CN109534177A - A kind of anti-hoisting device of truck based on machine vision and truck are prevented slinging method - Google Patents
A kind of anti-hoisting device of truck based on machine vision and truck are prevented slinging method Download PDFInfo
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- CN109534177A CN109534177A CN201910022840.0A CN201910022840A CN109534177A CN 109534177 A CN109534177 A CN 109534177A CN 201910022840 A CN201910022840 A CN 201910022840A CN 109534177 A CN109534177 A CN 109534177A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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Abstract
A kind of anti-hoisting device of truck based on machine vision and truck are prevented slinging method, at least four data acquisition modules are arranged on tyre crane bottom bracket, within the setting position of data acquisition module can guarantee whole profiles of container and truck all in the acquisition range of data acquisition module, which is used to acquire the image data of container and truck；Signal processing module is arranged in the electrical house of tyre crane, connects data acquisition module, handles for the image data to data collecting module collected, judge whether truck is lifted according to the change in location of container and truck；Alarm module is arranged in the driver's cabin of tyre crane, connection signal processing module, for giving a warning when truck is lifted, driver is reminded to stop lifting.Whether the present invention is completely disengaged using machine vision technique intelligent recognition container and truck, is alarmed in time, realizes intelligent, unmanned, mobilism monitoring and management.
Description
Technical field
Security technology area is hung the present invention relates to container dress more particularly to a kind of truck based on machine vision is prevented slinging
Device and truck are prevented slinging method.
Background technique
The either traditional harbour in most of container terminal or intelligent harbour, not for truck tapered end in operation process
Unlock is lifted that there are certain security risks.Currently, traditional harbour is more to rely on Field Force's inspection, rely on artificial observation and work
Industry equipment driver's experience judges, needs to be equipped with special messenger's inspection in operation path, increases cost of labor；Automatic dock
It is a kind of by installing long-range monitoring camera form at this stage, container hoisting picture is accessed into drivers' cab, driver passes through continuous
Observation real-time pictures understand truck lifting situation to avoid dangerous generation, and this mode has increased the working strength of driver on foot
And complexity, security risk are growing on and on.Automatic dock another kind precautionary approach is using laser radar to truck and packaging
Case, which is scanned, to be judged whether to separate, and such mode one side cost is excessively high, and another aspect laser radar can only differentiate scanning surface
Separation situation, non-scanning surface can not be coped with and unsegregated situation occur.
Summary of the invention
The present invention provides a kind of anti-hoisting device of the truck based on machine vision and truck is anti-slings method, is regarded using machine
Feel whether technical intelligence identification container completely disengages with truck, alarms in time, realize intelligent, unmanned, mobilism
Monitoring and management.
In order to achieve the above object, the present invention provides a kind of anti-hoisting device of the truck based on machine vision, includes:
At least four data acquisition modules are arranged on tyre crane bottom bracket, the setting position of data acquisition module
Within whole profiles of container and truck can be guaranteed all in the acquisition range of data acquisition module, the data acquisition module
For acquiring the image data of container and truck；
Signal processing module is arranged in the electrical house of tyre crane, connects data acquisition module, for acquiring to data
The image data of module acquisition is handled, and judges whether truck is lifted according to the change in location of container and truck；
Alarm module is arranged in the driver's cabin of tyre crane, connection signal processing module, for when truck is lifted
It gives a warning, driver is reminded to stop lifting.
The data acquisition module detects camera using high definition.
The signal processing module includes:
PLC module, connection calculates board and alarm module, for providing the container box information of current work, hanging
The processing result transmission alarm signal of the location information of tool and the opening and closing lock information of suspender to board is calculated and according to board is calculated
Number give alarm signal；
Board is calculated, PLC module is connected, for according to the container of data collecting module collected and the picture number of truck
According to judging whether truck is lifted.
The alarm module includes:
Alarm connects PLC module, for being sounded an alarm according to the processing result for calculating board；
Display screen connects PLC module, for showing the realtime image data of data collecting module collected.
Prevent slinging method the present invention also provides a kind of truck based on machine vision comprising the steps of:
Signal processing module obtains packaging from the realtime image data of the container of data collecting module collected and truck
The position of case and truck judges whether truck is lifted according to the change in location of container and truck, and controls alarm module
It is given a warning when truck is lifted；
The method that the data acquisition module judges whether truck is lifted includes at least:
According to the vehicle frame initial position and wheel initial bit of the vehicle frame real time position of truck and wheel real time position and truck
Variation the distance between is set to judge whether truck is lifted；
Judge to collect according to the distance between marginal position of the vehicle frame marginal position of truck and container and angle change
Whether card is lifted；
Judge whether truck is lifted according to the tapered end quantity for detecting the container recognized.
The data acquisition module is according at the beginning of the vehicle frame real time position and wheel real time position of truck and the vehicle frame of truck
Beginning position and the variation of the distance between wheel initial position come the method for judging whether truck is lifted include: from container sum aggregate
The vehicle frame real time position and wheel real time position that truck is obtained in the realtime image data of card, with the vehicle frame initial position of truck and
Wheel initial position compares；
If the distance change of real time position and initial position is more than given threshold, it is determined as that truck is lifted；
If the distance change of real time position and initial position is less than given threshold, it is determined as that truck is not lifted；
The data acquisition module is according to the distance between the vehicle frame marginal position of truck and marginal position of container
The method for judging whether truck is lifted with angle change includes: collecting from obtaining in the realtime image data of container and truck
The vehicle frame marginal position of card and the marginal position of container, judge between vehicle frame marginal position and the marginal position of container away from
Whether walk-off angle degree changes；
If the vehicle frame marginal position of truck is constant, and the marginal position of container gradually rises, and the vehicle frame side of truck
Angle between edge position and the marginal position of container is constant, then determines that container completely disengages truck, truck is not lifted；
If the distance between the marginal position of the vehicle frame marginal position of truck and container constant or truck vehicle frame side
Angle between edge position and the marginal position of container is gradually increased, then determines container without departing from truck, truck is lifted.
The data acquisition module judges whether truck is hung according to the tapered end quantity for detecting the container recognized
The method risen includes: from the tapered end quantity for obtaining container in the realtime image data of container and truck；
If tapered end quantity reaches four, determine that container completely disengages truck, truck is not lifted；
If tapered end quantity is less than four, container is determined without departing from truck, truck is lifted.
The image data for the container and truck that the calculating board acquires data acquisition module carries out image grayscale
Change processing and binary conversion treatment.
The board that calculates obtains the vehicle frame position of truck, the vehicle frame marginal position and packaging of truck using edge detection
The marginal position of case obtains the wheel position of truck and the tapered end position of container using Hough transformation ellipses detection.
Whether the present invention is directed to harbour service process, completely de- using machine vision technique intelligent recognition container and truck
From, it alarms in time, intelligent, unmanned, mobilism the monitoring of realization and management.
Detailed description of the invention
Fig. 1 is a kind of main view of the anti-hoisting device of truck based on machine vision provided by the invention.
Fig. 2 is a kind of side view of the anti-hoisting device of truck based on machine vision provided by the invention.
Specific embodiment
Below according to FIG. 1 to FIG. 2, presently preferred embodiments of the present invention is illustrated.
The present invention provides a kind of anti-hoisting device of the truck based on machine vision, includes:
At least four data acquisition modules are arranged on tyre crane bottom bracket, the setting position of data acquisition module
Within whole profiles of container and truck can be guaranteed all in the acquisition range of data acquisition module, the data acquisition module
For acquiring the image data of container and truck；
Signal processing module is arranged in the electrical house of tyre crane, connects data acquisition module, for acquiring to data
The image data of module acquisition is handled, and judges whether truck is lifted according to the change in location of container and truck；
Alarm module is arranged in the driver's cabin of tyre crane, connection signal processing module, for when truck is lifted
It gives a warning, driver is reminded to stop lifting.
In an embodiment of the present invention, as depicted in figs. 1 and 2, the data acquisition module detects camera using high definition,
4 high definitions are installed altogether and detect camera 1,11,12,13, high definition detection camera 1,11,12,13 is installed to 7 bottom branch of tyre crane
Optimum photographing position on frame, the height of installation are slightly above the vehicle frame of truck 9, make four high definition detection cameras 1,11,12,13
Visual field is locked together between general container 8 and truck 9 by four tapered ends perpendicular to the driving direction of truck 9, four locks
Head is located at the quadrangle of container 8, and it is 8 liang of container big that 4 high definition detection cameras 1,11,12,13 are respectively used to 40 rulers of shooting
The tapered end at 8 both ends of the tapered end at end and 20 ruler baby container.
The signal processing module is arranged in the electrical house of tyre crane 7, it includes:
Interchanger 2, connection data acquisition module calculate board 3 and PLC (programmable logic controller (PLC)) module 4, are used for
Realize data transmission；
PLC module 4 calculates board 3 and alarm module by the connection of interchanger 2, by providing PLC locking information to based on
It calculates board 3 and alarm signal is sent to alarm signal according to the processing result for calculating board 3；The PLC locking information includes:
Container box information, the location information of suspender 10 and the opening and closing lock information of suspender 10 of current work；Container box letter
Breath determines that starting identifies corresponding camera: 20 ruler baby containers 8 start camera 11 and the big container 8 of 12,40/45 ruler of camera starts
Camera 1 and camera 13；10 location information of suspender and suspender 10 are opened and closed lock information and are used to judge whether truck 9 reaches specific lane；
Suspender 10 starts corresponding camera if locking and is captured, and is labeled as initial pictures.
Board 3 is calculated, PLC module 4 is connected by interchanger 2, for the container according to data collecting module collected
Judge whether truck is lifted with the image data of truck.
The alarm module is arranged in the driver's cabin of tyre crane 7, it includes:
Alarm 6 connects PLC module 4, for being sounded an alarm according to the processing result for calculating board 3；
Display screen 5 connects PLC module 4, for showing the realtime image data of data collecting module collected；Display screen
The then video image of real-time display current work situation and the problem end position under alarm state, for driver's real time inspection with
Confirmation.
In an embodiment of the present invention, display screen 5 needs to be mounted on the place that driver's sight is readily seen that in driver's cabin, sound
Sound alarm 6 then may be mounted at position behind driver and give prompting and alarm in time.
Prevent slinging method the present invention also provides a kind of truck based on machine vision comprising the steps of:
Signal processing module obtains packaging from the realtime image data of the container of data collecting module collected and truck
The position of case and truck judges whether truck is lifted according to the change in location of container and truck, and controls alarm module
It is given a warning when truck is lifted.
The method that the data acquisition module judges whether truck is lifted includes:
According to the vehicle frame initial position and wheel initial bit of the vehicle frame real time position of truck and wheel real time position and truck
Variation the distance between is set to judge whether truck is lifted: from obtaining truck in the realtime image data of container and truck
Vehicle frame real time position and wheel real time position are compared with the vehicle frame initial position and wheel initial position of truck；Such as fruit
When position and initial position distance change be more than given threshold, then be determined as that truck is lifted；If real time position and initial
The distance change of position is less than given threshold, then is determined as that truck is not lifted；
Alternatively, being sentenced according to the distance between marginal position of the vehicle frame marginal position of truck and container and angle change
Whether disconnected truck is lifted: from the vehicle frame marginal position and container for obtaining truck in the realtime image data of container and truck
Marginal position, judge whether the distance between marginal position of vehicle frame marginal position and container and angle change；Such as
The vehicle frame marginal position of fruit truck is constant, and the marginal position of container gradually rises, and the vehicle frame marginal position sum aggregate of truck
Angle between the marginal position of vanning is constant, then determines that container completely disengages truck, truck is not lifted；If truck
The side of the distance between the marginal position of vehicle frame marginal position and container constant or truck vehicle frame marginal position and container
Angle between edge position is gradually increased, then determines container without departing from truck, truck is lifted；In the present embodiment, truck
The case where being lifted includes three kinds of situations again: if the vehicle frame marginal position of 1, truck and the marginal position of container are apart from constant
And all gradually rise, then illustrate that (one side of regulation high definition detection camera shooting is container front side to container front side, and opposite is then
The back side, connect front and back is then respectively case head and case tail) two pairs of tapered end lockholes of side are without departing from or at least three
To tapered end lockhole without departing from；If 2, the vehicle frame marginal position of truck gradually rises after first slightly declining, and the edge of container
Position rises always, then illustrate two pairs of tapered end lockholes of container reverse side without departing from；If 3, the vehicle frame margin location of truck
The angle set between the marginal position of container is gradually increased, then illustrates the tapered end lockhole of chamber door of container or case tail side not
It completely disengages；
Alternatively, judging whether truck is lifted according to the tapered end quantity of container that detection recognizes: from container and
The tapered end quantity of container is obtained in the realtime image data of truck；If tapered end quantity reaches four, determine that container is complete
Total detachment truck, truck are not lifted；If tapered end quantity is less than four, container is determined without departing from truck, truck is hung
It rises.
The board that calculates carries out image gray processing processing and binaryzation to the realtime image data of container and truck
Processing obtains vehicle frame position, the vehicle frame marginal position of truck and the marginal position of container of truck using edge detection, uses
Hough transformation ellipses detection obtains the wheel position of truck and the tapered end position of container, corresponding two diameters of the wheel of truck compared with
Big ellipse (tire region, hereinafter referred to as big ellipse), the tapered end of container correspond to diameter it is lesser it is oval (tapered end region,
Hereinafter referred to as small ellipse), small ellipse quantity corresponds to the quantity of tapered end, and small oval positioned at big elliptical top.
In one embodiment of the invention, according to the vehicle of the vehicle frame real time position of truck and wheel real time position and truck
The distance between frame initial position and wheel initial position change to judge whether truck is lifted, comprising the following steps:
1, spreader position information and suspender opening and closing lock information that board is provided according to PLC module are calculated, when suspender is certain
Position range in block signal triggering when, start video capture immediately, obtain truck and when container is not lifted just
Beginning image；
2, it calculates board and gray processing processing and binary conversion treatment is carried out to initial pictures, carry out edge detection and obtain truck
Vehicle frame initial position carries out the wheel initial position that Hough transformation ellipses detection obtains truck；
3, after truck reaches detection zone, high definition detection camera starts to acquire the realtime image data of container and truck；
4, it calculates board and gray processing processing and binary conversion treatment is carried out to the realtime image data of container and truck, carry out
Edge detection obtains the vehicle frame real time position of truck, carries out the wheel real time position that Hough transformation ellipses detection obtains truck；
5, board is calculated by the vehicle frame initial position and vehicle of the vehicle frame real time position of truck and wheel real time position and truck
Wheel initial position compares；
If the distance change of real time position and initial position is more than given threshold, it is determined as that truck is lifted, at this time
It calculates board and sends error handle result to PLC module, PLC module sends alarm signal to alarm device, and driver stops slinging behaviour
Make, truck is slowly dropped into initial position, then sends and sound all clear to PLC module；
If the distance change of real time position and initial position is less than given threshold, it is determined as that container is hung completely
It rises, and truck is not lifted, is calculated board and is sent correct processing result to PLC module, hoistman is completed normal according to program
Lifting.
In a second embodiment of the present invention, according between the vehicle frame marginal position of truck and the marginal position of container
Distance and angle change judge whether truck is lifted, comprising the following steps:
1, judge whether truck reaches detection zone according to spreader position information in PLC module and suspender opening and closing lock signal,
If truck reaches detection zone, high definition detection camera starts to acquire the realtime image data of container and truck；
2, it calculates board and gray processing processing and binary conversion treatment is carried out to the realtime image data of container and truck, carry out
Edge detection obtains the vehicle frame marginal position of truck and the marginal position of container；
3, it calculates board and judges whether the distance between marginal position of vehicle frame marginal position and container and angle occur
Variation；
If the vehicle frame marginal position of truck is constant, and the marginal position of container gradually rises, and the vehicle frame side of truck
Angle between edge position and the marginal position of container is basically unchanged (always in lesser mobility scale), then determines to collect
Vanning completely disengages truck, and truck is not lifted, calculates board and sends correct processing result to PLC module, hoistman according to
Program completes normal lifting；
If the marginal position of the vehicle frame marginal position of truck and container apart from constant and all gradually rise, illustrates to collect
(one side of regulation high definition detection camera shooting is container front side, and opposite is then the back side, connects front and back in vanning front
Then be respectively case head and case tail) side two pairs of tapered end lockholes without departing from, or at least three pairs of tapered end lockholes without departing from, calculate
Board sends error handle result to PLC module, and PLC module sends alarm signal to alarm device, and driver stops slinging operation, will
Truck slowly drops to initial position, then sends and sounds all clear to PLC module；
If the vehicle frame marginal position of truck gradually rises after first slightly declining, and the marginal position of container always on
It rises, then illustrates two pairs of tapered end lockholes of container reverse side without departing from calculating board sends error handle result and gives PLC mould
Block, PLC module send alarm signal to alarm device, and driver stops slinging operation, truck are slowly dropped to initial position, then
Transmission is sounded all clear to PLC module；
If the angle between the vehicle frame marginal position of truck and the marginal position of container is gradually increased, illustrate packaging
Case chamber door or the tapered end lockhole of case tail side do not completely disengage, calculate board and send error handle result to PLC module, PLC mould
Block sends alarm signal to alarm device, and driver stops slinging operation, and truck is slowly dropped to initial position, then sends and releases
Alarm is to PLC module.
In third embodiment of the invention, the tapered end quantity of the container recognized according to detection is to judge truck
It is no to be lifted, comprising the following steps:
1, judge whether truck reaches detection zone according to spreader position information in PLC module and suspender opening and closing lock signal,
If truck reaches detection zone, high definition detection camera starts to acquire the realtime image data of container and truck；
2, it calculates board and gray processing processing and binary conversion treatment is carried out to the realtime image data of container and truck, carry out
The tapered end quantity of Hough transformation ellipses detection acquisition container；
If tyre crane rises to limiting altitude, the tapered end quantity detected does not reach four, then illustrates four pairs of locks
Head lockhole does not completely disengage, calculates board and sends error handle result to PLC module, PLC module sends alarm signal to alarm device
Number, driver stops slinging operation, and truck is slowly dropped to initial position, then sends and sounds all clear to PLC module；
If tyre crane has been detected by four tapered ends before rising to limiting altitude, illustrate that four pairs of tapered end lockholes are complete
It is detached from, container is sling completely, is calculated board and is sent correct processing result to PLC module, hoistman is completed according to program
Normal lifting.
Data acquisition module judges that the above-mentioned three kinds of methods whether truck is lifted are mutually redundant and independently of each other.
Whether the present invention is directed to harbour service process, completely de- using machine vision technique intelligent recognition container and truck
From, it alarms in time, intelligent, unmanned, mobilism the monitoring of realization and management.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of anti-hoisting device of truck based on machine vision, characterized by comprising:
At least four data acquisition modules are arranged on tyre crane bottom bracket, and the setting position of data acquisition module can
Within guaranteeing whole profiles of container and truck all in the acquisition range of data acquisition module, which is used for
Acquire the image data of container and truck；
Signal processing module is arranged in the electrical house of tyre crane, connects data acquisition module, for data acquisition module
The image data of acquisition is handled, and judges whether truck is lifted according to the change in location of container and truck；
Alarm module is arranged in the driver's cabin of tyre crane, connection signal processing module, for the sending when truck is lifted
Warning reminds driver to stop lifting.
2. the anti-hoisting device of truck as described in claim 1 based on machine vision, which is characterized in that the data acquisition
Module detects camera using high definition.
3. the anti-hoisting device of truck as described in claim 1 based on machine vision, which is characterized in that the signal processing
Module includes:
PLC module, connection calculate board and alarm module, for providing the container box information of current work, suspender
The opening and closing lock information of location information and suspender to calculate board and according to calculate board processing result send alarm signal to
Alarm signal；
Calculate board, connect PLC module, for according to the image data of the container of data collecting module collected and truck come
Judge whether truck is lifted.
4. the anti-hoisting device of truck as described in claim 1 based on machine vision, which is characterized in that the alarm module
Include:
Alarm connects PLC module, for being sounded an alarm according to the processing result for calculating board；
Display screen connects PLC module, for showing the realtime image data of data collecting module collected.
5. a kind of anti-hoisting device of truck using as described in claim 1 based on machine vision carry out based on machine vision
Truck anti-sling method, which is characterized in that comprise the steps of:
Signal processing module obtained from the realtime image data of the container of data collecting module collected and truck container and
The position of truck judges whether truck is lifted according to the change in location of container and truck, and controls alarm module and collecting
Card gives a warning when being lifted；
The method that the data acquisition module judges whether truck is lifted includes at least:
According to the vehicle frame initial position and wheel initial position of the vehicle frame real time position of truck and wheel real time position and truck it
Between distance change judge whether truck is lifted；
It is to judge truck according to the distance between marginal position of the vehicle frame marginal position of truck and container and angle change
It is no to be lifted；
Judge whether truck is lifted according to the tapered end quantity for detecting the container recognized.
6. the truck based on machine vision is anti-as claimed in claim 5 slings method, which is characterized in that the data acquisition
Module according to the vehicle frame initial position and wheel initial position of the vehicle frame real time position and wheel real time position of truck and truck it
Between distance change include come the method for judging whether truck is lifted: from being obtained in the realtime image data of container and truck
The vehicle frame real time position and wheel real time position of truck are compared with the vehicle frame initial position and wheel initial position of truck；
If the distance change of real time position and initial position is more than given threshold, it is determined as that truck is lifted；
If the distance change of real time position and initial position is less than given threshold, it is determined as that truck is not lifted.
7. the truck based on machine vision is anti-as claimed in claim 5 slings method, which is characterized in that the data acquisition
Module is to judge truck according to the distance between marginal position of the vehicle frame marginal position of truck and container and angle change
The no method being lifted includes: from the vehicle frame marginal position and packaging for obtaining truck in the realtime image data of container and truck
The marginal position of case, judges whether the distance between marginal position of vehicle frame marginal position and container and angle change；
If the vehicle frame marginal position of truck is constant, and the marginal position of container gradually rises, and the vehicle frame margin location of truck
The angle set between the marginal position of container is constant, then determines that container completely disengages truck, truck is not lifted；
If constant or truck the vehicle frame margin location of the distance between the marginal position of the vehicle frame marginal position of truck and container
The angle set between the marginal position of container is gradually increased, then determines container without departing from truck, truck is lifted.
8. the truck based on machine vision is anti-as claimed in claim 5 slings method, which is characterized in that the data acquisition
Module includes come the method for judging whether truck is lifted according to the tapered end quantity of container that detection recognizes: from container and
The tapered end quantity of container is obtained in the realtime image data of truck；
If tapered end quantity reaches four, determine that container completely disengages truck, truck is not lifted；
If tapered end quantity is less than four, container is determined without departing from truck, truck is lifted.
9. the truck based on machine vision as described in any one of claim 6-8 is prevented slinging method, which is characterized in that institute
The image data for the container and truck that the calculating board stated acquires data acquisition module carries out image gray processing processing and two
Value processing.
10. the truck based on machine vision is anti-as claimed in claim 9 slings method, which is characterized in that the computing board
Card obtains vehicle frame position, the vehicle frame marginal position of truck and the marginal position of container of truck using edge detection, using suddenly
Husband converts ellipses detection and obtains the wheel position of truck and the tapered end position of container.
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| CN112061993A (en) * | 2020-08-27 | 2020-12-11 | 宁波大榭招商国际码头有限公司 | Automatic detecting and monitoring method for vehicle plate separation during container lifting |
| CN112489045A (en) * | 2020-12-25 | 2021-03-12 | 苏州巨能图像检测技术有限公司 | Anti-lifting detection method for collecting card |
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| CN113177431A (en) * | 2021-03-15 | 2021-07-27 | 福建电子口岸股份有限公司 | Method and system for preventing container truck from being lifted based on machine vision and deep learning |
| CN113184707A (en) * | 2021-01-15 | 2021-07-30 | 福建电子口岸股份有限公司 | Method and system for preventing lifting of container truck based on laser vision fusion and deep learning |
| CN113415727A (en) * | 2021-07-22 | 2021-09-21 | 上海海瞩智能科技有限公司 | Container loading and unloading identification safety guiding device and method |
| CN113923417A (en) * | 2021-10-28 | 2022-01-11 | 北京国基科技股份有限公司 | Distributed container lock detection alarm system and method based on video analysis |
| CN114078227A (en) * | 2022-01-17 | 2022-02-22 | 深圳市图元科技有限公司 | Intelligent AI recognition alarm system and method |
| KR102454058B1 (en) * | 2022-05-17 | 2022-10-14 | 주식회사 이노메트릭스 | Crane safety management system |
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