CN111854610A - Device and method for identifying container - Google Patents
Device and method for identifying container Download PDFInfo
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- CN111854610A CN111854610A CN202010742376.5A CN202010742376A CN111854610A CN 111854610 A CN111854610 A CN 111854610A CN 202010742376 A CN202010742376 A CN 202010742376A CN 111854610 A CN111854610 A CN 111854610A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract
The invention discloses a device for identifying a container, comprising: a pedestal for placing a target container; the first sensor is arranged in a first central area of the pedestal and used for sensing a second central area, wherein the first central area and the second central area are adjacent along a first direction; the second sensor is arranged on one side of the first central area of the pedestal along the second direction and used for sensing the first side surface of the target container along the second direction; and the third sensor is arranged at one end of the pedestal along the second direction and used for sensing the second side surface of the target container along the first direction. Also disclosed is a method for identifying a container, which can identify the box type of a target container and has high stability.
Description
Technical Field
The invention relates to the field of containers, in particular to a device and a method for identifying a container.
Background
At present, the operation container box type of the shore bridge crane is divided into four types of single 20-ruler, 40-ruler, 45-ruler and double 20-ruler, wherein the double 20-ruler container is composed of two single 20-ruler containers. The information of the container is generally distinguished by the information operating system of a wharf tally clerk or a driver of a crane operation on a shore bridge through naked eyes, namely, a crane sling is arranged at a corresponding scale position and corresponds to the size of the corresponding container. According to the extending length position of the arm of the lifting appliance, the shore bridge central control system can acquire the container type of the operation, and then the container type information is fed back to the mechanism needing the information. In the prior art, some mechanisms cannot establish communication with a shore bridge central control system, the mechanism must rely on the self to detect a box type, but the box type detection mechanism is not available at present.
Disclosure of Invention
The invention aims to solve the problem that container type cannot be independently detected. The invention provides a device and a method for identifying a container, which can identify the box type of a target container and have higher stability.
In order to solve the above technical problem, an embodiment of the present invention discloses an apparatus for identifying a container, including: a pedestal for placing a target container; the first sensor is arranged in a first central area of the pedestal and used for sensing a second central area, wherein the first central area and the second central area are adjacent along a first direction; the second sensor is arranged on one side of the first central area of the pedestal along the second direction and used for sensing the first side surface of the target container along the second direction; and the third sensor is arranged at one end of the pedestal along the second direction and used for sensing the second side surface of the target container along the first direction.
By adopting the technical scheme, the box type of the target container is judged to be a single box type or a double box type by sensing signals at different positions on the pedestal through the first sensor, the second sensor and the third sensor.
According to another specific embodiment of the present invention, an embodiment of the present invention discloses an apparatus for identifying a container, further comprising: and the fourth sensor is arranged on the other side of the first central area of the pedestal along the second direction and used for sensing the first side surface of the target container along the second direction.
By adopting the technical scheme, the accuracy of identifying the box type of the target container by the device can be improved, and misoperation caused by interferents is avoided.
According to another specific embodiment of the present invention, an embodiment of the present invention discloses an apparatus for identifying a container, further comprising: and the fifth sensor is arranged at the other end of the pedestal along the second direction and used for sensing the second side surface of the target container along the first direction.
According to another embodiment of the present invention, an apparatus for identifying a container is disclosed, wherein the second sensor and the fourth sensor are disposed along the second direction centering on the first sensor.
According to another embodiment of the present invention, an apparatus for identifying a container is disclosed, wherein a third sensor and a fifth sensor are disposed along a second direction centering on a first sensor. .
According to another embodiment of the invention, the embodiment of the invention discloses a device for identifying a container, and the distance between a first sensor and a second sensor along a second direction is 1-3 m.
According to another embodiment of the present invention, the third sensor and/or the fifth sensor is a distance meter for measuring the distance to the bottom edge or corner of the target container.
By adopting the technical scheme, the distance between the distance meter and the bottom edge or the box corner of the target container is obtained, and the size of a single box type can be judged.
The embodiment of the invention also discloses a method for identifying the container, which comprises the following steps: using the above apparatus, recognizing whether there is a sensing signal in the second central area of the stand, one side of the first central area of the stand in the second direction, and one end of the stand, wherein, when the sensing signal in the second central area of the stand is not recognized and the sensing signals in the one side of the first central area of the stand in the second direction and one end of the stand are recognized, it is judged that the target container is a double-container type; and when the induction signals of the second central area of the pedestal, one side of the first central area of the pedestal along the second direction and one end of the pedestal are identified, judging that the target container is of a single-container type.
By adopting the technical scheme, the box type of the target container is judged to be a single box type or a double box type by identifying the induction signals of different positions of the pedestal.
According to another specific embodiment of the present invention, an embodiment of the present invention discloses a method for identifying a container, further comprising: it is identified whether there is a sensing signal along the other side of the first central area of the stage in the second direction.
According to another specific embodiment of the present invention, an embodiment of the present invention discloses a method for identifying a container, further comprising: and identifying whether the other end of the pedestal has the induction signal.
According to another specific embodiment of the present invention, an embodiment of the present invention discloses a method for identifying a container, further comprising: and judging the size of the single-container type container according to the induction signal of one end of the pedestal and/or the other end of the pedestal.
Drawings
Fig. 1 is a front view of an apparatus for identifying a container provided by an embodiment of the present invention;
fig. 2 is a first top view of a device for identifying a container according to an embodiment of the present invention;
fig. 3 is a second top view of the device for identifying a container according to the embodiment of the present invention;
fig. 4 is a third top view of the device for identifying a container provided by the embodiment of the present invention;
fig. 5 is a fourth top view of the device for identifying a container provided by the embodiment of the present invention;
fig. 6 is an installation view of a third sensor inside a stand in the apparatus for identifying a container according to the embodiment of the present invention;
fig. 7 is a right side view of fig. 6 along the opening 51.
Description of element labels:
1: a pedestal; 21: a double-type container; 22: 20 feet of single container; 23: a 40-foot single-type container; 24: 45-foot single-type containers; 3: a first sensor; 4: a second sensor; 5: a third sensor; 6: a fourth sensor; 7: a fifth sensor; 51: opening a hole; 8: a limiting cable; m: a first side surface; n: a second side surface; a: a first direction; b: a second direction; s1: a first distance; s2: a second distance; s3: a third distance; s3': a fourth distance; s4: an average of the sum of the third distance and the fourth distance; d1 first central region; d2 second central region.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, should not be construed as limiting the present invention.
The terms "first," "second," "third," "fourth," "fifth," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The "first direction" in the present invention means the width direction of the pedestal; "second direction" means the lengthwise direction of the pedestal; the container comprises an upper surface, a lower surface and four sides, wherein the first side refers to one side of the target container in the length direction; the "second side" refers to a side of the target container in the width direction. "first central region" means a region where the first sensor is disposed on the pedestal; the "second central region" refers to a region that can be sensed by the first sensor, and is disposed adjacent to the first central region in the first direction.
According to the operation of a shore crane, container boxes are divided into a 20-size single container, a 40-size single container, a 45-size single container and a double container (consisting of two 20-size single containers). Typically, quay tallies and shore crane drivers need to collect container information. For ease of management, the terminal tally clerk will enter container information (quantity, box, etc.) into the information handling system. A bank bridge crane driver can distinguish the box type of the container through naked eyes, so that a crane lifting appliance is arranged at a position with a corresponding scale and corresponds to the size of a target container, a bank bridge central control system can know the box type of the target container through the extending length of a lifting appliance arm, and the information of the target container is fed back to a mechanism needing the information, such as a lock detaching mechanism, the lock detaching mechanism starts a lock detaching mode according to the box type of the target container, and a lock button on the target container is detached accurately. However, in the prior art, some mechanisms which need target container information cannot establish communication with a shore bridge central control system, and the target container box type must be detected by the mechanisms. At present, no mechanism capable of detecting container type exists.
Therefore, the embodiment of the invention provides a device for identifying the container, which combines the characteristics of the box shape of the target container, obtains the induction signals of different positions of the pedestal by arranging the sensors at different positions of the pedestal, can identify the box shape of the target container and has high stability.
Here, the lifting of pedestal, the lifting of container all accord with trade operation standard.
As shown in fig. 1 and 2, an embodiment of the present invention provides an apparatus for identifying a container, including: a pedestal 1 for placing a target container; a first sensor 3 provided in a first central region D1 of the table base 1 for sensing a second central region D2, wherein the first central region D1 is adjacent to the second central region D2 in the first direction a; a second sensor 4 provided on one side of the first central region D1 of the pedestal 1 in the second direction B, for sensing a first side surface M of the target container in the second direction B; and a third sensor 5, disposed at one end of the pedestal 1 along the second direction B, for sensing a second side surface N of the target container along the first direction a.
Here, the target container includes a 20-size single type container, a 40-size single type container, a 45-size single type container, and a double type container (composed of two 20-size single type containers), as shown in fig. 1 and 2, in which a space is provided between two 20-size single type containers in the double type container 21.
Specifically, the first sensor 3 is disposed in the first central area D1 of the pedestal 1, and is used for sensing whether there is an object in the second central area D2 of the pedestal 1, so as to determine the box shape of the target container, and in order to prevent the interfering object from falling into or floating over the pedestal to cause misjudgment, the apparatus for identifying the container provided by the embodiment further includes: a second sensor 4 and a third sensor 5, wherein the second sensor 4 is disposed on one side of a first central area D1 of the pedestal 1 along the second direction B, and is used for sensing a first side surface M of the target container along the second direction B; the third sensor 5 is arranged at one end of the pedestal 1 along the second direction B and used for sensing the second side surface N of the target container along the first direction A, and the signals of the first sensor 3, the second sensor 4 and the third sensor 5 are combined to judge whether the box shape of the target container is a single box shape or a double box shape. It can be understood that, when the signal of the first sensor 3 is "no" and the signals of the second sensor 4 and the third sensor 5 are "yes", the target container is determined to be a double container type, that is, a double container type; when the signals of the first sensor 3, the second sensor 4 and the third sensor 5 are all yes, the target container is judged to be a single container type, namely, the target container is one of a 20-size single container, a 40-size single container and a 45-size single container.
Further, as shown in fig. 1 and fig. 2, the apparatus for identifying a container provided by the present embodiment further includes: and the fourth sensor 6 is arranged on the other side of the first central area D1 of the pedestal 1 in the second direction B and is used for sensing the first side surface M of the target container along the second direction B so as to further prevent misjudgment and improve the accuracy of the device for identifying the box type of the target container.
Here, the second sensor 4 and the fourth sensor 6 may be provided as shown in fig. 1 and 2, that is, the first sensor 3, the second sensor 4, and the fourth sensor 6 are provided on one long side of the pedestal 1, but the present invention is not limited thereto, and for example, the first sensor and the second sensor may be provided on one long side of the pedestal and the fourth sensor may be provided on the other long side of the pedestal; the first sensor may be arranged on one long side of the pedestal, the second sensor and the fourth sensor may be arranged on the other long side of the pedestal, and other arrangement modes may be adopted.
Further, as shown in fig. 1 and fig. 2, the apparatus for identifying a container provided by the present embodiment further includes: and the fifth sensor 7 is arranged at the other end of the pedestal 1 along the second direction B and used for sensing the second side surface N of the target container along the first direction A so as to further prevent misjudgment and improve the accuracy of the device for identifying the box type of the target container.
Further, as shown in fig. 1 and 2, in the device for identifying a container according to this embodiment, the second sensor 4 and the fourth sensor 6 are disposed along the second direction B with the first sensor 3 as a center, the second sensor 4 and the fourth sensor 6 may be symmetrically disposed with the first sensor 3 as a center, or the second sensor and the fourth sensor may be disposed on two long sides of the pedestal respectively with one point on a central axis of the pedestal in the width direction as a center, so as to further prevent misjudgment, improve accuracy of the device in identifying a target container box type, and facilitate installation of the sensors.
Further, as shown in fig. 1 and 2, in the device for identifying a container according to the present embodiment, the third sensor 5 and the fifth sensor 7 are disposed along the second direction B with the first sensor 3 as a center, so as to further prevent misjudgment, improve accuracy of identifying a target container type by the device, and facilitate installation of the sensors.
Here, the third sensor 5 and the fifth sensor 7 may be disposed as shown in fig. 1 and fig. 2, that is, the third sensor 5 and the fifth sensor 7 may be disposed on a line parallel to the second direction B or close to a line, but the present invention is not limited to this, and for example, the third sensor and the fifth sensor may be disposed on both short sides of the pedestal, respectively, with a point on the central axis of the pedestal in the width direction as the center, that is, the upper surface of the pedestal may be square or rectangular, the third sensor and the fifth sensor may be disposed on one diagonal line of the square or rectangular upper surface, and other arrangements.
Further, as shown in fig. 1, in the device for identifying a container provided in this embodiment, the first distance S1 between the first sensor 3 and the second sensor 4 along the second direction B is 1 to 3m, and the second distance S2 between the first sensor 3 and the fourth sensor 6 along the second direction B is 1 to 3m, so as to further prevent misjudgment, improve the accuracy of the device in identifying a target container box type, and facilitate installation of the sensors. Preferably, S1 or S2 is 1.94m, which facilitates installation and use of the sensor.
Further, as shown in fig. 1, in the apparatus for identifying a container according to the present embodiment, the third sensor 5 and the fifth sensor 7 are distance measuring devices for measuring a distance from a bottom edge or a corner of a target container to determine a size of a container having a single box shape.
Here, the length of the 20-size single-type container is set to 6m, the length of the 40-size single-type container is set to 12m, the length of the 45-size single-type container is set to 14m, and the length of the pedestal is set to 14.5 m.
Specifically, the third sensor 5 and/or the fifth sensor 7 may be a laser range finder that can determine the size of the mono type container.
In the device for identifying a container according to an embodiment of the present invention, when the third sensor 5 is a laser distance meter, the third distance S3 between the third sensor 5 and the bottom edge or corner of the target container may be measured, and when S3 is greater than or equal to 3.5m and less than or equal to 5.5m, the single-type container is determined to be a 20-foot single-type container 22; when the S3 is more than or equal to 1m and less than or equal to 2m, the single-type container is judged to be the 40-size single-type container 23; and when the S3 is less than 1m, judging that the single-type container is the 45-size single-type container 24. Accordingly, the size of the mono type container can be judged, thereby identifying the type of the mono type container.
In the device for identifying a container according to another embodiment of the present invention, as shown in fig. 3, when the third sensor 5 and the fifth sensor 7 are both laser range finders, a third distance S3 between the third sensor 5 and the bottom edge or corner of the target container and a fourth distance S3 'between the fifth sensor 7 and the bottom edge or corner of the target container may be measured, and an average value S4 (not shown) of the sum of S3 and S3' is taken, and when S4 is smaller than or equal to 3.5m, it is determined that the single type container is a 20-size single type container 22. As shown in FIG. 4, the third sensor 5 and the fifth sensor 7 are both laser range finders, which can measure a third distance S3 between the third sensor 5 and the bottom edge or corner of the target container and a fourth distance S3 'between the fifth sensor 7 and the bottom edge or corner of the target container, and take an average S4 (not shown in the figure) of the sum of S3 and S3', when 1m is less than or equal to S4 and less than or equal to 2m, the single-type container is determined to be a 40-size single-type container 23. As shown in fig. 5, the third sensor 5 and the fifth sensor 7 are both laser range finders, and can measure a third distance S3 between the third sensor 5 and the bottom edge or corner of the target container and a fourth distance S3 'between the fifth sensor 7 and the bottom edge or corner of the target container, and take an average value S4 (not shown in the figure) of the sum of S3 and S3', and when S4 < 1m, determine that the single-type container is a 45-size single-type container 24. Accordingly, the size of the mono type container can be judged, thereby identifying the type of the mono type container.
As shown in fig. 2, the target container is a double-container type container, and the third sensor 5 and the fifth sensor 7 may be laser range finders to measure a distance S3 between the third sensor and/or the fifth sensor and a bottom edge or a corner of the target container to determine a specific position of the double-container type container on the stand.
Here, for example, as shown in fig. 5, a distance S3 between the third sensor and the bottom edge or corner of the target container, a distance S3 'between the fifth sensor and the bottom edge or corner of the target container, and a left-right offset amount of the target container in the second direction B is obtained according to a difference between S3 and S3' to obtain a specific position of the target container on the pedestal.
In this embodiment, first to fifth sensor all sets up inside the pedestal, can carry out whole transport together with the pedestal, and the operating mode is stable. As shown in fig. 6, the third sensor 5 is disposed inside the pedestal, and the sensing area is detected through the opening 51, so that the pedestal 1 protects the first to fifth sensors and prevents the influence of weather factors on the accuracy of the sensors.
As shown in fig. 7, fig. 7 is a right side view of fig. 6 along the opening hole 51, the third sensor 5 connected with the limiting cable 8 is arranged inside the pedestal, the sensing area is detected through the opening hole 51, and the pedestal 1 protects the fifth sensor and prevents the influence of weather factors on the accuracy of the sensor. The arrangement mode of other sensors in the pedestal is the same as that of the third sensor, and the description of the invention is omitted.
As shown in fig. 1 to 5, the arrows on the first to fifth sensors 3 to 7 indicate the sensing direction or sensing area of the sensor.
In this embodiment, the first to fifth sensors are arranged in the pedestal at a uniform height and are close to the bottom of the target container, so that the target container can be identified conveniently.
The embodiment of the invention also provides a method for identifying the container, which comprises the following steps:
using the apparatus described above, it is recognized whether there is a sensing signal in the second central region of the stage, in the second direction, on one side of the first central region of the stage, at one end of the stage,
when the induction signal of the second central area of the pedestal is not recognized and the induction signals of one side of the first central area of the pedestal and one end of the pedestal along the second direction are recognized, the target container is judged to be of a double-container type;
and when the induction signals of the second central area of the pedestal, one side of the first central area of the pedestal along the second direction and one end of the pedestal are identified, judging that the target container is of a single-container type.
Specifically, when the second central area of the pedestal has no induction signal and one side of the first central area of the pedestal and one end of the pedestal have induction signals, the target container is judged to be of a double-container type; when the second central area of the pedestal, one side of the first central area of the pedestal and one end of the pedestal all sense signals, the target container is judged to be of a single container type. The inductive signals of the three positions of the pedestal are selected to judge whether the box type of the target container is a single box type or a double box type, and the three positions are selected simultaneously, so that misjudgment caused by the fact that an interfering object falls into or floats through the pedestal is avoided, and the accuracy of the method is effectively guaranteed.
Further, the method further comprises: whether the induction signal exists on the other side of the first central area of the pedestal along the second direction is identified so as to further prevent misjudgment and improve the accuracy of the device for identifying the box type of the target container.
Further, the method further comprises: whether the other end of the identification pedestal has an induction signal or not is further prevented from being judged by mistake, and the accuracy of identifying the box type of the target container by the device is improved.
Further, the method further comprises: and judging the size of the single-container type container according to the induction signal of one end of the pedestal and/or the other end of the pedestal.
Specifically, the inductive signal of the one end of pedestal and/or the other end of pedestal can be for the range finding signal, judges the mode according to above-mentioned distance, can judge the size of single case type container, and it is no longer repeated here.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (11)
1. An apparatus for identifying a container, comprising:
a pedestal for placing a target container;
the first sensor is arranged in a first central area of the pedestal and used for sensing a second central area, wherein the first central area is adjacent to the second central area along a first direction;
the second sensor is arranged on one side of the first central area of the pedestal along a second direction and used for sensing a first side surface of the target container along the second direction;
and the third sensor is arranged at one end of the pedestal along the second direction and used for sensing the second side surface of the target container along the first direction.
2. The apparatus of claim 1, further comprising: a fourth sensor disposed on the other side of the first central region of the pedestal along the second direction for sensing the first side of the target container along the second direction.
3. The apparatus of claim 1, further comprising: and the fifth sensor is arranged at the other end of the pedestal along the second direction and used for sensing the second side surface of the target container along the first direction.
4. The apparatus of claim 2, wherein the second sensor and the fourth sensor are centered about the first sensor along the second direction.
5. The apparatus of claim 3, wherein the third sensor and the fifth sensor are centered about the first sensor along the second direction.
6. The apparatus of claim 1, wherein a distance between the first sensor and the second sensor in the second direction is 1-3 m.
7. The apparatus of claim 5, wherein the third sensor and/or the fifth sensor is a distance meter for measuring a distance to a bottom edge or corner of the target container.
8. A method for identifying a container, the method comprising:
using the apparatus according to any one of claims 1 to 7, identifying whether there is a sensing signal in the second central region of the table, on one side of the first central region of the table in the second direction, at one end of the table,
wherein when the induction signal of the second central region of the pedestal is not recognized and the induction signals of one side of the first central region of the pedestal and one end of the pedestal in the second direction are recognized, it is determined that the target container is a double-container type;
when the induction signal of the second central area of the pedestal, one side of the first central area of the pedestal along the second direction, the one end of the pedestal is recognized, it is determined that the target container is a single container type.
9. The method of claim 8, further comprising: identifying whether there is the induction signal on the other side of the first central region of the pedestal along the second direction.
10. The method of claim 8, further comprising: and identifying whether the other end of the pedestal has the induction signal.
11. The method of claim 10, further comprising: and judging the size of the single box type container according to the induction signal of one end of the pedestal and/or the other end of the pedestal.
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| CN202010742376.5A CN111854610B (en) | 2020-07-29 | 2020-07-29 | Device and method for identifying container |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112508133A (en) * | 2021-02-01 | 2021-03-16 | 聚时科技(江苏)有限公司 | Multi-mode information fusion container type identification method and system |
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| CN111854610B (en) | 2022-02-25 |
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