CN114647011B - Anti-hanging monitoring method, device and system for integrated cards - Google Patents
Anti-hanging monitoring method, device and system for integrated cards Download PDFInfo
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- CN114647011B CN114647011B CN202210195450.5A CN202210195450A CN114647011B CN 114647011 B CN114647011 B CN 114647011B CN 202210195450 A CN202210195450 A CN 202210195450A CN 114647011 B CN114647011 B CN 114647011B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The application discloses an anti-hanging monitoring method, device and system for a collection card, and relates to the technical field of engineering machinery detection, wherein the anti-hanging monitoring method for the collection card comprises the steps of obtaining a first point cloud set of a container, which is close to the side face of a laser emitter; according to the first point cloud set, an anti-hanging monitoring area is obtained; acquiring a second point cloud set of the target body; outputting a signal of the lifted or unharmed surface feature collection card according to the anti-lifting monitoring area and the second point cloud set; wherein the header card is configured to load a container. The method, the device and the system for monitoring the anti-hanging of the integrated card can improve the detection accuracy and reduce the occurrence probability of false alarm.
Description
Technical Field
The application relates to the technical field of engineering machinery detection, in particular to an anti-hanging monitoring method, device and system for an integrated circuit card.
Background
The header card is typically loaded with containers, which are typically unloaded from the header card using a lifting mechanism during the operation. In practical application, the lock catch between the container and the collecting card is not completely unlocked, so that the collecting card is driven to be hoisted together in the hoisting process of the container, the hoisting operation of the collecting card is affected, and safety accidents are easy to occur. In the prior art, when a container is hoisted, a set card anti-hoisting monitoring system is usually used for monitoring whether the set card is hoisted in a joint way, and if the set card is hoisted in a joint way, a corresponding alarm signal is sent out.
However, the prior art anti-hanging monitoring system for the collector card generally sets a fixed monitoring area, and then judges whether the collector card is hung up or not by judging whether an obstacle exists in the monitoring area after the container is hung up to a certain height, so that false alarm may occur due to the fact that ropes or other objects are hung in the monitoring area. That is, after the container is lifted to a certain height, the detection accuracy of the mode of judging whether the container is lifted by judging whether the barrier exists in the monitoring area is low, and the probability of false alarm is high.
Disclosure of Invention
In order to solve the technical problems, embodiments of the present application provide an anti-hanging monitoring method, device and system for a set card, which can improve detection accuracy and reduce occurrence probability of false alarm.
According to one aspect of the application, there is provided an anti-hanging monitoring method for an integrated circuit card, including:
acquiring a first point cloud set of the side surface of the container, which is close to the laser emitter; wherein the first set of point clouds characterizes a set of points at which the laser transmitter transmits to a side of the container proximate the laser transmitter;
According to the first point cloud set, an anti-hanging monitoring area is obtained;
acquiring a second point cloud set of the target body; wherein the target characterizes a portion of the header or an object other than the container and the header, and the second point cloud characterizes a set of points at which the laser emitters emit to the target; and
outputting a signal representing whether the integrated card is lifted or not according to the anti-lifting monitoring area and the second point cloud set; wherein the header card is configured to load the container.
According to one aspect of the application, before the anti-hanging monitoring area is obtained according to the first point cloud set, the set card anti-hanging monitoring method further includes:
acquiring the opening size of a lifting appliance; wherein the spreader is configured to hoist the container;
obtaining the types of the containers according to the opening sizes of the lifting appliances;
the obtaining the anti-hanging monitoring area according to the first point cloud set comprises the following steps:
and obtaining the anti-hanging monitoring area according to the first point cloud set and the types of the containers.
According to one aspect of the application, the obtaining the anti-hanging monitoring area according to the first point cloud set includes:
Obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set; and
and obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
According to one aspect of the application, the boundary points of the anti-hanging monitoring area comprise a first point, a second point, a third point and a fourth point, wherein the first point and the second point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container, which is close to the laser emitter; the third point and the fourth point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container, which is away from the laser emitter;
the obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set comprises the following steps:
obtaining the slope of the intersection line of the side surface, close to the laser emitter, of the container and the top surface, the coordinates of the first point and the coordinates of the second point according to the first point cloud set; and
obtaining coordinates of the third point and coordinates of the fourth point according to the slope of the intersecting line, the coordinates of the first point and the coordinates of the second point;
The obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area comprises:
and obtaining the anti-hanging monitoring area according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point and the coordinates of the fourth point.
According to one aspect of the application, outputting a signal indicating whether the truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set includes:
obtaining coordinates of all points in the second point cloud set according to the second point cloud set;
obtaining the position relation between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set; the position relation characterizes that points in the second point cloud set are located in the anti-hanging monitoring area or points in the second point cloud set are located outside the anti-hanging monitoring area; and
and outputting signals representing whether the integrated card is lifted or not according to the position relation.
According to one aspect of the application, outputting a signal indicative of whether the elevator is lifted or not according to the positional relationship includes:
And outputting a signal representing that the set card is not lifted if all points in the second point cloud set are located outside the anti-lifting monitoring area.
According to one aspect of the application, outputting a signal indicative of whether the elevator is lifted or not according to the positional relationship includes:
if points in the second point cloud set exist in the anti-hanging monitoring area, selecting a plurality of points in the second point cloud set in the anti-hanging monitoring area to form a third point cloud set;
outputting a signal representing that the set card is lifted if a preset number of points in the third point cloud set meet a preset condition; the preset condition characterizes that the distance between any two adjacent points is smaller than a preset value.
According to one aspect of the application, after the selecting a plurality of points in the second point cloud located in the anti-hanging monitoring area to form a third point cloud set, outputting a signal indicating that the set card is hung or not hung according to the positional relationship further includes:
and if the preset number of points in the third point cloud set do not exist, outputting a signal representing that the set card is not lifted.
According to one aspect of the application, the acquiring the first set of point clouds of the side of the container proximate to the laser transmitter comprises:
acquiring a fourth point cloud set in the transmitting range of the laser transmitter; wherein the fourth point cloud set characterizes a set of all points on the object that are transmitted to the transmission range;
clustering points in the fourth point cloud set to divide point cloud sets of different parts, and selecting the first point cloud set representing the side surface of the container, which is close to the laser emitter, according to the number of points in the point cloud sets of the different parts and the distance between two adjacent points.
According to another aspect of the present application, there is provided an anti-hanging monitoring device for a set card, including:
a first acquisition module configured to acquire a first set of point clouds of a side of the container proximate to the laser transmitter; wherein the first set of point clouds characterizes a set of points at which the laser transmitters transmit to a side of the container proximate the container transmitters;
the first computing module is configured to obtain an anti-hanging monitoring area according to the first point cloud set;
the second acquisition module is configured to acquire a second point cloud set of the target body; wherein the target characterizes a portion of the header or an object other than the container and the header, and the second point cloud characterizes a set of points of laser emitters emitted to the target; and
The first output module is configured to output signals representing whether the collector card is lifted or not according to the anti-lifting monitoring area and the second point cloud set; wherein the header card is configured to load the container.
According to another aspect of the present application, there is provided a truck anti-hanging monitoring system, including:
a container;
a header configured to load the container;
a laser transmitter configured to transmit laser light toward a side of the container proximate the laser transmitter;
the electronic equipment is configured to execute the set card anti-hanging monitoring method.
According to the method, the device and the system for monitoring the anti-hanging of the collection card, the first point cloud set of the side face of the container, which is close to the laser emitter, is obtained, then the anti-hanging monitoring area is obtained according to the first point cloud set, and then the position relation between the target body and the anti-hanging monitoring area is confirmed according to the second point cloud set of the target body and the anti-hanging monitoring area.
Drawings
The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a schematic diagram of a structure of an anti-intrusion monitoring area in the prior art when objects intrude into the area.
Fig. 2 is a flow chart of an anti-hanging monitoring method for an integrated circuit card according to an exemplary embodiment of the present application.
Fig. 3 is a schematic diagram of an anti-hanging monitoring area according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural view of a prior art container with two twenty feet lifted.
Fig. 5 is a schematic flow chart of an anti-hanging monitoring method for an integrated circuit card according to another exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart of acquiring a first point cloud set of a side of a container near a laser transmitter according to an exemplary embodiment of the present application.
Fig. 7 is a schematic flow chart of obtaining an anti-hanging monitoring area according to a first point cloud set according to an exemplary embodiment of the present application.
Fig. 8 is a schematic flow chart of obtaining an anti-hanging monitoring area according to a first point cloud set according to another exemplary embodiment of the present application.
Fig. 9 is a schematic flow chart of outputting a signal of a lifted or non-lifted feature set card according to an anti-lifting monitoring area and a second point cloud set according to an embodiment of the present application.
Fig. 10 is a schematic flow chart of outputting a signal of a lifted or non-lifted feature set card according to an anti-lifting monitoring area and a second point cloud set according to another embodiment of the present application.
Fig. 11 is a schematic flow chart of outputting a signal of a lifted or non-lifted feature set card according to an anti-lifting monitoring area and a second point cloud set according to another embodiment of the present application.
Fig. 12 is a schematic flow chart of outputting a signal of a lifted or non-lifted feature set card according to an anti-lifting monitoring area and a second point cloud set according to another embodiment of the present application.
Fig. 13 is a block diagram of a device for monitoring anti-hanging of a header card according to an exemplary embodiment of the present application.
Fig. 14 is a block diagram of a device for monitoring and controlling hanging of a header card according to another exemplary embodiment of the present application.
Fig. 15 is a block diagram of an exemplary embodiment of an anti-hanging monitoring system for a header card.
Fig. 16 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
The prior art of the anti-hanging monitoring system for the collector card generally sets a fixed monitoring area, and then judges whether the collector card is hung up or not by judging whether an obstacle exists in the monitoring area after the container is hung up to a certain height, so that false alarm can occur due to the fact that ropes or other objects are hung in the monitoring area. Fig. 1 is a schematic diagram of a structure of an anti-intrusion monitoring area in the prior art when objects intrude into the area. As shown in fig. 1, the laser transmitter 530 transmits a laser surface toward the container 600 to form a monitoring area, in which an object (a portion indicated by an arrow a in fig. 1) is intruded, and the prior art truck suspension preventing monitoring system can issue a false alarm that the truck is suspended after detecting the presence of the intruded object in the monitoring area. The method, the device and the system for monitoring the anti-hanging of the collection card can distinguish whether the object intruding into the anti-hanging monitoring area is a part of the collection card, so that the probability of false alarm is reduced.
Specifically, fig. 2 is a schematic flow chart of an anti-hanging monitoring method for a header card according to an exemplary embodiment of the present application. As shown in fig. 2, the method for monitoring anti-hanging of a header card provided in the embodiment of the present application may include:
s310: a first set of point clouds of a side of the container proximate the laser transmitter is acquired.
In one embodiment, the laser transmitter is disposed on one of the sides of the container, the laser transmitter may emit a plurality of laser points toward a side of the container proximate the laser transmitter, the plurality of laser points spread on the side of the container, and the plurality of points spread on the side of the container proximate the laser transmitter may form a first set of point clouds.
In one embodiment, the first set of point clouds may include spatial coordinates of a plurality of points, and the laser transmitter, upon lasing the container, may derive the spatial coordinates of each of the points distributed on the sides of the container, thereby communicating signals representative of the spatial coordinates of the plurality of points to the controller.
S320: and obtaining an anti-hanging monitoring area according to the first point cloud set.
In one embodiment, the laser transmitters are arranged in a horizontal direction with the container, and the laser transmitters transmit laser light in the horizontal direction. Fig. 3 is a schematic diagram of an anti-hanging monitoring area according to an exemplary embodiment of the present application. The anti-hanging monitoring area is understood to be the area defined after the laser surface emitted by the laser transmitter intersects the container in a top view. The lower edge of the anti-hang monitoring area is then understood to be the integrated straight line of the side of the container close to the laser transmitter in top view.
In an embodiment, the spatial coordinates of each point in the first point cloud set may be obtained according to the first point cloud set, so that a linear expression of the lower edge of the anti-hanging monitoring area may be obtained, and then other boundary point coordinates of the anti-hanging monitoring area may be obtained according to the linear expression of the lower edge of the anti-hanging monitoring area, where a specific derivation process is described in detail later.
S330: a second point cloud set of the target is acquired.
In one embodiment, the target may represent a portion of the header card or an object other than the container and the header card.
In an embodiment, the target body enters the emitting range of the laser emitter, a plurality of laser points emitted by the laser emitter can be distributed on the surface of the target body, and the plurality of laser points distributed on the surface of the target body can form a second point cloud set.
S340: and outputting signals of the lifted or non-lifted surface feature collection card according to the anti-lifting monitoring area and the second point cloud set.
In one embodiment, the collector is used for loading the container, and if the lock catch between the container and the collector is not completely released, the collector is lifted during the process of lifting the container. After executing step S340, it can monitor whether the card is lifted, and output the signal of whether the card is lifted or not, and timely notify the staff, so as to reduce the probability of safety accident.
In an embodiment, after the anti-hanging monitoring area and the second point cloud set are obtained, whether the point in the second point cloud set is located in the anti-hanging monitoring area or not may be judged according to the position relationship between the second point cloud set and the anti-hanging monitoring area, and then whether the collection card is hung or not is determined according to the characteristics of the second point cloud set, so as to output a signal indicating whether the collection card is hung or not.
It should be appreciated that the characteristics of the resulting second set of point clouds in the case where the target is part of a header card are different from the characteristics of the resulting second set of point clouds in the case where the target is an object other than a header card and a container. Therefore, whether the target is part of the container or not can be distinguished through the characteristics of the obtained second point cloud set, and accordingly signals of whether the container is lifted up or not can be output. The specific distinguishing process is described in detail below.
According to the method for monitoring the anti-hanging of the collector card, the first point cloud set of the container close to the side face of the laser emitter is obtained, then the anti-hanging monitoring area is obtained according to the first point cloud set, then the position relationship between the target body and the anti-hanging monitoring area is confirmed according to the second point cloud set of the target body and the anti-hanging monitoring area, in addition, under the condition that the target body is located in the anti-hanging monitoring area, whether the target body belongs to the middle part of the collector card or an object except the container and the collector card is confirmed according to the characteristics of the second point cloud set, so that detection accuracy is improved, and the probability of false alarm caused by suspension of ropes or other objects in the anti-hanging monitoring area is reduced.
Fig. 4 is a schematic structural view of a prior art container with two twenty feet lifted. As shown in fig. 4, the laser transmitter 530 in the prior art transmits a fixed monitoring area 700, the double twenty-ruler container 800 represents that two twenty-ruler containers 600 are placed side by side, the two twenty-ruler containers 600 are connected with each other, and if the entering direction of the double twenty-ruler container 800 is inclined relative to the direction of the lane, as shown in fig. 4, the fixed monitoring area 700 overlaps with a part of the following container 600 (the area indicated by an arrow B in fig. 4), so that a false alarm occurs in the truck suspension preventing monitoring system. For this reason, fig. 5 is a schematic flow chart of an anti-hanging monitoring method for an integrated circuit card according to another exemplary embodiment of the present application. As shown in fig. 5, before step S320, the method for monitoring anti-hanging of the header card further includes:
s350: and obtaining the opening size of the lifting appliance.
In one embodiment, the spreader is used to hoist containers of different kinds and different opening sizes.
In one embodiment, the spreader's open size may be obtained by the dispatch system, that is, after the pallet is loaded into the lane, the spreader's open size may be obtained by the dispatch system.
S360: and obtaining the types of the containers according to the opening sizes of the lifting appliances.
In one embodiment, the types of containers include single twenty-ruler containers, double twenty-ruler containers, and single forty-ruler containers.
In one embodiment, after acquiring the first set of point clouds of the container near the side of the laser transmitter, the overall size of the container may be verified to be twenty or forty feet from the first set of point clouds. Specifically, the overall size of the container can be confirmed according to the distance between the first point and the last point in the first point cloud set in the transverse direction.
Since the characteristics of the first point-cloud set obtained by the double twenty-rule container and the single forty-rule container are similar, in the case where the size of the entire container is confirmed to be forty-rule by the first point-cloud set, it is necessary to further confirm whether the container type is the double twenty-rule container or the single forty-rule container.
Specifically, in an embodiment, when the size of the container is confirmed to be twenty-gauge through the first point cloud set, the acquired hanger size is also twenty-gauge, and then the container can be determined to be a single twenty-gauge container. When the container size is determined to be forty-square by the first point cloud set, the acquired spreader size is forty-square, and the container can be determined to be a single forty-square container. When the container size is confirmed to be forty-square through the first point cloud set, the acquired hanger size is twenty-square, and the container can be judged to be a double twenty-square container.
As shown in fig. 5, step S320 may include:
s323: and obtaining an anti-hanging monitoring area according to the first point cloud set and the types of the containers.
In one embodiment, the anti-hang monitoring area corresponding to the type of the container can be obtained according to the first point cloud set and the type of the container. That is, if the container is a single twenty-ruler container, an anti-hanging monitoring area corresponding to the single twenty-ruler container can be obtained; if the container is a single forty-ruler container, an anti-hanging monitoring area corresponding to the single forty-ruler container can be obtained; if the container is a double twenty-ruler container, an anti-hanging monitoring area corresponding to the double twenty-ruler container can be obtained. Compared with the monitoring area at a fixed position in the prior art, even if the situation that the entering direction of the double twenty-ruler container in fig. 4 is inclined relative to the entering direction of the lane occurs, the real-time correction can be carried out on the anti-hanging monitoring area by combining the types of the containers in the process of obtaining the anti-hanging monitoring area, so that the situation that the anti-hanging monitoring area is not deviated from the container is avoided, the situation that the anti-hanging monitoring area is overlapped with the part of the container at the back is avoided, and the probability of false alarm is reduced.
Fig. 6 is a schematic flow chart of acquiring a first point cloud set of a side of a container near a laser transmitter according to an exemplary embodiment of the present application. As shown in fig. 6, in an embodiment, step S310 may include:
s311: and acquiring a fourth point cloud set in the emission range of the laser emitter.
In an embodiment, the laser emitter can emit laser light in the emitting range, and after the laser light irradiates the objects in the emitting range, the laser points distributed on the surfaces of all the objects in the emitting range can form a fourth point cloud set.
In an embodiment, the fourth set of point clouds may comprise the spatial coordinates of laser points distributed across all object surfaces.
S312: and clustering the points in the fourth point cloud set to divide the point cloud sets of different parts, and selecting a first point cloud set representing the side surface of the container, which is close to the laser emitter, according to the number of points in the point cloud sets of different parts and the distance between two adjacent points.
In an embodiment, clustering is a data segmentation method, and the fourth point cloud set may be segmented into point cloud sets of different parts according to a certain standard. For example, in the clustering process, a clustering distance threshold value between two adjacent points may be set, if the actual distance between the two adjacent points does not exceed the set clustering distance threshold value, the two adjacent points may be considered to be on the same undivided object, whereas if the actual distance between the two adjacent points exceeds the set clustering distance threshold value, the two adjacent points may be considered to be on two separated objects, so that the point cloud sets of different objects may correspond to different objects.
In an embodiment, after the point cloud sets corresponding to different objects are obtained, whether the corresponding object is a side of the container close to the laser emitter may be determined according to the number of points included in the point cloud set corresponding to each object, so as to obtain the first point cloud set.
In an embodiment, after the point cloud sets corresponding to different objects are obtained, whether the corresponding object is a side surface of the container, which is close to the laser emission, is determined according to the transverse distance between the first point and the last point in the point cloud set corresponding to each object, so as to obtain the first point cloud set.
Fig. 7 is a schematic flow chart of obtaining an anti-hanging monitoring area according to a first point cloud set according to an exemplary embodiment of the present application. As shown in fig. 2 and 7, in an embodiment, step S320 may include:
s321: and obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set.
In one embodiment, as shown in FIG. 2, the boundary points of the anti-hoist monitoring area include the endpoint coordinates of the upper boundary and the endpoint coordinates of the lower boundary.
In an embodiment, the first set of point clouds may include spatial coordinates of a plurality of points on the side of the container near the laser transmitter, the lower boundary of the anti-hang monitoring area in fig. 2 may be understood as the set of sides of the container near the laser transmitter, and from the first set of point clouds, the endpoint coordinates of the lower boundary of the anti-hang monitoring area and the linear expression of the lower boundary may be obtained, and then the endpoint coordinates of the upper boundary of the anti-hang monitoring area may be obtained.
S322: and obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
In an embodiment, after the step S321 is performed, coordinates of boundary points of the anti-hanging monitoring area may be obtained, and according to the coordinates of the boundary points, the boundary points are sequentially connected, and the enclosed area is the anti-hanging monitoring area.
Specifically, taking the anti-hanging monitoring area shown in fig. 2 as an example, in an embodiment, the boundary points of the anti-hanging monitoring area may include a first point, a second point, a third point and a fourth point, where the first point and the second point are two end points of an intersection line between a laser surface emitted by the laser emitter and a side surface of the container, which is close to the laser emitter, that is, in fig. 2, the first point and the second point are lower boundary end points of the anti-hanging monitoring area; the third and fourth points are two end points of the intersection line of the laser surface emitted by the laser emitter and the side surface of the container, which is far away from the laser emitter, namely in fig. 2, the third and fourth points are upper boundary end points of the anti-hanging monitoring area.
Fig. 8 is a schematic flow chart of obtaining an anti-hanging monitoring area according to a first point cloud set according to another exemplary embodiment of the present application. As shown in fig. 8, step S321 may include:
S3211: and obtaining the slope of the intersection line of the side surface, close to the laser emitter, of the container and the top surface, the coordinates of the first point and the coordinates of the second point according to the first point cloud set.
In an embodiment, the first point cloud set comprises spatial coordinates of laser points distributed on a side of the container near the laser transmitter, from which coordinates of the first point and coordinates of the second point can be directly obtained.
As shown in fig. 2, in an embodiment, the intersection line of the side surface of the container, which is close to the laser transmitter, and the top surface of the container may be understood as the lower boundary of the anti-hanging monitoring area in fig. 2, coordinates of any multiple points on the intersection line of the side surface of the container, which is close to the laser transmitter, and the slope of the intersection line may be obtained by using a least square fitting method, where the least square fitting calculation method is described in the related art, and is not repeated in this application.
S3212: and obtaining the coordinates of the third point and the coordinates of the fourth point according to the slope of the intersecting line, the coordinates of the first point and the coordinates of the second point.
As shown in fig. 2, in an embodiment, the boundary of the anti-hanging monitoring area is enclosed to form a rectangle, the upper boundary of the anti-hanging monitoring area is parallel to the lower boundary of the anti-hanging monitoring area, the slope of the upper boundary of the anti-hanging monitoring area can be obtained under the condition that the slope of the lower boundary of the anti-hanging monitoring area is known, and the coordinates of the first point and the coordinates of the second point are combined to obtain the coordinates of the endpoint of the upper boundary of the anti-hanging monitoring area, namely the coordinates of the third point and the coordinates of the fourth point.
As shown in fig. 8, correspondingly, step S322 may include:
s3221: and obtaining the anti-hanging monitoring area according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point and the coordinates of the fourth point.
In an embodiment, the boundary line of the anti-hanging monitoring area may be obtained according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point and the coordinates of the fourth point, so as to define a corresponding anti-hanging monitoring area.
Fig. 9 is a schematic flow chart of outputting a signal of a lifted or non-lifted feature set card according to an anti-lifting monitoring area and a second point cloud set according to an embodiment of the present application. As shown in fig. 9, in an embodiment, step S340 may include:
s341: and obtaining coordinates of all points in the second point cloud set according to the second point cloud set.
In an embodiment, the second set of point clouds may include coordinates of all points scattered on the target surface, from which coordinates of all points in the second set of point clouds may be derived.
S342: and obtaining the position relation between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set.
In an embodiment, the coordinates of each point in the second point cloud set are independently vector-operated with the coordinates of the boundary point of the anti-hanging monitoring area, so that the position relationship between each point in the second point cloud set and the anti-hanging monitoring area can be obtained, that is, each point in the second point cloud set can be confirmed to be located in the anti-hanging monitoring area or located outside the anti-hanging monitoring area.
As shown in fig. 2, according to the vector operation formulaAnd determining whether any point P in the second point cloud set is located in the anti-hoisting monitoring area. Wherein, P represents any point in the second point cloud set, P1 represents the first point, pn represents the second point, pi represents the third point, and Pj represents the fourth point; />Cross product characterization of (2) gets perpendicular to the vector +_according to the right hand rule>Sum vector->Normal vector of (2); />Cross product characterization of (2) gets perpendicular to the vector +_according to the right hand rule>And->Normal vector of (2); the two normal vectors are on the same straight line, then the result of mutual dot multiplication of the two normal vectors is compared with zero to judge the direction relation between the two normal vectors, and then whether any point P in the second point cloud set is located in the anti-hanging monitoring area can be judged according to the direction relation between the two normal vectors.
In particular, ifThe direction of the two normal vectors obtained by calculation is the same, and the point P is positioned in the anti-hanging monitoring area. If-> The directions of the two normal vectors obtained by calculation are opposite, and the point P is located outside the anti-hanging monitoring area.
S343: and outputting signals of the lifted or non-lifted surface feature set card according to the position relation.
In an embodiment, after confirming the positional relationship between each point in the second point cloud set and the anti-suspension monitoring area, it may be confirmed whether the target is located in the anti-suspension monitoring area, and then, according to the characteristics of the second point cloud set of the target, it may be determined whether the target is part of the set card, so as to output a signal that the set card is suspended or not suspended.
Specifically, fig. 10 is a schematic flow chart of outputting a signal with or without the feature set card lifted according to the anti-lifting monitoring area and the second point cloud set according to another embodiment of the present application. As shown in fig. 10, in an embodiment, step S343 may include:
s3431: and if all the points in the second point cloud set are positioned outside the anti-hanging monitoring area, outputting a signal that the feature set card is not hung.
After the step S342 is performed, the positional relationship between all the points in the second point cloud set and the anti-hanging monitoring area may be obtained, and if the result of the performing indicates that all the points in the second point cloud set are located outside the anti-hanging monitoring area, then it may be considered that the whole detected target body is located outside the anti-hanging monitoring area. Whether the target is part of the collector card or other objects except the collector card and the collector card at this time, the target is outside the anti-hanging monitoring area, so that a signal indicating that the collector card is not hung can be correspondingly output.
In addition, fig. 11 is a schematic flow chart of outputting a signal that a feature set card is lifted or not lifted according to an anti-lifting monitoring area and a second point cloud set according to another embodiment of the present application. As shown in fig. 11, in an embodiment, step S343 may further include:
s3432: and if the points in the anti-hanging monitoring area exist in the second point cloud set, selecting a plurality of points in the second point cloud set in the anti-hanging monitoring area to form a third point cloud set.
If the result of the step S342 indicates that the second point cloud set is located in the anti-suspension monitoring area, it indicates that at least a portion of the target body is located in the anti-suspension monitoring area, so that it is required to confirm whether the portion of the target body located in the anti-suspension monitoring area belongs to the central portion of the set card again. Therefore, under the condition that the points in the anti-hanging monitoring area exist in the second point cloud set, a plurality of points in the second point cloud set in the anti-hanging monitoring area can be selected to form a third point cloud set, and then whether the set card is hung or not is confirmed again according to the third point cloud set.
S3433: and if the preset number of points in the third point cloud set meet the preset condition, outputting a signal indicating that the feature set card is lifted.
In an embodiment, after the third point cloud set is formed, if a preset number of points exist in the third point cloud set to meet a preset condition, where the preset condition indicates that a distance between any two adjacent points is smaller than a preset value, it can be judged that more points exist on the same object and are all located in the anti-hanging monitoring area, and the points reaching the preset number are all located on the same object, which indicates that the surface area of the object is larger, objects with small volumes such as ropes and hooks can be eliminated, and therefore it can be judged that a target body located in the anti-hanging monitoring area at the moment belongs to the middle part of the set card, and therefore a signal indicating that the set card is hung can be output.
In an embodiment, the preset number may be set to five, six, seven, etc. according to actual situations, and the numerical value of the preset number is not specifically limited in this application.
In an embodiment, the preset value may also be set according to actual situations, and the preset value is not specifically limited in this application.
Fig. 12 is a schematic flow chart of outputting a signal of a lifted or non-lifted feature set card according to an anti-lifting monitoring area and a second point cloud set according to another embodiment of the present application. As shown in fig. 12, in an embodiment, after step S3432, step S343 may further include:
S3435: and if the third point cloud set does not have the preset number of points to meet the preset condition, outputting a signal that the feature set card is not lifted.
In an embodiment, after the third point cloud set is formed, if a preset number of points in the third point cloud set do not exist to meet a preset condition, it can be judged that only a few points exist on the same object in the anti-hanging monitoring area, which means that the surface area of the object is small, and the object in the anti-hanging monitoring area can be considered to be an object with small volume such as a rope, a lifting hook and the like at the moment, but not a part of the collection card, so that a signal indicating that the collection card is not hung can be output.
Fig. 13 is a block diagram of a device for monitoring anti-hanging of a header card according to an exemplary embodiment of the present application. As shown in fig. 13, the truck anti-hanging monitoring apparatus 400 provided in the embodiments of the present application may include a first acquisition module 410 configured to acquire a first point cloud set of a side of a container near a laser emitter; wherein the first set of point clouds characterizes a set of points from which the laser transmitter transmits to a side of the container proximate to the container transmitter; the first computing module 420 is configured to obtain an anti-hanging monitoring area according to the first point cloud set; a second acquisition module 430 configured to acquire a second set of point clouds of the target; wherein the target body represents a portion of the cluster card or an object distinct from the container and the cluster card, and the second point cloud represents a set of points from which the laser emitters emit to the target body; and a first output module 440 configured to output a signal of whether the feature set card is lifted or not according to the anti-lifting monitoring area and the second point cloud set; wherein the header card is configured to load a container.
According to the set card anti-hanging monitoring device, the first point cloud set of the side face of the container, which is close to the laser emitter, is obtained, then the anti-hanging monitoring area is obtained according to the first point cloud set, and then the position relationship between the target body and the anti-hanging monitoring area is confirmed according to the second point cloud set of the target body and the anti-hanging monitoring area.
Fig. 14 is a block diagram of a device for monitoring and controlling hanging of a header card according to another exemplary embodiment of the present application. As shown in fig. 14, in an embodiment, the first computing module 420 may include a second computing module 421 configured to obtain coordinates of a boundary point of the anti-hanging monitoring area according to the first point cloud set; the third calculation module 422 is configured to obtain the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
As shown in fig. 14, in an embodiment, the truck anti-hanging monitoring apparatus 400 may further include a fourth acquisition module 450 configured to acquire an opening size of the hanger; a fifth obtaining module 460 configured to obtain a type of container according to an opening size of the spreader; correspondingly, the first calculation module 420 may comprise an eighth calculation module 423 configured to obtain an anti-hanging monitoring area according to the first point cloud set and the kind of container.
As shown in fig. 14, in an embodiment, the second calculating module 421 may include a fourth calculating module 4211 configured to obtain, according to the first set of point clouds, a slope of an intersection line of a side surface of the container near the laser transmitter and the top surface, coordinates of the first point, and coordinates of the second point; a fifth calculation module 4212 configured to obtain coordinates of the third point and coordinates of the fourth point according to the slope of the intersection line, the coordinates of the first point, and the coordinates of the second point; correspondingly, the third calculation module 422 may be further configured to obtain the anti-hanging monitoring area according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point, and the coordinates of the fourth point.
As shown in fig. 14, in an embodiment, the first output module 440 may include a sixth calculating module 441 configured to obtain coordinates of all points in the second point cloud set according to the second point cloud set; a seventh calculation module 442 configured to obtain a positional relationship between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary point of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set; the position relation represents that the point in the second point cloud set is located in the anti-hanging monitoring area or the point in the second point cloud set is located outside the anti-hanging monitoring area; the second output module 443 is configured to output a signal indicating whether the feature set card is lifted or not according to the positional relationship.
As shown in fig. 14, in an embodiment, the second output module 443 may include a third output module 4431 configured to output a signal indicating that the feature set card is not lifted if all points in the second point cloud set are outside the anti-lifting monitoring area.
As shown in fig. 14, in an embodiment, the second output module 443 may include a first selecting module 4432 configured to select a plurality of points in the second point cloud set located in the anti-suspension monitoring area to form a third point cloud set if there are points in the second point cloud set located in the anti-suspension monitoring area; a third output module 4433 configured to output a signal indicating that the feature set card is lifted if a preset number of points in the third point cloud set satisfy a preset condition; the preset condition characterizes that the distance between any two adjacent points is smaller than a preset value.
As shown in fig. 14, in an embodiment, the second output module 443 may include a fourth output module 4434 configured to output a signal indicating that the feature set card is not lifted if a preset number of points in the third point cloud set do not exist to satisfy a preset condition.
As shown in fig. 14, in an embodiment, the first obtaining module 410 may include a third obtaining module 411 configured to obtain a fourth set of point clouds within the emission range of the laser emitter; wherein the fourth point cloud set characterizes a set of all points on the object that are transmitted to the transmission range; the second selecting module 412 is configured to cluster the points in the fourth point cloud set to divide the point cloud sets of different portions, and select the first point cloud set representing the side surface of the container near the laser emitter according to the number of points in the point cloud sets of different portions and the distance between two adjacent points.
Fig. 15 is a block diagram of an exemplary embodiment of an anti-hanging monitoring system for a header card. As shown in fig. 15, in one embodiment, the cluster-based anti-hang monitoring system 500 may include a container 510; a header card 520 configured to load the container 510; a laser transmitter 530 configured to transmit laser light toward a side of the container 510 adjacent to the laser transmitter 510; the electronic device 540 is configured to execute the aforementioned method for monitoring the anti-suspension of the header card.
According to the set card anti-hanging monitoring system, the first point cloud set of the side face of the container, which is close to the laser emitter, is obtained, then the anti-hanging monitoring area is obtained according to the first point cloud set, and then the position relationship between the target body and the anti-hanging monitoring area is confirmed according to the second point cloud set of the target body and the anti-hanging monitoring area.
Fig. 16 is a block diagram of an electronic device according to an exemplary embodiment of the present application. As shown in fig. 16, the electronic device 540 may be either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.
As shown in fig. 16, electronic device 540 includes one or more processors 541 and memory 542.
The processor 541 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities and may control other components in the electronic device 540 to perform the desired functions.
Memory 542 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or nonvolatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer-readable storage medium that can be executed by processor 541 to implement the methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 540 may further include: an input device 543 and an output device 544, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 543 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input device 543 may include, for example, a keyboard, a mouse, and the like.
The output device 544 can output various information to the outside, including the determined distance information, direction information, and the like. The output devices 544 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 540 that are relevant to the present application are shown in fig. 16 for simplicity, components such as buses, input/output interfaces, and the like being omitted. In addition, the electronic device 540 may include any other suitable components depending on the particular application.
The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium 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 include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (11)
1. The anti-hanging monitoring method for the collection card is characterized by comprising the following steps of:
Acquiring a first point cloud set of the side surface of the container, which is close to the laser emitter; wherein the first point cloud set characterizes the laser emitter to emit laser to the side surface of the container close to the laser emitter, and the obtained spatial coordinates of a plurality of points distributed on the side surface of the container;
according to the first point cloud set, an anti-hanging monitoring area is obtained;
acquiring a second point cloud set of the target body; wherein the target body characterizes a part of the collector card or an object except the container and the collector card, and the second point cloud set characterizes a set of a plurality of points of the surface of the target body, at which the laser emitted by the laser emitter is distributed; and
outputting a signal representing whether the integrated card is lifted or not according to the anti-lifting monitoring area and the second point cloud set; wherein the header card is configured to load the container.
2. The method for monitoring the anti-hanging of the collector card according to claim 1, wherein before the anti-hanging monitoring area is obtained according to the first point cloud set, the method for monitoring the anti-hanging of the collector card further comprises:
acquiring the opening size of a lifting appliance; wherein the spreader is configured to hoist the container;
Obtaining the types of the containers according to the opening sizes of the lifting appliances;
the obtaining the anti-hanging monitoring area according to the first point cloud set comprises the following steps:
and obtaining the anti-hanging monitoring area according to the first point cloud set and the types of the containers.
3. The method for monitoring the anti-hanging of the integrated card according to claim 1, wherein the obtaining the anti-hanging monitoring area according to the first point cloud set comprises:
obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set; and
and obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
4. The method for monitoring the anti-hanging of the collection card according to claim 3, wherein the boundary points of the anti-hanging monitoring area comprise a first point, a second point, a third point and a fourth point, wherein the first point and the second point are two end points of an intersection line of a laser surface emitted by the laser emitter and a side surface of the container, which is close to the laser emitter; the third point and the fourth point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container, which is away from the laser emitter;
The obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set comprises the following steps:
obtaining the slope of the intersection line of the side surface, close to the laser emitter, of the container and the top surface, the coordinates of the first point and the coordinates of the second point according to the first point cloud set; and
obtaining coordinates of the third point and coordinates of the fourth point according to the slope of the intersecting line, the coordinates of the first point and the coordinates of the second point;
the obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area comprises:
and obtaining the anti-hanging monitoring area according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point and the coordinates of the fourth point.
5. The method of claim 3, wherein outputting a signal indicative of whether the collector is lifted or not according to the anti-lifting monitoring area and the second point cloud set comprises:
obtaining coordinates of all points in the second point cloud set according to the second point cloud set;
obtaining the position relation between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set; the position relation characterizes that points in the second point cloud set are located in the anti-hanging monitoring area or points in the second point cloud set are located outside the anti-hanging monitoring area; and
And outputting signals representing whether the integrated card is lifted or not according to the position relation.
6. The method of claim 5, wherein outputting a signal indicative of whether the collector is lifted or not according to the positional relationship comprises:
and outputting a signal representing that the set card is not lifted if all points in the second point cloud set are located outside the anti-lifting monitoring area.
7. The method of claim 5, wherein outputting a signal indicative of whether the collector is lifted or not according to the positional relationship comprises:
if points in the second point cloud set exist in the anti-hanging monitoring area, selecting a plurality of points in the second point cloud set in the anti-hanging monitoring area to form a third point cloud set;
outputting a signal representing that the set card is lifted if a preset number of points in the third point cloud set meet a preset condition; the preset condition characterizes that the distance between any two adjacent points is smaller than a preset value.
8. The method of claim 7, wherein after selecting a plurality of points in the second point cloud located in the anti-hang monitoring area to form a third point cloud set, outputting a signal indicating whether the header is hung or not hung according to the positional relationship further comprises:
And if the preset number of points in the third point cloud set do not exist, outputting a signal representing that the set card is not lifted.
9. The method for monitoring the anti-hanging of the collector card according to claim 1, wherein the step of obtaining the first point cloud set of the side surface of the container, which is close to the laser emitter, comprises the steps of:
acquiring a fourth point cloud set in the transmitting range of the laser transmitter; wherein the fourth point cloud set characterizes spatial coordinates of all points on the object transmitted to the transmission range;
clustering points in the fourth point cloud set to divide point cloud sets of different parts, and selecting the first point cloud set representing the side surface of the container, which is close to the laser emitter, according to the number of points in the point cloud sets of the different parts and the distance between two adjacent points.
10. The utility model provides a collection card prevents hanging monitoring device which characterized in that includes:
a first acquisition module configured to acquire a first set of point clouds of a side of the container proximate to the laser transmitter; wherein the first point cloud set characterizes the laser emitter to emit laser to the side surface of the container close to the laser emitter, and the obtained spatial coordinates of a plurality of points distributed on the side surface of the container;
The first computing module is configured to obtain an anti-hanging monitoring area according to the first point cloud set;
the second acquisition module is configured to acquire a second point cloud set of the target body; wherein the target body characterizes part of the collector card or an object except the container and the collector card, and the second point cloud represents a set of a plurality of points of the surface of the target body, at which laser emitted by the laser emitter is distributed; and
the first output module is configured to output signals representing whether the collector card is lifted or not according to the anti-lifting monitoring area and the second point cloud set; wherein the header card is configured to load the container.
11. The utility model provides a collection card prevents hanging monitored control system which characterized in that includes:
a container;
a header configured to load the container;
a laser transmitter configured to transmit laser light toward a side of the container proximate the laser transmitter;
an electronic device configured to perform the set card anti-hang monitoring method of any one of claims 1 to 9.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210195450.5A CN114647011B (en) | 2022-02-28 | 2022-02-28 | Anti-hanging monitoring method, device and system for integrated cards |
| PCT/CN2022/103152 WO2023159848A1 (en) | 2022-02-28 | 2022-06-30 | Anti-craning monitoring method, apparatus and system for container truck |
| AU2022368366A AU2022368366A1 (en) | 2022-02-28 | 2022-06-30 | Anti-hoisting monitoring method, apparatus, and system for container truck |
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| CN202210195450.5A CN114647011B (en) | 2022-02-28 | 2022-02-28 | Anti-hanging monitoring method, device and system for integrated cards |
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| CN114647011B (en) * | 2022-02-28 | 2024-02-02 | 三一海洋重工有限公司 | Anti-hanging monitoring method, device and system for integrated cards |
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- 2022-06-30 WO PCT/CN2022/103152 patent/WO2023159848A1/en active Application Filing
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| AU2022368366A1 (en) | 2023-09-14 |
| CN114647011A (en) | 2022-06-21 |
| WO2023159848A1 (en) | 2023-08-31 |
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