second mark line parallel to the second straight line from the midpoint of the boundary at the top of the second image, intersecting the area where the column number of the cargo area on the ground is located at a second intersection point, and determining the abscissa of the second intersection point in the second image and the corresponding second mark based on the position of the second straight line in the second image and the identification of each second mark.

Wherein the second straight line may be a dividing straight line. The second mark may be a mark letter, which may be disposed between adjacent two separation lines.

For example, as shown in fig. 5, the marking letters 506 drawn at the bottom of the gantry bridge 501 are sequentially from A, B, C to Z to mark the scale, and the dividing line 507 is drawn between the marking letters 506. The length of the identification area 502 where the identification letter 506 is located is a fixed value, that is, is configured by the location base parameter configuration module, and is a preset value. The photographing angle of view of the second camera 301 is a fixed angle α. The line of sight 503 of the second camera 301 perpendicular to the bottom plane of the gantry crane bridge 501 intersects the plane of the identification area 502 at an X point 504, and the position of the X point 504 and the distance between the X point 504 and the camera (i.e. the height h of the lifting appliance) are calculated as follows:

a. The server in the central system may perform line detection on the separation lines 507 in the second image by using a hough transform algorithm for image recognition, recognize the angle of the separation lines 507 in the image to the second image, determine the coordinates of each separation line 507 in the image based on the angle, and restore the position, i.e. the coordinates, of the identification area 502. b. The second image rotation is performed using a coordinate conversion algorithm such that the dividing straight line 507 becomes a vertical line and the vertical line of the vertical midpoint of each of the identification letters 506 becomes a horizontal line. c. And detecting all objects to be identified, such as each identification letter 507, by adopting a convolutional neural network to perform an object detection algorithm. d. All the identification letters 507 are identified by text feature recognition using a similarity algorithm. e. From the midpoint of the boundary at the top of the second image, a straight line parallel to the dividing straight line 507, i.e. the line of sight 503 intersects the identification area 502 at the X point 504, and the identification letter of the identification area 502 where the X point 504 is located, such as the letter B and the abscissa position X0, is calculated.

The minimum abscissa position of the marker region may be the origin, and the abscissa region position calculation may be performed.

Furthermore, the method 100 further comprises: determining a shielded second mark based on the identified adjacent second mark, and determining the length of the area where the column number of the goods area on the ground in the second image is located; and determining the vertical distance of the lifting appliance relative to the lower part of the gantry crane bridge (the vertical distance of the second camera relative to the lower part of the gantry crane bridge can also be determined according to the length, the abscissa and the acquisition angle of the second image acquisition device).

For example, as shown in fig. 5, d. the text feature recognition is performed using a similarity algorithm to identify all the identification letters 507, and the adjacent identification letters 507 are used to infer the possibly blocked identification letters 507, and the total length l of all the identification areas 502 in the second image is calculated.

F. from the trigonometric function, α=arctan (x 0/h) +arctan ((l-x 0)/h), h can be calculated back. As shown in fig. 5, an α angle 505 composed of a photographing range 509 of the second camera 301.

Furthermore, the method 100 further comprises: when the number of the second image acquisition devices is at least two, determining the vertical distance between the lifting appliance corresponding to each second image acquisition device and the lower part of the gantry crane bridge; and determining the vertical distance of the final lifting appliance relative to the lower part of the gantry crane bridge according to at least two vertical distances.

In addition, the position of the line of sight 503 may be determined by a deep-learning image line of sight height detection algorithm, so as to determine the corresponding X point 504.

When the number of second image pickup devices is 2 or even more, the final h can be determined as follows.

For example, as can be seen from the foregoing, in order to solve the deviation caused by the shaking of the gantry crane body and the lifting tool during the movement of the lifting tool, 1 camera is respectively installed on the opposite corners (e.g., two sides of the lifting hook) of the rectangular lifting tool, and the lifting tool height is calculated by taking the average value of the heights of the two cameras, namely h= (h1+h2)/2. h1 and h2 are the vertical distance of the corresponding second camera relative to the lower part of the gantry crane bridge, namely the corresponding lifting appliance height.

It should be noted that, for the plurality of second cameras, the central system acquires a plurality of second images at the same time, and at this time, the plurality of images need to be spliced together to form an image, that is, the image of the whole identification area, for example, the image of the whole identification area below the gantry crane bridge can be completely acquired. And then detected and identified. In addition, as shown in fig. 5, for the identification area 502 representing the number of columns, the area occupied by each item is a rectangular area in which the letter D is located in the area 508. It should be understood that the rectangular area is the same as the rectangular area in the number of rows described above.

Specifically, determining the second movement speed of the lifting appliance according to the current second position includes: determining a difference value of the abscissa according to the current abscissa and the abscissa corresponding to the transverse target moving position of the lifting appliance; determining a time difference value according to the current time corresponding to the current abscissa and the target time corresponding to the transverse target moving position; and determining the transverse movement speed of the lifting appliance according to the difference value of the abscissa and the time difference value.

For example, as can be seen from the foregoing, the lateral movement speed of the spreader= (spreader abscissa position S1-spreader abscissa position S0)/(T1-T0), where T1 and T0 correspond to the time of position S1 and position S0, respectively. The positions of the abscissa corresponding to the different times can be determined in the manner described above.

Furthermore, the method 100 further comprises: determining a difference value of the vertical distances according to the vertical distance determined currently and the vertical distance corresponding to the longitudinal target moving position of the lifting appliance; determining a time difference value according to the current time corresponding to the current determined vertical distance and the target time corresponding to the longitudinal target moving position; and determining the longitudinal movement speed of the lifting appliance according to the difference value of the distances and the time difference value.

For example, as is clear from the foregoing, when the spreader is vertically moved, the vertical movement speed of the spreader= (height M1 of the spreader-height M0 of the spreader)/(T1-T0) is performed when the load is lifted, wherein T1 and T0 correspond to the time of the position M1 and the position M0, respectively.

It will be appreciated that the heights of the different time spreaders may be determined in the manner described hereinbefore.

Thus, the server and/or computer in the central system can calculate the movement speed between two lateral coordinates and corresponding two times and the movement speed between two heights and corresponding two times for the lifting appliance, and can take the movement speed as control information, as shown in fig. 2, the central system 203 sends the control information, such as the movement speed, to the control system 204 of the gantry crane, or the control system 204 of the gantry crane collects the control information, and then controls the lifting appliance to move according to the collected control information.

Then, the method 100 further comprises: and controlling the gantry crane equipment to move according to the first moving speed and the second moving speed so as to complete the operation.

The foregoing has already been described, and will not be described in detail here.

The embodiment of the application relates to fewer additional installation and transformation devices, only WiFi wireless camera equipment is required to be installed, a sensor is not required to be installed and PLC digital-to-analog conversion is not required to be carried out, and the installation and the debugging are simple and easy, and the cost is low.

In addition, the intelligent video image recognition technology is comprehensively utilized, the problems of mark shielding and position deviation are solved by adopting a unique calculation algorithm, and the positions and the speeds of the gantry crane body and the lifting tool with high accuracy and the detection and calculation of the container position of the operation target container are realized.

Therefore, the first camera at the position of the gantry crane body and the second camera at the position of the lifting appliance are used for photographing respectively, the images are returned to the central system, and the central system calculates the coordinate positions of the current gantry crane body and the lifting appliance and the box area where the current gantry crane body and the lifting appliance are located, such as the number of rows and the number of columns.

The control system for container operation calculates the distance and speed of the gantry crane and the lifting appliance to be moved according to the coordinate positions of the gantry crane body and the lifting appliance acquired from the central system and the coordinate position of the box area of the target container.

As shown in fig. 6, in the control system for container operation, the remote control gantry crane body 306 moves along the gantry crane track 303 to the coordinate position of the row where the yard of the target container is located, the remote control spreader moves in parallel to the coordinate position of the column where the yard of the target container is located, and the control spreader moves vertically to the container gripping position above the container 601.

In addition, the gantry crane apparatus further includes: the gantry crane track is arranged on the ground; while the gantry crane apparatus is lifting cargo, the method 100 further includes: determining a difference value of the ordinate according to the current ordinate and the relative ordinate of the cargo yard to the gantry crane track; and determining the number of rows of the goods to be hoisted according to the difference value of the ordinate and the row width.

In the operation of lifting goods by the gantry crane equipment, such as containers, the container position of the operation target container can be calculated by the position of the lifting appliance, and the calculation algorithm is as follows:

The line number of the box, namely the line number of the goods to be hoisted= (the ordinate position of the gantry crane body-the relative ordinate position of the storage yard versus the gantry crane track)/the line spacing of the box +1, wherein the line spacing of the box refers to the line height or the line width, namely the line width. In addition, the relative ordinate position of the storage yard to the gantry crane track is a preset value, and is determined by the position basic parameter configuration module in the mode described above.

In addition, the gantry crane apparatus further includes: the gantry crane track is arranged on the ground; the gantry crane body comprises a gantry crane bridge parallel to the ground; while the gantry crane apparatus is lifting cargo, the method 100 further includes: determining a difference value of the horizontal coordinates according to the current horizontal coordinates and the relative horizontal coordinates of the cargo yard to the gantry crane track; determining the column number of the goods to be hoisted according to the difference value of the horizontal coordinates and the column width; determining a height difference value between the gantry crane bridge and the determined vertical distance, and determining the layer number of the goods to be hoisted according to the height difference value and the body height of the goods to be hoisted.

For example, as can be seen from the foregoing, the bin column number, i.e. the column number of the cargo to be lifted = (abscissa position of the spreader-relative abscissa position of the yard versus gantry crane track)/bin column width +1, wherein the bin column width, i.e. the bin column pitch, refers to the column width of one column. In addition, the relative abscissa position of the storage yard to the gantry crane track is a preset value, and is determined by the position basic parameter configuration module in the mode described above.

The number of container layers = (height of gantry crane bridge-vertical height of lifting appliance)/standard layer height of container +1, wherein the number of container layers is the number of layers where the goods to be lifted are located, and the standard layer height of container means that the standard height of one goods, namely the height of the goods body, is a preset value, and is determined by the position basic parameter configuration module in the mode described above. The height of the gantry crane bridge is also a preset value, and is determined by the position basic parameter configuration module in the manner described above.

Furthermore, the method 100 further comprises: when the gantry crane equipment is controlled to move to the target position, the lifting appliance is controlled to longitudinally move to the lifting position of the goods to be lifted; in the process of controlling the lifting appliance to longitudinally move to the lifting position of the goods to be lifted, determining the current first position and the current second position, and determining the corresponding first moving speed and second moving speed.

In the process of controlling and moving the grabbing box, the first camera of the gantry crane body and the second camera of the lifting appliance continuously and respectively shoot in real time, so that the central system obtains the accurate coordinate positions and speeds of the moving gantry crane body and the lifting appliance according to the mode, namely image calculation, and the control system (namely the control system) for container operation is safe in real time after collecting the container operation. The spreader can then be connected to the container, i.e. the cargo to be hoisted.

Furthermore, the method 100 further comprises: when the lifting appliance is connected with the goods to be lifted, determining a longitudinal movement distance corresponding to the gantry crane body, a transverse movement distance corresponding to the lifting appliance, a first movement speed and a second movement speed corresponding to the lifting appliance according to the target position of the goods to be lifted, so as to move the goods to be lifted to the corresponding target position; determining a current first position and a current second position and determining a corresponding first moving speed and a corresponding second moving speed in the process of moving to a target position of the goods to be hoisted and placing the goods to be hoisted; and determining that the current first position and the current second position correspond to target positions of the goods to be hoisted, and separating the lifting appliance from the goods to be hoisted after the height of the goods to be hoisted is correct, so as to finish the operation of placing the goods to be hoisted.

The target position of the cargo to be hoisted can be the coordinate position (the abscissa and the ordinate) of the box area of the target position, and can also be the coordinate position with a layer number, namely the height of the cargo to be hoisted.

The control system of container operation calculates the distance and speed of the gantry crane body and the lifting appliance to move according to the coordinate position of the box area and the coordinate position of the layer number of the target position of box placement and the mode. Then, the control system for container operation remotely controls the lifting appliance to lift the container, remotely controls the gantry crane body to move to the coordinate position of the row where the box area of the target position is located, and remotely controls the lifting appliance to move to the coordinate position of the column where the box area of the target container is located in parallel and vertically moves to the layer number position of the container. In the process of controlling movement by placing the container, the first camera at the body position of the gantry crane and the second camera at the position of the lifting appliance continuously take pictures in real time, and the central system calculates images according to the mode to obtain the coordinate positions and the speeds of the body of the gantry crane and the lifting appliance in movement, so that the control system for container operation is safe in handling the operation process in real time after collecting the images. The control system of container operation gathers portal crane body and hoist place case district, layer number and corresponding position coordinate again, confirms the exact back and separates hoist and container, and central system can save present target container place case district, layer number and corresponding position coordinate, accomplishes the operation of putting the case.

The central system can also be provided with an identification module of the gantry crane body position and an identification module of the lifting appliance position, which are respectively used for identifying and determining the first position and the first moving speed and identifying and determining the second position and the second moving speed.

The embodiment of the application can pick up images in real time and identify the images efficiently, provides the positions and the moving speeds of the gantry crane body and the lifting appliance in operation for a control system of container operation to collect the images in real time, provides guarantee for accurate, efficient, safe and reliable remote operation control, and can realize the tracking record of the whole operation process.

The embodiment of the application also provides a control device of the gantry crane equipment, which comprises: the device comprises a gantry crane body vertically arranged on the ground and a lifting appliance sliding on the gantry crane body in parallel, wherein a first image acquisition device is arranged at the gantry crane body, and a second image acquisition device is arranged at the lifting appliance; as shown in fig. 7, the apparatus 700 includes:

The first obtaining module 701 is configured to obtain a first image through a first image collecting device, where the first image records a current line number corresponding to a position of the gantry crane body on a cargo area on the ground.

The second acquiring module 702 is configured to acquire a second image through the second image acquisition device, where the second image records a current column number corresponding to a position of the lifting appliance in a cargo area on the ground.

The first identifying module 703 is configured to identify a current line number in the first image, determine a current first position corresponding to the gantry crane body according to the current line number, and determine a first moving speed of the gantry crane body according to the current first position.

The second identifying module 704 is configured to identify a current column number in the second image, determine a current second position corresponding to the lifting appliance according to the current column number, and determine a second moving speed of the lifting appliance according to the current first position.

Specifically, the second image acquisition device includes: a second camera; the gantry crane body comprises a gantry crane bridge parallel to the ground, the number of columns of the cargo areas marked below the gantry crane bridge corresponds to the number of columns of the cargo areas on the ground; at least one second camera is arranged on two sides of the lifting hook of the lifting appliance, and the at least one second camera faces towards the lower part of the gantry crane bridge, so that the at least one second camera can acquire the second image, and the second image records the number of columns of the cargo area corresponding to the mark below the gantry crane bridge.

Specifically, the first identification module 703 includes: a first identifying unit, configured to identify a first straight line in the first image, the first straight line being used for marking a cargo area on the ground, based on a hough transform algorithm, and determine an angle between the first straight line and the first image; a first determining unit configured to determine a position of a first straight line in a first image based on the angle; a first adjustment unit configured to adjust the first image so that the first straight line becomes a vertical line based on a coordinate conversion algorithm; the first detection unit is used for detecting first marks for marking the number of lines of a cargo area on the ground in the first image based on the convolutional neural network, and the first marks are arranged between two adjacent first lines; a first identification unit configured to identify each first identifier from the detected first identifiers based on a similarity algorithm; the first determining unit is used for drawing a first mark line parallel to the first straight line from the midpoint of the boundary at the top of the first image, intersecting the area where the number of lines of the goods area on the ground is located at the first intersection point, and determining the ordinate of the first intersection point in the first image and the corresponding first mark based on the position of the first straight line in the first image and the identification of each first mark.

Furthermore, the first identifying unit is further configured to: based on the identified adjacent first identifications, an occluded first identification is determined.

Specifically, the second identifying module 704 includes: a second identifying unit, configured to identify a second straight line in a second image, where the second straight line is used to mark a column of the cargo area on the ground, based on a hough transform algorithm, and determine an angle between the second straight line and the second image; a second determining unit configured to determine a position of a second straight line in the second image based on the angle; a second adjustment unit configured to adjust the second image based on a coordinate conversion algorithm so that the second straight line becomes a vertical line; the second detection unit is used for detecting second marks used for marking the column number of the goods area on the ground in the second image based on the convolutional neural network, and the second marks are arranged between two adjacent second straight lines; a second detection unit for identifying each second identifier from the detected second identifiers based on a similarity algorithm; the second determining unit is used for drawing a second marking line parallel to the second straight line from the midpoint of the boundary at the top of the second image, intersecting the area where the column number of the goods area on the ground is located at a second intersection point, and determining the horizontal coordinate of the second intersection point in the second image and the corresponding second mark based on the position of the second straight line in the second image and the identification of each second mark.

Furthermore, the second detection unit is further configured to: determining a shielded second mark based on the identified adjacent second mark, and determining the length of the area where the column number of the goods area on the ground in the second image is located; and the second determining unit is used for determining the vertical distance of the lifting appliance relative to the lower part of the gantry crane bridge according to the length, the abscissa and the acquisition angle of the second image acquisition device.

In addition, the second determining unit is used for determining the vertical distance of the lifting appliance corresponding to each second image acquisition device relative to the lower part of the gantry crane bridge when the number of the second image acquisition devices is at least two; and determining the vertical distance of the final lifting appliance relative to the lower part of the gantry crane bridge according to at least two vertical distances.

Specifically, the first determining unit is configured to determine a difference value of the ordinate according to the current ordinate and the ordinate corresponding to the target moving position of the gantry crane body; determining a time difference value according to the current time corresponding to the current ordinate and the target time corresponding to the target moving position; and determining the longitudinal movement speed of the gantry crane body according to the difference value of the ordinate and the time difference value.

Specifically, the second determining unit is configured to: determining a difference value of the abscissa according to the current abscissa and the abscissa corresponding to the transverse target moving position of the lifting appliance; determining a time difference value according to the current time corresponding to the current abscissa and the target time corresponding to the transverse target moving position; and determining the transverse movement speed of the lifting appliance according to the difference value of the abscissa and the time difference value.

Further, a second determination unit for: determining a difference value of the vertical distances according to the vertical distance determined currently and the vertical distance corresponding to the longitudinal target moving position of the lifting appliance; determining a time difference value according to the current time corresponding to the current determined vertical distance and the target time corresponding to the longitudinal target moving position; and determining the longitudinal movement speed of the lifting appliance according to the difference value of the distances and the time difference value.

In addition, the gantry crane apparatus further includes: the gantry crane track is arranged on the ground; and setting the number of rows of the goods areas marked on the ground and the number of columns of the goods areas on the ground by taking the gantry crane track as a reference.

In addition, the apparatus 700 further includes: and the control module is used for controlling the gantry crane equipment to move according to the first moving speed and the second moving speed so as to finish the operation.

In addition, the gantry crane apparatus further includes: the gantry crane track is arranged on the ground; when the gantry crane apparatus lifts cargo, the apparatus 700 further includes: the determining module is used for determining the difference value of the ordinate according to the current ordinate and the relative ordinate of the cargo yard to the gantry crane track; and determining the number of rows of the goods to be hoisted according to the difference value of the ordinate and the row width.

In addition, the gantry crane apparatus further includes: the gantry crane track is arranged on the ground; the gantry crane body comprises a gantry crane bridge parallel to the ground; when the gantry crane equipment lifts cargoes, the determining module is used for determining the difference value of the abscissa according to the current abscissa and the relative abscissa of the cargoes yard to the gantry crane track; determining the column number of the goods to be hoisted according to the difference value of the horizontal coordinates and the column width; determining a height difference value between the gantry crane bridge and the determined vertical distance, and determining the layer number of the goods to be hoisted according to the height difference value and the body height of the goods to be hoisted.

In addition, the control module is also used for: when the gantry crane equipment is controlled to move to the target position, the lifting appliance is controlled to longitudinally move to the lifting position of the goods to be lifted; in the process of controlling the lifting appliance to longitudinally move to the lifting position of the goods to be lifted, determining the current first position and the current second position, and determining the corresponding first moving speed and second moving speed.

Further, a determination module for: when the lifting appliance is connected with the goods to be lifted, determining a longitudinal movement distance corresponding to the gantry crane body, a transverse movement distance corresponding to the lifting appliance, a first movement speed and a second movement speed corresponding to the lifting appliance according to the target position of the goods to be lifted, so as to move the goods to be lifted to the corresponding target position; determining a current first position and a current second position and determining a corresponding first moving speed and a corresponding second moving speed in the process of moving to a target position of the goods to be hoisted and placing the goods to be hoisted; the control module is further used for determining that the current first position and the current second position correspond to target positions of cargoes to be hoisted, and separating the lifting appliance from the cargoes to be hoisted after the heights of the cargoes to be hoisted are correct, so that the operation of placing the cargoes to be hoisted is completed.

It should be understood that the specific order or hierarchy of steps in the processes disclosed are examples of exemplary approaches. Based on design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this invention.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. As will be apparent to those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".

Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the invention may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software (interchangeability), various illustrative components described above (illustrative components), elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present invention.

The various illustrative logical blocks or units described in the embodiments of the invention may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described. A general purpose processor may be a microprocessor, but in the alternative, the general purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In an example, a storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may reside in a user terminal. In the alternative, the processor and the storage medium may reside as distinct components in a user terminal.

In one or more exemplary designs, the above-described functions of embodiments of the present invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer readable media includes both computer storage media and communication media that facilitate transfer of computer programs from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media may include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to carry or store program code in the form of instructions or data structures and other data structures that may be read by a general or special purpose computer, or a general or special purpose processor. Further, any connection is properly termed a computer-readable medium, e.g., if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless such as infrared, radio, and microwave, and is also included in the definition of computer-readable medium. The disks (disks) and disks (disks) include compact disks, laser disks, optical disks, DVDs, floppy disks, and blu-ray discs where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included within the computer-readable media.

The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. A method for determining status information of gantry crane apparatus, the gantry crane apparatus comprising: the device comprises a gantry crane body vertically arranged on the ground and a lifting appliance sliding on the gantry crane body in parallel, wherein a first image acquisition device is arranged at the gantry crane body, and a second image acquisition device is arranged at the lifting appliance; the method comprises the following steps:

acquiring a first image through the first image acquisition device, wherein the first image records the current line number corresponding to the position of the gantry crane body in a goods area on the ground;

Acquiring a second image through the second image acquisition device, wherein the second image records the current column number corresponding to the position of the lifting appliance in a goods area on the ground;

Identifying the current line number in the first image, determining a current first position corresponding to the gantry crane body according to the current line number, and determining a first moving speed of the gantry crane body according to the current first position;

Identifying the current column number in the second image, determining a current second position corresponding to the lifting appliance according to the current column number, and determining a second moving speed of the lifting appliance according to the current second position;

The identifying the current column number in the second image, and determining the current second position corresponding to the lifting appliance according to the current column number includes:

identifying a second straight line in the second image for marking columns of the cargo area on the ground based on a Hough transform algorithm, and determining an angle of the second straight line with the second image;

determining a position of the second line in the second image based on the angle;

Adjusting the second image based on a coordinate conversion algorithm so that the second straight line becomes a vertical line;

detecting a second mark used for marking the column number of the goods area on the ground in the second image based on a convolutional neural network, wherein the second mark is arranged between two adjacent second straight lines;

identifying each second identifier from the detected second identifiers based on a similarity algorithm;

Drawing a second mark line parallel to the second straight line from the midpoint of the boundary at the top of the second image, intersecting the area where the column number of the goods area on the ground is located at a second intersection point, and determining the abscissa of the second intersection point in the second image and the corresponding second mark based on the position of the second straight line in the second image and each second mark;

determining a shielded second mark based on the identified adjacent second mark, and determining the length of the area where the column number of the goods area on the ground is located in the second image;

according to the length, the abscissa and the acquisition angle of the second image acquisition device, determining the vertical distance of the lifting appliance relative to the lower part of the gantry crane bridge, wherein the specific formula is as follows:

α=arctan(x0/h)+arctan((l-x0)/h)；

wherein alpha represents the acquisition angle of the second image acquisition device; x0 represents the abscissa of the second intersection in the second image; l represents the length of the area where the column number of the cargo area on the ground in the second image is located; h represents the vertical distance of the spreader relative to the underside of the gantry bridge.

2. The method of claim 1, wherein the first image acquisition device comprises: a first camera; the gantry crane body comprises a gantry crane bridge parallel to the ground, and a first camera facing the ground is arranged below the gantry crane bridge, so that the first camera collects the number of lines of a cargo area marked on the ground, and a first image recorded with the current number of lines is obtained.

3. The method of claim 1, wherein the second image acquisition device comprises: a second camera; the gantry crane body comprises a gantry crane bridge parallel to the ground, the number of columns of the cargo areas marked below the gantry crane bridge corresponds to the number of columns of the cargo areas on the ground;

At least one second camera is arranged on two sides of the lifting hook of the lifting appliance, and the at least one second camera faces to the lower portion of the gantry crane bridge, so that the at least one second camera can acquire the second image, and the second image records the number of columns of a cargo area corresponding to the mark below the gantry crane bridge.

4. The method of claim 1, wherein the identifying the current number of lines in the first image and determining the current first position corresponding to the gantry crane body according to the current number of lines comprises:

identifying a first straight line in the first image for marking a line of the cargo area on the ground based on a Hough transform algorithm, and determining an angle of the first straight line and the first image;

Determining a position of the first line in the first image based on the angle;

Adjusting the first image based on a coordinate transformation algorithm such that the first straight line becomes a vertical line;

detecting a first mark used for marking the number of lines of the goods area on the ground in the first image based on a convolutional neural network, wherein the first mark is arranged between two adjacent first lines;

Identifying each first identifier from the detected first identifiers based on a similarity algorithm;

And drawing a first mark line parallel to the first straight line from the midpoint of the boundary at the top of the first image, intersecting the area where the number of lines of the goods area on the ground is located at a first intersection point, and determining the ordinate of the first intersection point in the first image and the corresponding first mark based on the position of the first straight line in the first image and each first mark.

5. The method according to claim 4, wherein the method further comprises:

based on the identified adjacent first identifications, an occluded first identification is determined.

6. The method according to claim 1, wherein the method further comprises:

When the number of the second image acquisition devices is at least two, determining the vertical distance between the lifting appliance corresponding to each second image acquisition device and the lower part of the gantry crane bridge;

and determining the vertical distance of the lifting appliance relative to the lower part of the gantry crane bridge according to at least two vertical distances.

7. The method of claim 4 or 5, wherein the determining a first movement speed of the gantry crane body from the current first position comprises:

Determining a difference value of the ordinate according to the current ordinate and the ordinate corresponding to the target moving position of the gantry crane body;

Determining a time difference value according to the current time corresponding to the current ordinate and the target time corresponding to the target moving position;

and determining the longitudinal movement speed of the gantry crane body according to the difference value of the ordinate and the time difference value.

8. The method according to claim 1 or 6, wherein said determining a second movement speed of the spreader from the current second position comprises:

determining a difference value of the abscissa according to the current abscissa and an abscissa corresponding to the transverse target moving position of the lifting appliance;

determining a time difference value according to the current time corresponding to the current abscissa and the target time corresponding to the transverse target moving position;

and determining the transverse movement speed of the lifting appliance according to the difference value of the abscissa and the time difference value.

9. The method according to claim 1 or 6, characterized in that the method further comprises:

determining a difference value of the vertical distances according to the currently determined vertical distance and the vertical distance corresponding to the longitudinal target moving position of the lifting appliance;

Determining a time difference value according to the current time corresponding to the current determined vertical distance and the target time corresponding to the longitudinal target moving position;

And determining the longitudinal movement speed of the lifting appliance according to the difference value of the distances and the time difference value.

10. A method according to claim 2 or 3, wherein the gantry crane apparatus further comprises: the gantry crane track is arranged on the ground;

And setting the number of rows of the goods areas marked on the ground and the number of columns of the goods areas on the ground by taking the gantry crane track as a reference.

11. The method according to claim 1, characterized in that the method further comprises: and controlling the gantry crane equipment to move according to the first moving speed and the second moving speed so as to finish the operation.

12. The method of claim 4 or 5, wherein the gantry crane apparatus further comprises: the gantry crane track is arranged on the ground;

when the gantry crane equipment lifts cargoes, the method further comprises:

Determining a difference value of the ordinate according to the current ordinate and the relative ordinate of the cargo yard to the gantry crane track;

and determining the number of rows of the goods to be hoisted according to the difference value of the ordinate and the row width.

13. The method of claim 1 or 6, wherein the gantry crane apparatus further comprises: the gantry crane track is arranged on the ground; the gantry crane body comprises a gantry crane bridge parallel to the ground;

when the gantry crane equipment lifts cargoes, the method further comprises:

determining a difference value of the horizontal coordinates according to the current horizontal coordinates and the relative horizontal coordinates of the cargo yard to the gantry crane track;

Determining the column number of the goods to be hoisted according to the difference value of the abscissa and the column width;

determining a height difference value between the gantry crane bridge and the determined vertical distance, and determining the layer number of the goods to be hoisted according to the height difference value and the body height of the goods to be hoisted.

14. The method according to claim 1, wherein the method further comprises:

when the gantry crane equipment is controlled to move to a target position, controlling the lifting appliance to longitudinally move to a lifting position of the goods to be lifted;

And in the process of controlling the lifting appliance to longitudinally move to the lifting position of the goods to be lifted, determining the current first position and the current second position, and determining the corresponding first moving speed and second moving speed.

15. The method according to claim 1, wherein the method further comprises:

After the lifting appliance is connected with the goods to be lifted, determining a longitudinal movement distance corresponding to the gantry crane body, a transverse movement distance corresponding to the lifting appliance, a first movement speed and a second movement speed corresponding to the longitudinal movement distance and the transverse movement distance according to the target position of the goods to be lifted, so as to move the goods to be lifted to the corresponding target position;

Determining the current first position and the current second position and determining the corresponding first moving speed and second moving speed in the process of moving to the target position of the goods to be hoisted and placing the goods to be hoisted;

and after determining that the current first position and the current second position correspond to the target position of the goods to be hoisted and the height of the goods to be hoisted is correct, separating the lifting appliance from the goods to be hoisted so as to finish the operation of placing the goods to be hoisted.

16. A state information determining apparatus of a gantry crane apparatus, characterized in that the gantry crane apparatus comprises: the device comprises a gantry crane body vertically arranged on the ground and a lifting appliance sliding on the gantry crane body in parallel, wherein a first image acquisition device is arranged at the gantry crane body, and a second image acquisition device is arranged at the lifting appliance; the device comprises:

The first acquisition module is used for acquiring a first image through the first image acquisition device, wherein the first image records the current line number corresponding to the position of the gantry crane body in a goods area on the ground;

the second acquisition module is used for acquiring a second image through the second image acquisition device, wherein the second image records the current column number corresponding to the position of the lifting appliance in a goods area on the ground;

The first identification module is used for identifying the current line number in the first image, determining the current first position corresponding to the gantry crane body according to the current line number, and determining the first moving speed of the gantry crane body according to the current first position;

the second identification module is used for identifying the current column number in the second image, determining the current second position corresponding to the lifting appliance according to the current column number, and determining the second moving speed of the lifting appliance according to the current first position;

α=arctan(x0/h)+arctan((l-x0)/h)；