CN115049322B - Container management method and system for container yard - Google Patents
Container management method and system for container yard Download PDFInfo
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- CN115049322B CN115049322B CN202210977720.8A CN202210977720A CN115049322B CN 115049322 B CN115049322 B CN 115049322B CN 202210977720 A CN202210977720 A CN 202210977720A CN 115049322 B CN115049322 B CN 115049322B
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Abstract
The invention provides a container yard container management method and a system of containers, belonging to the technical field of intelligent security ports, wherein the method comprises the following steps: acquiring first data of hoisting equipment, and determining first position information of a container according to the first data; determining a first camera according to the first position information, and acquiring second data of the container according to first image data shot by the first camera; wherein the second data comprises location data and bin number data for the container; and performing fusion display on the second data and the GIS map. The general position where the container is placed is preliminarily determined by tracking the working data of the hoisting equipment, the specific position data and the container number data of the container are determined by calling the image data shot by the first camera nearby, and then the position of the container is projected into the GIS map, so that the real-time display of the state data of the container can be realized, and the management of workers on the container is facilitated.
Description
Technical Field
The invention relates to the technical field of intelligent security ports, in particular to a field container management method and system of a container pile, electronic equipment and a computer storage medium.
Background
With the development and progress of science and technology, the current security technology has entered a brand new intelligent era, and video intelligent analysis is an important means for falling to the ground of intelligent security technology. The method has the advantages that the method benefits from the blowout-type development of various intelligent algorithms in the deep learning technology, so that the video information acquired by the front-end equipment can be analyzed in real time, and the information is transmitted to various large monitoring platforms and clients.
A large number of containers are stacked in a container yard base such as a port, and no matter countries and enterprises carry out economic planning, overall storage, production planning and the like, the statistics on the containers in the current container yard cannot be carried out quickly and accurately. However, the work of determining the positions of the containers is still mainly completed by manpower at present, the working efficiency is very low, and the actual requirements are difficult to meet.
Disclosure of Invention
In order to solve at least the technical problems in the background art, the invention provides a container management method, a system, an electronic device and a computer storage medium for a container yard.
A first aspect of the present invention provides a container management method for a container yard, including the steps of:
acquiring first data of hoisting equipment, and determining first position information of a container according to the first data;
determining a first camera according to the first position information, and acquiring second data of the container according to first image data shot by the first camera; wherein the second data comprises location data and bin number data of the container;
and performing fusion display on the second data and the GIS map.
Further, the hoisting equipment is a front crane and/or a track crane.
Further, when the hoisting device is a reach stacker, before determining the first position information of the container according to the first data, the method further includes:
receiving second image data of a second camera and/or third image data of a third camera, and extracting operation characteristic data of the hoisting equipment according to the second image data and/or the third image data;
judging whether the hoisting equipment is in a working state or not according to the operation characteristic data, and if so, sending a tracking signal to a fourth camera; the tracking signal is used for triggering the fourth camera to acquire first data of the front crane.
Further, the determining a first camera according to the first position information and acquiring second data of the container according to first image data captured by the first camera includes:
determining a number of the first cameras according to the first position information; the shooting visual angle of each first camera is partially overlapped with the first position information;
acquiring the container number data of the container according to at least one first image data shot by each first camera;
acquiring relative coordinate data of the container according to at least one first image data shot by each first camera, and determining position data of the container according to the relative coordinate data; wherein the location data comprises Bei Weihao, bei Liehao, bei Cenghao.
Further, the obtaining the relative coordinate data of the container according to at least one first image data captured by each first camera comprises:
determining the number data of a plurality of adjacent containers corresponding to the container according to the first image data, and inquiring a database according to the number data of the adjacent containers to determine the coordinate data of the adjacent containers;
calculating position offset data of the container and the adjacent container according to the first image data, and determining relative coordinate data of the container according to the position offset data and the coordinate data of the adjacent container.
Further, when the hoisting device is a rail crane, the position data of the container is obtained as follows:
acquiring PLC signals of the track crane, wherein the PLC signals comprise working signals of a cart, a trolley and a lifting appliance;
respectively calculating to obtain cart position data, trolley position data and hanger height data according to the working signals;
and obtaining a shell number according to the position data of the cart, obtaining a shell number according to the position data of the trolley, and obtaining a shell number according to the height data of the lifting appliance.
Further, when the hoisting device is a track crane, before the determining the first position information of the container according to the first data, the method further includes:
judging whether the hoisting equipment is in a working state or not according to the PLC signal of the track crane, and if so, sending a tracking signal to the fourth camera; the tracking signal is used for triggering the fourth camera to acquire first data of the track crane.
The second aspect of the invention provides a container management system of a container yard, which comprises an acquisition module, a processing module and a storage module; the processing module is connected with the acquisition module and the storage module;
the storage module is used for storing executable computer program codes;
the acquisition module is used for acquiring the working data of the hoisting equipment and the image data of the camera and transmitting the working data and the image data to the processing module;
the processing module is configured to execute the method according to any one of the preceding claims by calling the executable computer program code in the storage module.
A third aspect of the present invention provides an electronic device comprising: a memory storing executable program code; a processor coupled with the memory; the processor calls the executable program code stored in the memory to perform the method of any of the preceding claims.
A fourth aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs a method as set forth in any one of the preceding claims.
Compared with the traditional mode of manually acquiring the placement data of each container, the method and the device have the advantages that the approximate placement position of the container is preliminarily determined by tracking the working data of the hoisting equipment, the specific position data and the container number data of the container are determined by taking the image data shot by the first camera nearby, and then the position of the container is projected into the GIS map, so that the real-time display of the state data of the container can be realized, and the management of workers on the container is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a container management method for a container yard according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a shooting scene of a small container yard according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a single camera shooting picture of a small container yard according to an embodiment of the present invention.
Fig. 4 is a schematic view of a working scene of the track crane disclosed in the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a container management system of a container yard according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application to describe … …, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, a first … … may also be referred to as a second … …, and similarly, a second … … may also be referred to as a first … …, without departing from the scope of embodiments of the present application.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in a commodity or system comprising the element.
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a container management method for a container yard according to an embodiment of the present invention. As shown in fig. 1, a container management method for a container yard according to an embodiment of the present invention includes the following steps:
acquiring first data of hoisting equipment, and determining first position information of a container according to the first data;
determining a first camera according to the first position information, and acquiring second data of the container according to first image data shot by the first camera; wherein the second data comprises location data and bin number data for the container;
and fusing and displaying the second data and the GIS map.
In the embodiment of the invention, compared with the traditional mode of manually acquiring the placement data of each container, the method preliminarily determines the approximate placement position of the container by tracking the working data of the hoisting equipment, then calls the image data shot by the first camera nearby to determine the specific position data and the container number data of the container, and then projects the position of the container into the GIS map to realize the real-time display of the container state data, thereby being beneficial to the management of workers on the container.
The first data of the hoisting equipment may be acquired by a distributed camera disposed in the container yard, for example, the first camera or a subsequent second/third/fourth/fifth/sixth camera, that is, the distributed camera is used to capture and acquire the first data of the hoisting equipment in the corresponding area; or the first data of each hoisting device can be obtained in time by a special camera, for example, a high-definition camera located at a high position, which can monitor a large area of the yard. The first data is data that can be used to analyze the position where the hoisted container is finally placed, such as position data of the hoisting device, the movement speed and the movement direction of the hoisted container, and position data corresponding to the hoisted container in the hoisting device from the presence to the absence, and is not described in detail.
Both the above and the following improvements of the invention can be implemented either at the processing end of a single port/yard or in a server for multiple yards/ports. The Processing end may be a dedicated Processing device with a data Processor, a computer, a mobile phone, a tablet computer, a wearable device, a virtual reality device, and the like, and the data Processor may be a Central Processing Unit (CPU), or may be other general purpose processors, digital Signal Processors (DSP), application Specific Integrated Circuits (ASIC), field Programmable Gate Arrays (FPGA) or other Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The server may be a single server or a server cluster formed by a plurality of servers.
Further, the hoisting equipment is a front crane and/or a track crane.
In the embodiment of the invention, the common hoisting equipment for the port mainly comprises a front crane and a track crane. Among them, the reach stacker is called a container reach stacker (reach stacker), which is a mobile crane for loading and unloading containers, is specially designed for 20-foot and 40-foot international containers, and is mainly used for stacking containers and horizontal transportation in docks and stacking plants. Referring to fig. 4, the track crane refers to a rotary crane of an operation type that is to be detached and reinstalled when a work site is transferred while traveling on a track laid along the ground, and includes a tower crane, a gantry crane, and the like, and the crane track includes a special rail, a railway rail, a square rail, and a P-type rail.
Further, when the hoisting device is a reach stacker, before determining the first position information of the container according to the first data, the method further includes:
receiving second image data of a second camera and/or third image data of a third camera, and extracting operation characteristic data of the hoisting equipment according to the second image data and/or the third image data;
judging whether the hoisting equipment is in a working state or not according to the operation characteristic data, and if so, sending a tracking signal to a fourth camera; the tracking signal is used for triggering the fourth camera to acquire first data of the front crane.
In the embodiment of the invention, the fourth camera is controlled to continuously track the hoisting equipment when the hoisting equipment is judged to be in the working state according to the image data shot by the second camera and/or the third camera, so that the approximate position where the hoisted container is placed, namely the first position information, is determined. In addition, for those containers that have already been stacked but not automatically acquired by the system for some reason, the entries can be viewed by a human site.
The operation characteristic data can be the track, the posture, the operation time length, the position of an operation part and the like of the hoisting equipment, and the working state of the hoisting equipment can be determined by analyzing the data. In addition, accurate identification of hoisting equipment under various working conditions, namely environments, can be realized through machine vision technologies such as video AI deep learning and sample confrontation self-learning.
It should be noted that the scene, i.e. the container yard, related in the present invention is provided with distributed cameras, including a gunlock and a dome camera; and the gunlock is provided with the holder, the rotating and moving performance is good, so the fourth camera for tracking is preferentially set to be the gunlock, the shooting range of the ball machine is larger, the first camera for data extraction is preferentially set to be the ball machine, and the second camera and the third camera are respectively one of the gunlock and the ball machine. Namely, the invention realizes the positioning and data extraction of the container based on the multi-camera fusion technology.
Further, the determining a first camera according to the first position information and acquiring second data of the container according to first image data captured by the first camera includes:
determining a number of the first cameras according to the first position information; the shooting visual angle of each first camera is partially overlapped with the first position information;
acquiring the container number data of the container according to at least one first image data shot by each first camera;
acquiring relative coordinate data of the container according to at least one first image data shot by each first camera, and determining position data of the container according to the relative coordinate data; wherein the location data comprises Bei Weihao, bei Liehao, bei Cenghao.
In the embodiment of the present invention, after the first position information, which is an approximate position where the container is transported and placed, is determined, a plurality of first cameras (preferably, ball machines) capable of photographing the container around can be screened out according to the first position information, and the container number data of the container and the Bei Weihao, bei Liehao and Bei Cenghao of the container can be smoothly extracted from the first image data photographed by the first cameras.
It should be noted that the relative coordinate data in the present invention may be based on the coordinate system of the entire container yard, or may be based on the coordinate system of the area in which each container area (for example, one row or one column) is independently placed, and is not particularly limited.
Further, the acquiring the relative coordinate data of the container according to at least one first image data captured by each first camera includes:
determining the number data of a plurality of adjacent containers corresponding to the container according to the first image data, and inquiring a database according to the number data of the adjacent containers to determine the coordinate data of the adjacent containers;
calculating position offset data of the container and the adjacent container according to the first image data, and determining relative coordinate data of the container according to the position offset data and the coordinate data of the adjacent container.
In the embodiment of the invention, the container yard has a size, for the small container yard shown in fig. 2, at most four cameras at the front, back, left and right positions of the container are needed to cover the container, and the shooting picture of each camera is shown in fig. 3.
For example: after a new container is stacked by the front crane, the cameras on the front side and the back side can provide the X-axis position and the Z-axis position of the container, the cameras on the side can provide the Y-axis position and the Z-axis position (the position relation between the cameras and the storage yard needs to be configured in advance), and the XYZ coordinates of the newly-added container in the storage yard can be obtained by integrating the results of the plurality of cameras.
For a large container yard, a single ball machine cannot cover all containers on one side, and aiming at the situation, the invention turns to a plurality of adjacent container numbers near the target container and queries a database to determine the coordinates of the adjacent containers. At this time, the newly placed container and the container with the known position are subjected to offset comparison (based on the center point of the container, the area where the container number is located, or the edge of the container), so as to obtain the relative position offset [ Δ x, Δ y, Δ z ], and further obtain the XYZ coordinates of the newly added container.
Further, when the hoisting device is a rail crane, the position data of the container is obtained as follows:
acquiring PLC signals of the track crane, wherein the PLC signals comprise working signals of a cart, a trolley and a lifting appliance;
respectively calculating to obtain cart position data, trolley position data and hanger height data according to the working signals;
and obtaining a shell number according to the position data of the cart, obtaining a shell number according to the position data of the trolley, and obtaining a shell number according to the height data of the lifting appliance.
In the embodiment of the invention, the rail crane used in the container yard has very accurate PLC signals, and can give working signals such as lock opening and closing signals when the container is grabbed and placed. Therefore, for the track crane, the invention directly obtains the position information from the PLC controller, wherein the cart position is Bei Weihao (column), the trolley position is Bei Liehao (row), and the hanger height is Bei Cenghao (layer). Compared with the front-facing crane, the position data is simpler to determine, the functions of the front-facing crane can be realized only by assisting with the identification of the box number, and the identification mode of the box number can be the same as that of the front-facing crane.
Further, when the hoisting device is a track crane, before the determining the first position information of the container according to the first data, the method further includes:
judging whether the hoisting equipment is in a working state or not according to the PLC signal of the track crane, and if so, sending a tracking signal to the fourth camera; the tracking signal is used for triggering the fourth camera to acquire first data of the track crane.
In the embodiment of the invention, the fourth camera is controlled to acquire the motion data of the container when the working state of hoisting of the track crane is judged according to the PLC signal of the track crane, and then the first data is acquired. It can be seen that the present embodiment utilizes both PLC signals and image tracking techniques. Different from the front crane, the invention directly judges whether the track crane is in a working state according to the PLC signal of the track crane, thereby being more rapid and efficient.
The PLC signal of the track crane can also comprise a moving target position of the track crane, the fourth camera can be screened out according to the hoisting target position, and then the fourth camera can be scheduled to track the track crane so as to determine the first data of the track crane.
Further, the method further comprises:
controlling the first cameras to enter a cruise mode, and receiving fourth image data which are shot by each first camera in the cruise mode and contain container numbers;
and extracting third data of each container according to the fourth image data, comparing the third data with the second data stored in a database, and outputting an alarm if the comparison result is inconsistent.
In the embodiment of the invention, in addition to the container data acquisition mode of the hoisting equipment in the working state, the distributed first cameras are also arranged to carry out cruise inspection on the placed containers in the respective areas, and if the containers are inconsistent with the previously stored data, an alarm can be output to remind a worker to carry out verification in a proper mode, such as on-site inspection or remote control of a gun for close-range viewing, so as to carry out background entry and change on abnormal data.
As a modification of this embodiment, the cruise mode for the first camera is defined as follows:
determining an initial first cruise plan based on the distributed position data of each first camera;
acquiring working data of hoisting equipment according to fifth image data shot by the fifth camera, and determining a plurality of potential hoisting position data according to sixth image data shot by the sixth camera;
screening out a plurality of target hoisting position data from a plurality of potential hoisting position data according to the working data;
determining cruise delay data according to the distance between each fifth camera and the target hoisting position data;
the second cruise plan is corrected in accordance with the cruise delay data to obtain a second cruise plan.
In the improved mode, an initial cruise sequence can be determined in sequence according to the arrangement positions of the first cameras; then, the fifth camera (preferably a gun bolt) is used for determining the working data (whether the lifting operation, the moving direction and the like exist) of each lifting device in the storage yard, and the sixth camera (preferably other ball machines) is used for determining the potential lifting position data (for example, the vacant position where the container can be placed exists), and at this time, for example, the target lifting position can be determined from the potential lifting positions according to the data such as the moving direction of the lifting device. In the ball machine near the target hoisting position, the cruising accuracy of the ball machine is affected by shielding and the like generated by hoisting operation, so that the cruising delay processing can be further performed on the first camera related to the initial first cruising plan.
In addition, the degree of delay can be determined by: and calculating the distance value between each first camera and the nearest target hoisting position data, and determining a delay coefficient according to the distance value, wherein the delay coefficient is in negative correlation with the distance value. That is, when the first camera is farther from the target hoisting position, since the hoisting device can only shield the corresponding dome camera in a short time, the delay degree of the dome camera can be adjusted to be lower, otherwise, the adjustment is higher, so that the first camera can perform cruise acquisition of the related data of the container after the hoisting is completed, and the accuracy of the cruise result is ensured.
Of course, the delay in the cruise mode should take into account some practical circumstances, for example, no delay may be made for the first camera located behind the direction of movement of the hoisting device being worked.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a container management system of a container yard according to an embodiment of the present invention. As shown in fig. 5, a container management system of a container yard according to an embodiment of the present invention includes an obtaining module 101, a processing module 102, and a storage module 103; the processing module 102 is connected to the obtaining module 101 and the storage module 103;
the storage module 103 is configured to store executable computer program codes;
the acquiring module 101 is configured to acquire working data of the hoisting device and image data of the camera, and transmit the working data and the image data to the processing module 102;
the processing module 102 is configured to execute the method according to the first embodiment by calling the executable computer program code in the storage module 103.
The specific functions of the container management system of the container yard in this embodiment refer to the first embodiment, and since the system in this embodiment adopts all technical solutions of the first embodiment, at least all beneficial effects brought by the technical solutions of the first embodiment are achieved, and details are not repeated here.
Referring to fig. 6, fig. 6 is an electronic device according to an embodiment of the present invention, including: a memory storing executable program code; a processor coupled with the memory; the processor calls the executable program code stored in the memory to execute the method according to the first embodiment.
The embodiment of the invention also discloses a computer storage medium, wherein a computer program is stored on the storage medium, and the computer program executes the method in the first embodiment when being executed by a processor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, 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 computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in more detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention.
Claims (10)
1. A container management method of a container yard comprises the following steps:
acquiring first data of hoisting equipment, and determining first position information of a container according to the first data;
determining a first camera according to the first position information, and acquiring second data of the container according to first image data shot by the first camera; wherein the second data comprises location data and bin number data for the container;
fusing and displaying the second data and the GIS map;
the first camera is also used to implement a cruise mode, as follows:
determining an initial first cruise plan based on the distributed position data of each first camera;
acquiring working data of hoisting equipment according to fifth image data shot by the fifth camera, and determining a plurality of potential hoisting position data according to sixth image data shot by the sixth camera;
screening out a plurality of target hoisting position data from the plurality of potential hoisting position data according to the working data;
determining cruise delay data according to the distance between each fifth camera and the target hoisting position data;
the second cruise plan is corrected in accordance with the cruise delay data to obtain a second cruise plan.
2. A container management method of a container yard according to claim 1, wherein: the hoisting equipment is a front crane and/or a track crane.
3. A container management method of a container yard according to claim 2, wherein: when the hoisting device is a reach stacker, before determining the first position information of the container according to the first data, the method further includes:
receiving second image data of a second camera and/or third image data of a third camera, and extracting operation characteristic data of the hoisting equipment according to the second image data and/or the third image data;
judging whether the hoisting equipment is in a working state or not according to the operation characteristic data, and if so, sending a tracking signal to a fourth camera; the tracking signal is used for triggering the fourth camera to acquire first data of the front crane.
4. A container management method of a container yard according to claim 3, wherein: the determining a first camera according to the first position information and acquiring second data of the container according to first image data shot by the first camera includes:
determining a number of the first cameras according to the first position information; the shooting visual angle of each first camera is partially overlapped with the first position information;
acquiring the container number data of the container according to at least one first image data shot by each first camera;
acquiring relative coordinate data of the container according to at least one first image data shot by each first camera, and determining position data of the container according to the relative coordinate data; wherein the location data comprises Bei Weihao, bei Liehao, bei Cenghao.
5. The container management method of a container yard according to claim 4, wherein: the acquiring of the relative coordinate data of the container according to at least one of the first image data taken by each of the first cameras includes:
determining the number data of a plurality of adjacent containers corresponding to the container according to the first image data, and inquiring a database according to the number data of the adjacent containers to determine the coordinate data of the adjacent containers;
calculating position offset data of the container and the adjacent container according to the first image data, and determining relative coordinate data of the container according to the position offset data and the coordinate data of the adjacent container.
6. A container management method of a container yard according to any one of claims 2 to 5, wherein: when the hoisting equipment is a track crane, the position data of the container is obtained by the following method:
acquiring PLC signals of the track crane, wherein the PLC signals comprise working signals of a cart, a trolley and a lifting appliance;
respectively calculating to obtain cart position data, trolley position data and hanger height data according to the working signals;
and obtaining a shell number according to the position data of the cart, obtaining a shell number according to the position data of the trolley, and obtaining a shell number according to the height data of the lifting appliance.
7. The container management method of a container yard according to claim 5, wherein: when the hoisting device is a rail crane, before determining the first position information of the container according to the first data, the method further comprises:
judging whether the hoisting equipment is in a working state or not according to the PLC signal of the track crane, and if so, sending a tracking signal to the fourth camera; the tracking signal is used for triggering the fourth camera to acquire first data of the track crane.
8. A container management system of a container yard comprises an acquisition module, a processing module and a storage module; the processing module is connected with the acquisition module and the storage module;
the storage module is used for storing executable computer program codes;
the acquisition module is used for acquiring the working data of the hoisting equipment and the image data of the camera and transmitting the working data and the image data to the processing module;
the method is characterized in that: the processing module for performing the method of any one of claims 1-7 by invoking the executable computer program code in the storage module.
9. An electronic device, comprising:
a memory storing executable program code;
a processor coupled with the memory;
the method is characterized in that: the processor calls the executable program code stored in the memory to perform the method of any of claims 1-7.
10. A computer storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, performs the method of any one of claims 1-7.
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| CN202210977720.8A CN115049322B (en) | 2022-08-16 | 2022-08-16 | Container management method and system for container yard |
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| JP6838782B2 (en) * | 2017-05-30 | 2021-03-03 | 株式会社三井Ｅ＆Ｓマシナリー | Container crane control system and container crane control method |
| CN111243016B (en) * | 2018-11-28 | 2024-03-19 | 周口师范学院 | Automatic container identification and positioning method |
| CN113409282A (en) * | 2021-06-25 | 2021-09-17 | 腾讯云计算（北京）有限责任公司 | Deformation detection method and device for box-type structure, electronic equipment and storage medium |
| CN113658255A (en) * | 2021-08-03 | 2021-11-16 | 深圳中集智能科技有限公司 | Automatic identification system and identification method for container stacking position |
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