CN-116105738-B - Wharf transportation equipment and crane interaction method, system, equipment and storage medium

CN116105738BCN 116105738 BCN116105738 BCN 116105738BCN-116105738-B

Abstract

The invention provides a method, a system, equipment and a storage medium for interaction between wharf transportation equipment and a crane, wherein the method comprises the following steps that a first point cloud acquisition device and a second point cloud acquisition device are respectively arranged at the front end and the rear end of container carrying equipment; the method comprises the steps of acquiring original point cloud data in real time, identifying hoisting equipment to start an alignment task based on relative position information of the container carrying equipment, acquiring local bottom surfaces and side surfaces of a container by fitting the point cloud data at the front end and the point cloud data at the rear end of the container carrying equipment respectively to generate a state information combination, acquiring a current hoisting operation state in a preset task state table based on the state information combination, and switching the state of the hoisting operation according to the current hoisting operation state and the height of a hoisting tool. According to the invention, on the premise of not changing wharf mechanical equipment, various state information in the alignment process can be accurately and timely detected and identified, the system robustness is high, and the timeliness and safety of hoisting operation are improved.

Inventors

TAN LIMIN
HUANG MEI
SUN ZUOLEI
XIE YI
ZHOU YANG

Assignees

上海西井信息科技有限公司

Dates

Publication Date: 20260512
Application Date: 20230217

Claims (11)

1. The interaction method of the wharf transportation equipment and the crane is characterized by comprising the following steps: the front end and the rear end of the container carrying equipment are respectively provided with a first point cloud acquisition device and a second point cloud acquisition device; acquiring original point cloud data in real time, and identifying relative position information of hoisting equipment based on container carrying equipment to start an alignment task; Detecting whether the front end of the container carrying device has the partial bottom surface and the side surface of the container by fitting the point cloud data of the front end of the container carrying device, if yes, updating the state mark a of the front end of the vehicle to be 1, if no, updating the state mark a of the front end of the vehicle to be 0, detecting whether the rear end of the vehicle has the partial bottom surface and the side surface of the container by fitting the point cloud data of the rear end of the container carrying device, if yes, updating the state mark b of the rear end of the vehicle to be 1, if no, updating the state mark b of the rear end of the vehicle to be 0, updating the state information combination (a, b) of the container, and And obtaining the current hoisting operation state in a preset task state table based on the state information combination, and switching the state of hoisting operation according to the current hoisting operation state and the height of the lifting appliance.
2. The interaction method of dock transporting equipment and a crane according to claim 1, wherein the front end and the rear end of the container carrying equipment are respectively provided with a first point cloud collecting device and a second point cloud collecting device, and the interaction method comprises the following steps: The container carrying device is a collector card, a first point cloud collecting device for collecting Fang Dian clouds is arranged at the top of the head of the collector card along the vertical direction, and a second point cloud collecting device for collecting Fang Dian clouds is arranged at the tail of the collector card along the vertical direction, or The container carrying device is a flat unmanned carrier vehicle, a first point cloud collecting device for collecting Fang Dian clouds is arranged on the head of the flat unmanned carrier vehicle along the vertical direction, and a second point cloud collecting device for collecting Fang Dian clouds is arranged on the tail of the flat unmanned carrier vehicle along the vertical direction.
3. The dock transport apparatus and crane interaction method of claim 1, wherein the acquiring the original point cloud data in real time, the identifying the hoisting apparatus to start the alignment task based on the relative position information of the container carrying apparatus, comprises: The first point cloud acquisition device and the second point cloud acquisition device are used for respectively acquiring original point cloud data of a head and a tail in real time; mapping the original point cloud data to a vehicle body coordinate system of the container carrying equipment, and merging to obtain first point cloud data; and when the first point cloud data detects the local characteristics of the hoisting equipment and meets the preset spatial position relation, starting an alignment task.
4. The dock transporting device and crane interaction method according to claim 3, wherein when the first point cloud data detects the local feature of the hoisting device and satisfies a preset spatial position relationship, the alignment task is started, including, And stopping moving the container carrying equipment, detecting whether at least one local appearance structural feature preset by the hoisting equipment is matched with the first point cloud data, and if so, starting an alignment task.
5. The method of claim 4, wherein the lifting device is a container crane, and the local exterior structural features are spatial data of an inner side of a beam, spatial data of an outer side of the beam, spatial data of an inner leg of the beam, and spatial data of an outer leg of the beam of the container crane.
6. The dock transport device-crane interaction method according to claim 5, wherein the point cloud data corresponding to the matched local appearance structural features are ordered along the running direction of the container carrying device, the central position of the container crane along the running direction of the container carrying device is obtained in real time through a maximum value and a minimum value, and when the central position is located in a preset alignment initial region of the container carrying device, an alignment task is started.
7. The method for interacting the dock transporting device with the crane according to claim 1, wherein the obtaining the current hoisting operation state in the preset task state table based on the state information combination, and switching the state of the hoisting operation according to the current hoisting operation state and the height of the hoist, comprises: Matching the current hoisting operation state in a preset task state table based on the state information combination; obtaining the relative height of the lifting appliance, and And switching the state of the hoisting operation according to the current hoisting operation state and whether the height of the hoisting tool meets a threshold value.
8. The dock transport appliance to crane interaction method of claim 7, wherein the obtaining the relative height of the spreader comprises: Obtaining local point cloud data corresponding to a lifting appliance according to a preset lifting appliance position and the relative position of container carrying equipment; filtering out point cloud external points and point cloud data of a vehicle-mounted container of the container carrying device from the local point cloud data; And if not, acquiring the relative height of the lifting appliance based on the space position of the horizontal plane of the bottom surface of the container and the preset height of the container, wherein the number of point clouds of the lifting appliance in the filtered local point cloud data is larger than a threshold value, and taking the minimum value of the height of the point clouds as the relative height of the lifting appliance.
9. A quay transport apparatus and crane interaction system, the system comprising: The front end and the rear end of the container carrying device are respectively provided with a first point cloud acquisition device and a second point cloud acquisition device; Starting an alignment module, acquiring original point cloud data in real time, and identifying relative position information of hoisting equipment based on container carrying equipment to start an alignment task; The state information module is used for detecting whether the front end of the vehicle head has the partial bottom surface and the side surface of the container or not by fitting the point cloud data of the front end of the container carrying device, if so, updating the state mark a of the front end of the vehicle head to be 1, and if not, updating the state mark a of the front end of the vehicle head to be 0; detecting whether the rear end of the vehicle tail has the partial bottom surface and the side surface of the container by fitting the point cloud data of the rear end of the container carrying equipment, if so, updating the state mark b of the rear end of the vehicle tail to 1, if not, updating the state mark b of the rear end of the vehicle tail to 0, updating the state information combination (a, b) of the container, and And the switching operation module is used for obtaining the current hoisting operation state in a preset task state table based on the state information combination and switching the state of hoisting operation according to the current hoisting operation state and the height of the lifting appliance.
10. A dock transport device and crane interaction device, comprising: A processor; a memory having stored therein executable instructions of the processor; Wherein the processor is configured to perform the steps of the dock transport interaction method with a crane of any one of claims 1 to 8 via execution of the executable instructions.
11. A computer readable storage medium storing a program, characterized in that the program when executed implements the steps of the quay transport apparatus and crane interaction method of any one of claims 1 to 8.

Description

Wharf transportation equipment and crane interaction method, system, equipment and storage medium Technical Field The invention relates to the technical field of navigation and positioning, in particular to a method, a system, equipment and a storage medium for interaction between wharf transportation equipment and a crane. Background Along with the continuous optimization and upgrading of the intelligent reformation of the traditional container terminal, more and more automatic equipment is put into operation, and the automatic unmanned vehicle also becomes the front of the intelligent terminal, the alignment is a necessary ring of the terminal operation flow, for intelligent container wharf, starting from the operation flow, the alignment task is accurately opened and closed, which is an effective way to improve the production efficiency. For the traditional wharf, the interaction of alignment tasks is confirmed only by manual work, so that the accuracy is poor and the efficiency is low. In an intelligent dock, the opening and closing of the alignment task of the bicycle needs to interact with other intelligent systems, such as a crane intelligent system or a dock tallying system. With the development of computer technology, vehicles, automatic container identification, automatic positioning technology and the like are increasingly popular in ports and wharfs in China, so that the labor cost can be greatly reduced, the working efficiency is accelerated, and the working accuracy is improved. The current vehicle positioning technology in common use is based on an onboard GPS device. However, on the shore bridge, due to shielding of a large ship and/or a crane, the signal strength is insufficient, and the GPS device cannot realize the positioning function, so that the positioning method based on the traditional GPS device cannot perform positioning and hoisting interactive operation on the vehicle in the environment. In view of this, the present invention provides a dock transport device and crane interaction method, system, device and storage medium. It should be noted that the information disclosed in the foregoing background section is only for enhancement of understanding of the background of the invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention Aiming at the problems in the prior art, the invention aims to provide a method, a system, equipment and a storage medium for interaction between wharf transport equipment and a crane, which overcome the difficulty in the prior art, fully utilize the edge information of a cargo ship under the scenes of landing and GPS positioning failure of the cargo ship, realize self-positioning of vehicles and improve the accuracy of alignment of a collector card and a quay bridge. The embodiment of the invention provides a method for interacting wharf transportation equipment with a crane, which comprises the following steps: the front end and the rear end of the container carrying equipment are respectively provided with a first point cloud acquisition device and a second point cloud acquisition device; acquiring original point cloud data in real time, and identifying relative position information of hoisting equipment based on container carrying equipment to start an alignment task; Generating a state information combination of the container at a corresponding position by fitting the point cloud data of the front end and the point cloud data of the rear end of the container carrying device to obtain a local bottom surface and a local side surface of the container respectively, and And obtaining the current hoisting operation state in a preset task state table based on the state information combination, and switching the state of hoisting operation according to the current hoisting operation state and the height of the lifting appliance. Preferably, the front end and the rear end of the container carrying device are respectively provided with a first point cloud collecting device and a second point cloud collecting device, which comprises: The container carrying device is a collector card, a first point cloud collecting device for collecting Fang Dian clouds is arranged at the top of the head of the collector card along the vertical direction, and a second point cloud collecting device for collecting Fang Dian clouds is arranged at the tail of the collector card along the vertical direction, or The container carrying device is a flat unmanned carrier vehicle, a first point cloud collecting device for collecting Fang Dian clouds is arranged on the head of the flat unmanned carrier vehicle along the vertical direction, and a second point cloud collecting device for collecting Fang Dian clouds is arranged on the tail of the flat unmanned carrier vehicle along the vertical direction. Preferably, the acquiring the original point cloud data in real time, identifying the h