CN114647011A - Method, device and system for monitoring anti-hanging of container truck - Google Patents
Method, device and system for monitoring anti-hanging of container truck Download PDFInfo
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- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The application discloses a method, a device and a system for monitoring the anti-hanging of a container truck, which relate to the technical field of engineering machinery detection, wherein the method for monitoring the anti-hanging of the container truck comprises the steps of acquiring a first point cloud set of the side surface of a container, which is close to a laser transmitter; obtaining an anti-hanging monitoring area according to the first point cloud set; acquiring a second point cloud set of a target body; outputting a signal representing that the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set; wherein the hub is configured to load a container. The method, the device and the system for monitoring the anti-hanging of the container truck can improve the detection accuracy and reduce the occurrence probability of false alarm.
Description
Technical Field
The application relates to the technical field of engineering machinery detection, in particular to a method, a device and a system for monitoring anti-hanging of a container truck.
Background
The container is typically loaded into the pallet and is typically unloaded from the pallet during the operation using a crane mechanism. In practical application, the lock between the container and the container may not be completely unlocked, and the container is driven to be lifted in a lifting process, so that the lifting operation of the container is influenced, and safety accidents are easy to occur. In the prior art, a container truck anti-lifting monitoring system is usually used for monitoring whether a container truck is lifted in a connected manner or not when a container is lifted, and if the container truck is lifted in a connected manner, a corresponding alarm signal is sent out.
However, the conventional system for monitoring the anti-lifting of the container truck generally has a fixed monitoring area, and then after the container is lifted to a certain height, whether the container truck is lifted is determined by determining whether an obstacle exists in the monitoring area, so that a false alarm may occur due to the fact that a rope or other objects are suspended in the monitoring area. That is to say, in the container anti-lifting monitoring system in the prior art, after the container is lifted to a certain height, the detection accuracy of the mode of judging whether the container is lifted by judging whether the obstacle exists in the monitoring area is low, and the probability of occurrence of false alarm is high.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a method, an apparatus, and a system for monitoring a truck in an anti-hanging manner, which can improve detection accuracy and reduce occurrence probability of false alarms.
According to one aspect of the application, a method for monitoring the anti-hanging of a truck is provided, which comprises the following steps:
acquiring a first point cloud set of the side face, close to a laser transmitter, of the container; wherein the first set of point clouds characterizes a set of points emitted by the laser emitter to a side of the container proximate to the laser emitter;
obtaining an anti-hanging monitoring area according to the first point cloud set;
acquiring a second point cloud set of a target body; wherein the target represents a portion of the container or an object other than the container and the container, and the second set of point clouds represents a set of points emitted by the laser emitter to the target; and
outputting a signal representing that the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set; wherein the hub is configured to load the container.
According to an aspect of the application, before the obtaining of the anti-hanging monitoring area according to the first point cloud set, the method for truck anti-hanging monitoring further includes:
acquiring the opening size of a lifting appliance; wherein the spreader is configured to hoist the container;
obtaining the type of the container according to the opening size of the lifting appliance;
the obtaining of the anti-hanging monitoring area according to the first point cloud set comprises:
and obtaining the anti-hanging monitoring area according to the first point cloud set and the type of the container.
According to an aspect of the application, obtaining the anti-hanging monitoring area according to the first point cloud set comprises:
obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set; and
and obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
According to one aspect of the application, the boundary points of the anti-hanging monitoring area comprise a first point, a second point, a third point and a fourth point, wherein the first point and the second point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container close to the laser emitter; the third point and the fourth point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container departing from the laser emitter;
the obtaining of the coordinates of the boundary points of the anti-hanging monitoring area according to the first point cloud set comprises:
obtaining the slope of the intersection line of the side surface of the container close to the laser emitter and the top surface, the coordinate of the first point and the coordinate of the second point according to the first point cloud set; and
obtaining the coordinates of the third point and the fourth point according to the slope of the intersection line, the coordinates of the first point and the coordinates of the second point;
the obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area comprises the following steps:
and obtaining the anti-hanging monitoring area according to the coordinates of the first point, the second point, the third point and the fourth point.
According to one aspect of the application, the outputting a signal characterizing whether the container is hoisted or not hoisted according to the anti-hoist monitoring area and the second point cloud collection comprises:
obtaining coordinates of all points in the second point cloud set according to the second point cloud set;
obtaining the position relation between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set; wherein the position relationship represents that the point in the second point cloud set is located in the anti-hanging monitoring area or the point in the second point cloud set is located outside the anti-hanging monitoring area; and
and outputting a signal representing whether the hub is lifted or not lifted according to the position relation.
According to one aspect of the application, said outputting a signal indicative of said hub being hoisted or not hoisted according to said positional relationship comprises:
and if all points in the second point cloud set are positioned outside the anti-lifting monitoring area, outputting a signal representing that the collecting card is not lifted.
According to an aspect of the application, said outputting a signal indicating whether the hub is lifted or not lifted according to the positional relationship comprises:
if the second point cloud set has points located in the anti-hanging monitoring area, selecting a plurality of points located in the second point cloud set in the anti-hanging monitoring area to form a third point cloud set;
if a preset number of points in the third point cloud set meet a preset condition, outputting a signal representing that the collecting card is lifted; and the preset condition represents that the distance between any two adjacent points is smaller than a preset value.
According to one aspect of the present application, after selecting a plurality of points in the second point cloud located in the anti-lifting monitoring area to form a third point cloud set, the outputting a signal indicating whether the container is lifted or not lifted according to the position relationship further comprises:
and if the preset number of points in the third point cloud set does not meet the preset condition, outputting a signal representing that the collecting card is not lifted.
According to one aspect of the application, the acquiring the first point cloud set of the side surface of the container close to the laser transmitter comprises:
acquiring a fourth point cloud set in the emission range of the laser emitter; wherein the fourth set of clouds characterizes a set of all points transmitted onto an object within the transmission range;
and clustering the points in the fourth point cloud set to partition point cloud sets of different parts, and selecting the first point cloud set representing the side surface of the container close to the laser emitter according to the number of points in the point cloud sets of different parts and the distance between two adjacent points.
According to another aspect of the present application, there is provided a truck anti-hang monitoring device, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is configured to acquire a first point cloud set of the side surface of a container close to a laser transmitter; wherein the first set of point clouds characterizes a set of points emitted by the laser emitter to a side of the container proximate to the unit emitter;
the first calculation module is configured to obtain an anti-hanging monitoring area according to the first point cloud set;
a second acquisition module configured to acquire a second point cloud set of the target volume; wherein the target represents a portion of the container or an object other than the container and the container, and the second set of point clouds represents a set of points emitted by a laser emitter to the target; and
a first output module configured to output a signal representing whether the container truck is hoisted or not according to the anti-hoisting monitoring area and the second point cloud set; wherein the hub is configured to load the container.
According to another aspect of the present application, there is provided a truck anti-hang monitoring system, including:
a container;
a hub configured to load the container;
a laser emitter configured to emit laser light toward a side of the container proximate to the laser emitter;
and the electronic equipment is configured to execute the truck anti-hanging monitoring method.
The method, the device and the system for monitoring the anti-hanging of the container truck ensure that the position relation between a target body and an anti-hanging monitoring area is confirmed by acquiring a first point cloud set of the side face of a container close to a laser emitter, then obtaining the anti-hanging monitoring area according to the first point cloud set, and then confirming whether the target body belongs to the middle part of the container truck or an object except the container and the container truck according to the characteristics of a second point cloud set under the condition that the target body is in the anti-hanging monitoring area, so that the detection accuracy is improved, and the probability of false alarm caused by the fact that a rope or other objects are hung in the anti-hanging monitoring area is reduced.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural diagram of a suspension-proof monitoring area in the prior art when an object invades into the monitoring area.
Fig. 2 is a schematic flow chart of a method for monitoring a truck anti-hang device according to an exemplary embodiment of the present application.
Fig. 3 is a schematic view of a suspension-proof monitoring area according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of a double twenty-foot container in the prior art.
Fig. 5 is a schematic flow chart of a method for monitoring a truck during anti-hanging operation according to another exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart of acquiring a first point cloud set of a container on a side close to a laser transmitter according to an exemplary embodiment of the present application.
Fig. 7 is a schematic flow chart illustrating a process of obtaining an anti-hanging monitoring area according to a first point cloud set according to an exemplary embodiment of the present application.
Fig. 8 is a schematic flow chart illustrating a process of obtaining an anti-hanging monitoring area according to a first point cloud set according to another exemplary embodiment of the present application.
Fig. 9 is a schematic flow chart of outputting a signal indicating whether the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set according to an exemplary embodiment of the present application.
Fig. 10 is a schematic flow chart of outputting a signal indicating whether the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud collection according to another exemplary embodiment of the present application.
Fig. 11 is a schematic flow chart of outputting a signal indicating whether the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud collection according to another exemplary embodiment of the present application.
Fig. 12 is a schematic flow chart of outputting a signal indicating whether the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud collection according to another exemplary embodiment of the present application.
Fig. 13 is a block diagram of a structure of a truck anti-hang monitoring apparatus according to an exemplary embodiment of the present application.
Fig. 14 is a block diagram of a structure of a truck anti-hang monitoring device according to another exemplary embodiment of the present application.
Fig. 15 is a block diagram of a structure of a truck anti-hang monitoring system according to an exemplary embodiment of the present application.
Fig. 16 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
In the prior art, a truck anti-lifting monitoring system generally sets a fixed monitoring area, and then judges whether a truck is lifted by judging whether an obstacle exists in the monitoring area after a container is lifted by a certain height, so that a false alarm may occur due to the fact that a rope or other objects are suspended in the monitoring area. Fig. 1 is a schematic structural view illustrating a state of intrusion of an object into a suspension-proof monitoring area in the prior art. As shown in fig. 1, the laser transmitter 530 emits a laser plane toward the container 600 to form a monitoring area, in which an object (a portion indicated by an arrow a in fig. 1) invades, and the conventional system for monitoring the lift prevention of the container truck generates an error alarm that the container truck is lifted after detecting the existence of the invaded object in the monitoring area. The method, the device and the system for monitoring the anti-hanging of the container truck can distinguish whether an object intruding into an anti-hanging monitoring area is a part of the container truck or not, so that the probability of false alarm is reduced.
Specifically, fig. 2 is a schematic flow chart of a method for monitoring a truck collection and anti-hanging provided in an exemplary embodiment of the present application. As shown in fig. 2, the method for monitoring the anti-hanging of the truck collection provided in the embodiment of the present application may include:
s310: a first point cloud set of the side of the container near the laser emitter is acquired.
In one embodiment, the laser emitter is disposed on one side of the container, the laser emitter may emit a plurality of laser spots toward a side of the container near the laser emitter, the plurality of laser spots are dispersed on the side of the container, and the plurality of points dispersed on the side of the container near the laser emitter may form a first point cloud set.
In one embodiment, the first set of point clouds may include spatial coordinates of a plurality of points, and the laser transmitter, upon transmitting a laser to the container, may obtain the spatial coordinates of each of the points distributed on the side of the container, thereby communicating a signal to the controller indicative of the spatial coordinates of the plurality of points.
S320: and obtaining the anti-hanging monitoring area according to the first point cloud set.
In one embodiment, the laser emitter and the container are arranged along the horizontal direction, and the laser emitter emits laser along the horizontal direction. Fig. 3 is a schematic view of a suspension-proof monitoring area according to an exemplary embodiment of the present application. The anti-hanging monitoring area can be understood as an area defined after the laser plane emitted by the laser transmitter intersects with the container in a top view. The lower edge of the anti-lifting monitoring area can be understood as an integrated straight line in the top view of the side surface of the container close to the laser transmitter.
In an embodiment, the spatial coordinates of each point in the first point cloud set can be obtained according to the first point cloud set, so that a linear expression of the lower edge of the anti-hanging monitoring area can be obtained, and then coordinates of other boundary points of the anti-hanging monitoring area can be obtained according to the linear expression of the lower edge of the anti-hanging monitoring area, and a specific derivation process of the coordinates is described in detail later.
S330: and acquiring a second point cloud set of the target body.
In an embodiment, the target may characterize portions of the container or objects other than the container and the container.
In one embodiment, the target enters the emitting range of the laser emitter, the plurality of laser points emitted by the laser emitter may also be distributed on the surface of the target, and the plurality of laser points distributed on the surface of the target may form a second point cloud set.
S340: and outputting a signal representing that the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set.
In one embodiment, the container is loaded by a container, and if the lock between the container and the container is not completely unlocked, the container may be lifted during the process of lifting the container. After step S340 is executed, whether the card concentrator is lifted or not may be monitored, and a signal indicating that the card concentrator is lifted or not lifted may be output, so as to notify the worker in time, thereby reducing the probability of occurrence of safety accidents.
In an embodiment, after the suspension-prevention monitoring area and the second point cloud set are obtained, whether points in the second point cloud set are in the suspension-prevention monitoring area or not can be judged according to the position relation between the second point cloud set and the suspension-prevention monitoring area, and then whether the container truck is lifted or not is determined according to the characteristics of the second point cloud set, so that a signal representing whether the container truck is lifted or not is output.
It should be understood that where the target is part of a container, the resulting second collection of point clouds has different characteristics than if the target is an object other than a container and a container. Therefore, whether the target body is a part of the container truck can be distinguished by acquiring the characteristics of the obtained second point cloud set, so that a signal whether the container truck is hoisted or not is output. The specific process of distinguishing between them will be described in detail later.
The method for monitoring the anti-hanging of the container truck comprises the steps of obtaining a first point cloud set of a container close to the side face of a laser transmitter, obtaining an anti-hanging monitoring area according to the first point cloud set, confirming the position relation between a target body and the anti-hanging monitoring area according to a second point cloud set of the target body and the anti-hanging monitoring area, and confirming whether the target body belongs to the middle part of the container truck or an object except the container truck and the container truck according to the characteristics of the second point cloud set under the condition that the target body is located in the anti-hanging monitoring area, so that the detection accuracy is improved, and the probability of false alarm caused by the fact that a rope or other objects are hung in the anti-hanging monitoring area is reduced.
Fig. 4 is a schematic structural diagram of a double twenty-foot container hoisted in the prior art. As shown in fig. 4, the laser transmitter 530 emits a fixed monitoring area 700 in the prior art, the two twenty-feet container 800 represents that two twenty-feet containers 600 are placed side by side, and the two twenty-feet containers 600 are connected with each other, and if the entering direction is inclined relative to the direction of the lane during the entering process of the two twenty-feet container 800 into the lane, as shown in fig. 4, the fixed monitoring area 700 is partially overlapped with the middle of the following container 600 (the area indicated by arrow B in fig. 4), so that a false alarm occurs in the truck anti-hang monitoring system. Therefore, fig. 5 is a schematic flow chart of a method for monitoring a truck anti-hang device according to another exemplary embodiment of the present application. As shown in fig. 5, before step S320, the method for monitoring and preventing a truck from hanging further includes:
s350: and acquiring the opening size of the lifting appliance.
In one embodiment, the spreader is used to hoist containers, and the spreader may vary in size depending on the type of container.
In one embodiment, the spreader spread size may be obtained by a dispatch system, that is, after the container is loaded into the driveway by the truck, the spreader spread size may be obtained by the dispatch system.
S360: and obtaining the type of the container according to the opening size of the lifting appliance.
In one embodiment, the types of containers include twenty-one containers, twenty-two containers, and forty-one containers.
In one embodiment, after acquiring the first cloud set of the container on the side close to the laser emitter, the container may be confirmed to have an overall size of twenty or forty feet according to the first cloud set of the container. Specifically, the overall size of the container may be determined according to the distance between the head and the tail of the first point cloud set in the transverse direction.
Since the first point cloud collection characteristics obtained for the double twenty-foot container and the single forty-foot container are similar, when it is confirmed that the entire size of the container is forty feet by the first point cloud collection, it is necessary to further confirm whether the container type is the double twenty-foot container or the single forty-foot container.
Specifically, in one embodiment, when the container size is determined to be twenty feet by the first point cloud set, and the obtained spreader size is also twenty feet, the container may be determined to be a single twenty feet container. If it is confirmed from the first point cloud set that the container size is forty feet, the acquired hanger size is also forty feet, and it can be determined that the container is a single forty feet container. And under the condition that the container size is determined to be forty feet through the first point cloud set, if the obtained hanger size is twenty feet, the container can be judged to be a double twenty feet container.
As shown in fig. 5, step S320 may include:
s323: and obtaining the anti-hanging monitoring area according to the first point cloud set and the type of the container.
In one embodiment, the anti-hang monitoring area corresponding to the type of the container can be obtained according to the first cloud collection and the type of the container. Namely, if the container is a single twenty-foot container, the anti-hanging monitoring area corresponding to the single twenty-foot container can be obtained; if the container is a single forty-feet container, a lifting prevention monitoring area corresponding to the single forty-feet container can be obtained; if the container is a double twenty-foot container, the anti-hanging monitoring area corresponding to the double twenty-foot container can be obtained. Compared with the monitoring area with a fixed position in the prior art, even if the situation that the entering direction and the lane direction are relatively inclined occurs in the process that the double twenty-feet containers enter the lane in the figure 4, the anti-hanging monitoring area can be corrected in real time by combining the types of the containers in the process of obtaining the anti-hanging monitoring area, so that the situation that the anti-hanging monitoring area and the containers cannot deviate, the situation that the anti-hanging monitoring area and the containers in the rear part are partially overlapped can be avoided, and the probability of false alarm is reduced.
Fig. 6 is a schematic flow chart of acquiring a first point cloud set of a container on a side close to a laser transmitter according to an exemplary embodiment of the present application. As shown in fig. 6, in an embodiment, step S310 may include:
s311: and acquiring a fourth point cloud set in the emission range of the laser emitter.
In one embodiment, the laser emitter may emit laser light in its emitting range, and after the laser light is emitted to the objects in the emitting range, the laser points distributed on the surface of all the objects in the emitting range may form a fourth point cloud set.
In one embodiment, the fourth set of clouds may include the spatial coordinates of the laser points distributed across the surface of all objects.
S312: and clustering the points in the fourth point cloud set to partition different parts of point cloud sets, and selecting a first point cloud set representing the side surface of the container close to the laser transmitter according to the number of points in the point cloud sets of different parts and the distance between two adjacent points.
In one embodiment, clustering is a data segmentation method, which can segment the fourth cloud set into different partial point cloud sets according to a certain criterion. For example, in the clustering process, a clustering distance threshold between adjacent points may be set, if the actual distance between two adjacent points does not exceed the set clustering distance threshold, the two adjacent points may be considered to be on the same undivided object, otherwise, if the actual distance between the two adjacent points exceeds the set clustering distance threshold, the two adjacent points may be considered to be on two separate objects, so that the point cloud sets of different objects may correspond to different objects.
In an embodiment, after the point cloud sets corresponding to different objects are obtained, whether the corresponding object is a side surface of the container close to the laser emitter may be determined according to the number of points included in the point cloud set corresponding to each object, so as to obtain the first point cloud set.
In an embodiment, after the point cloud sets corresponding to different objects are obtained, whether the corresponding object is a side surface of the container close to laser emission may also be determined according to a transverse distance between the head and the tail of the point cloud set corresponding to each object, so as to obtain the first point cloud set.
Fig. 7 is a schematic flow chart illustrating a process of obtaining an anti-hanging monitoring area according to a first point cloud set according to an exemplary embodiment of the present application. As shown in fig. 2 and 7, in an embodiment, step S320 may include:
s321: and obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set.
As shown in fig. 2, in one embodiment, the boundary points of the anti-hang monitoring area include the endpoint coordinates of the upper boundary and the endpoint coordinates of the lower boundary.
In one embodiment, the first set of point clouds may include spatial coordinates of a plurality of points on a side of the container near the laser transmitter, and the lower boundary of the anti-hang monitoring area in fig. 2 may be understood as a set of sides of the container near the laser transmitter, and from the first set of point clouds, the end point coordinates of the lower boundary of the anti-hang monitoring area and a linear expression of the lower boundary may be obtained, and then the end point coordinates of the upper boundary of the anti-hang monitoring area may be obtained.
S322: and obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
In an embodiment, after the step S321 is executed, coordinates of boundary points of the anti-hanging monitoring area may be obtained, the boundary points are sequentially connected according to the coordinates of the boundary points, and an area formed by enclosing is the anti-hanging monitoring area.
Specifically, taking the anti-hanging monitoring area shown in fig. 2 as an example, in an embodiment, the boundary points of the anti-hanging monitoring area may include a first point, a second point, a third point, and a fourth point, where the first point and the second point are two end points of an intersection line of a laser plane emitted by the laser emitter and a side surface of the container close to the laser emitter, that is, in fig. 2, the first point and the second point are lower boundary end points of the anti-hanging monitoring area; the third point and the fourth point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container departing from the laser emitter, namely in the figure 2, the third point and the fourth point are upper boundary end points of the anti-hanging monitoring area.
Fig. 8 is a schematic flow chart of obtaining an anti-hanging monitoring area according to a first point cloud set according to another exemplary embodiment of the present application. As shown in fig. 8, step S321 may include:
s3211: and obtaining the slope of the intersection line of the side surface of the container close to the laser emitter and the top surface, the coordinates of the first point and the coordinates of the second point according to the first point cloud set.
In an embodiment, the first point cloud set comprises spatial coordinates of laser points distributed on a side of the container close to the laser transmitter, and the coordinates of the first point and the coordinates of the second point can be directly obtained from the first point cloud set.
As shown in fig. 2, in an embodiment, an intersection line of a side surface of the container close to the laser emitter and the top surface may be understood as a lower boundary of the anti-hanging monitoring area in fig. 2, coordinates of any plurality of points on the intersection line of the side surface of the container close to the laser emitter and the top surface are selected, and a slope of the intersection line may be obtained by using a least square fitting method, where the least square fitting calculation method is described in the related art and is not described in detail in this application.
S3212: and obtaining the coordinates of the third point and the coordinates of the fourth point according to the slope of the intersection line, the coordinates of the first point and the coordinates of the second point.
As shown in fig. 2, in an embodiment, the boundaries of the anti-hanging monitoring area are enclosed to form a rectangle, the upper boundary of the anti-hanging monitoring area and the lower boundary of the anti-hanging monitoring area are parallel to each other, the slope of the upper boundary of the anti-hanging monitoring area can be obtained under the condition that the slope of the lower boundary of the anti-hanging monitoring area is known, and the coordinate of the end point of the upper boundary of the anti-hanging monitoring area can be obtained by combining the coordinate of the first point and the coordinate of the second point, that is, the coordinate of the third point and the coordinate of the fourth point can be obtained.
As shown in fig. 8, correspondingly, step S322 may include:
s3221: and obtaining the anti-hanging monitoring area according to the coordinates of the first point, the second point, the third point and the fourth point.
In an embodiment, a boundary line of the anti-hanging monitoring area can be obtained according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point and the coordinates of the fourth point, so that a corresponding anti-hanging monitoring area is defined.
Fig. 9 is a schematic flow chart of outputting a signal indicating whether the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set according to an exemplary embodiment of the present application. As shown in fig. 9, in an embodiment, step S340 may include:
s341: and obtaining coordinates of all points in the second point cloud set according to the second point cloud set.
In one embodiment, the second set of point clouds may include coordinates of all points spread over the surface of the target volume, from which coordinates of all points in the second set of point clouds may be derived.
S342: and obtaining the position relation between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set.
In an embodiment, vector operation is performed on the coordinates of each point in the second point cloud set and the coordinates of the boundary points of the anti-hanging monitoring area, so that a position relationship between each point in the second point cloud set and the anti-hanging monitoring area can be obtained, that is, it can be confirmed that each point in the second point cloud set is located in the anti-hanging monitoring area or outside the anti-hanging monitoring area.
As shown in FIG. 2, based on the vector operation formula
The calculation result of (3) can determine whether any point P in the second point cloud set is located in the anti-hanging monitoring area. Wherein, P represents any point in the second point cloud set, P1 represents the first point, Pn represents the second point, Pi represents the third point, and Pj represents the fourth point;
the cross-multiplication result representation obtains a vector perpendicular to the right-hand rule
Sum vector
The normal vector of (a);
the cross product result representation obtains a vector vertical to the right hand rule
And
the normal vector of (a); the two normal vectors are positioned on the same straight line, then the mutual point multiplication result of the two normal vectors is compared with zero, the direction relation between the two normal vectors can be judged, and then whether any point P in the second point cloud set is positioned in the anti-hanging monitoring area or not can be judged according to the direction relation between the two normal vectors.
Specifically, if
The direction of the two normal vectors obtained through calculation is the same, and the point P is located in the anti-hanging monitoring area. If it is
It means that the directions of the two normal vectors obtained by calculation are opposite, and the point P is located outside the anti-hanging monitoring area.
S343: and outputting a signal representing that the hub is lifted or not lifted according to the position relation.
In an embodiment, after the position relationship between each point in the second point cloud set and the anti-hanging monitoring area is confirmed, whether the target body is located in the anti-hanging monitoring area or not can be confirmed, and then according to the characteristics of the target body second point cloud set, whether the target body belongs to one part of the container truck or not can be determined, so that a signal that the container truck is hung or not hung can be output.
Specifically, fig. 10 is a schematic flow chart of outputting a signal indicating that the container is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set according to another exemplary embodiment of the present application. As shown in fig. 10, in an embodiment, step S343 may include:
s3431: and if all the points in the second point cloud set are positioned outside the anti-hoisting monitoring area, outputting a signal representing that the collection card is not hoisted.
After the step S342 is executed, the position relationship between all the points in the second point cloud set and the anti-hanging monitoring area may be obtained, and if the executed result indicates that all the points in the second point cloud set are located outside the anti-hanging monitoring area, it may be determined that the detected whole target body is located outside the anti-hanging monitoring area. Regardless of whether the target is part of the container or other objects except the container and the container, the target is outside the anti-lifting monitoring area, so that a signal indicating that the container is not lifted can be correspondingly output.
In addition, fig. 11 is a schematic flow chart of outputting a signal indicating that the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set according to another exemplary embodiment of the present application. As shown in fig. 11, in an embodiment, step S343 may further include:
s3432: and if the second point cloud set has points in the anti-hanging monitoring area, selecting a plurality of points in the second point cloud set in the anti-hanging monitoring area to form a third point cloud set.
If the result of the step S342 indicates that the second point cloud set exists in the anti-hanging monitoring area, it indicates that at least part of the target body exists in the anti-hanging monitoring area, and thus it needs to be determined again whether the part of the target body in the anti-hanging monitoring area belongs to the part of the container truck. Therefore, under the condition that the second point cloud set has points located in the anti-hanging monitoring area, a plurality of points located in the second point cloud set in the anti-hanging monitoring area can be selected to form a third point cloud set, and then whether the hub is hung or not is confirmed again according to the third point cloud set.
S3433: and if the third point cloud set has a preset number of points meeting the preset condition, outputting a signal representing that the hub is lifted.
In an embodiment, after the third point cloud set is formed, if a preset number of points exist in the third point cloud set and meet a preset condition, where the preset condition indicates that a distance between any two adjacent points is smaller than a preset value, it can be determined that there are many points on the same object that are all in the anti-lifting monitoring area, and the points reaching the preset number are all located on the same object, which indicates that the surface area of the object is large, and objects with small volumes such as ropes and hooks can be excluded, so that it can be determined that a target object located in the anti-lifting monitoring area at this time belongs to a middle part of the truck assembly, and therefore, a signal indicating that the truck is lifted can be output.
In an embodiment, the preset number may be set to five, six, seven, etc. according to actual situations, and the numerical value of the preset number is not specifically limited in the present application.
In an embodiment, the preset value may also be set according to an actual situation, and the preset value is not specifically limited in the present application.
Fig. 12 is a schematic flow chart of outputting a signal indicating whether the container truck is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud collection according to another exemplary embodiment of the present application. As shown in fig. 12, in an embodiment, after step S3432, step S343 may further include:
s3435: and if the third point cloud set does not have a preset number of points which meet the preset condition, outputting a signal representing that the collection card is not lifted.
In an embodiment, after the third point cloud set is formed, if there are no preset number of points in the third point cloud set that satisfy a preset condition, it may be determined that there are only a few points on the same object in the anti-hanging monitoring area, which indicates that the surface area of the object is small, and it may be considered that the target object located in the anti-hanging monitoring area at this time is a small-sized object such as a rope, a hook, etc., rather than a part of the container truck, and therefore a signal indicating that the container truck is not hung up may be output.
Fig. 13 is a block diagram of a structure of a truck anti-hang monitoring apparatus according to an exemplary embodiment of the present application. As shown in fig. 13, the truck anti-pick up monitoring apparatus 400 provided in the embodiment of the present application may include a first acquiring module 410 configured to acquire a first point cloud set of a side surface of a container close to a laser transmitter; wherein the first set of point clouds represents a set of points emitted by the laser emitter to a side of the container proximate to the container emitter; the first calculation module 420 is configured to obtain an anti-hanging monitoring area according to the first point cloud set; a second acquisition module 430 configured to acquire a second point cloud set of the target volume; the target body represents part of the container and objects different from the container and the container, and the second point cloud set represents a set of a plurality of points emitted to the target body by the laser emitter; and a first output module 440 configured to output a signal indicating whether the container truck is hoisted or not according to the anti-hoisting monitoring area and the second point cloud set; wherein the hub is configured to load a container.
The container truck anti-hanging monitoring device provided by the embodiment of the application confirms the position relation between a target body and an anti-hanging monitoring area by acquiring a first point cloud set of the side face of a container close to a laser transmitter and then obtaining the anti-hanging monitoring area according to the first point cloud set and the anti-hanging monitoring area according to a second point cloud set of the target body, and confirms whether the target body belongs to the middle part of the container truck or an object except the container and the container truck according to the characteristics of the second point cloud set under the condition that the target body is in the anti-hanging monitoring area, so that the detection accuracy is improved, and the probability of false alarm caused by the fact that a rope or other objects are hung in the anti-hanging monitoring area is reduced.
Fig. 14 is a block diagram of a structure of a truck anti-hang monitoring device according to another exemplary embodiment of the present application. As shown in fig. 14, in an embodiment, the first calculating module 420 may include a second calculating module 421 configured to obtain coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set; the third calculating module 422 is configured to obtain the anti-hanging monitoring area according to the coordinates of the boundary point of the anti-hanging monitoring area.
As shown in fig. 14, in an embodiment, the truck anti-hang monitoring device 400 may further include a fourth acquiring module 450 configured to acquire an opening size of the spreader; a fifth acquiring module 460 configured to obtain the type of the container according to the opening size of the spreader; correspondingly, the first computing module 420 may include an eighth computing module 423 configured to obtain the anti-hang monitoring area according to the first cloud set and the type of the container.
As shown in fig. 14, in an embodiment, the second calculation module 421 may include a fourth calculation module 4211 configured to obtain, according to the first point cloud set, a slope of an intersection line between a side surface of the container close to the laser emitter and the top surface, coordinates of the first point, and coordinates of the second point; a fifth calculating module 4212 configured to obtain a coordinate of a third point and a coordinate of a fourth point according to the slope of the intersection line, the coordinate of the first point, and the coordinate of the second point; correspondingly, the third calculating module 422 may be further configured to obtain the anti-hanging monitoring area according to the coordinates of the first point, the coordinates of the second point, the coordinates of the third point, and the coordinates of the fourth point.
As shown in fig. 14, in an embodiment, the first output module 440 may include a sixth calculating module 441 configured to obtain coordinates of all points in the second point cloud set according to the second point cloud set; the seventh calculating module 442 is configured to obtain a position relationship between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set; the position relation represents that the point in the second point cloud set is located in the anti-hanging monitoring area or the point in the second point cloud set is located outside the anti-hanging monitoring area; a second output module 443 configured to output a signal indicating whether the hub is hoisted or not hoisted according to the positional relationship.
As shown in FIG. 14, in one embodiment, the second output module 443 can include a third output module 4431 configured to output a signal indicating that the hub is not picked up if all points in the second set of point clouds are outside the anti-pick-up monitoring area.
As shown in fig. 14, in an embodiment, the second output module 443 may include a first selecting module 4432 configured to select a plurality of points in the second point cloud set located in the anti-hanging monitoring area to form a third point cloud set if there are points in the second point cloud set located in the anti-hanging monitoring area; a third output module 4433, configured to output a signal indicating that the hub is lifted if a preset number of points in the third point cloud set satisfy a preset condition; the preset condition represents that the distance between any two adjacent points is smaller than a preset value.
As shown in fig. 14, in an embodiment, the second output module 443 may include a fourth output module 4434 configured to output a signal indicating that the hub is not hoisted if a preset number of points in the third point cloud set do not satisfy a preset condition.
As shown in fig. 14, in an embodiment, the first acquiring module 410 may include a third acquiring module 411 configured to acquire a fourth point cloud set within the emission range of the laser emitter; wherein the fourth set of clouds represents a set of all points on the object transmitted into the transmission range; a second selecting module 412, configured to cluster the points in the fourth point cloud set to partition different parts of the point cloud sets, and select the first point cloud set representing the side surface of the container close to the laser emitter according to the number of points in the different parts of the point cloud sets and the distance between two adjacent points.
Fig. 15 is a block diagram of a structure of a truck anti-hang monitoring system according to an exemplary embodiment of the present application. As shown in fig. 15, in one embodiment, the container anti-pick up monitoring system 500 may include a container 510; a hub 520 configured to load a container 510; a laser transmitter 530 configured to emit laser light toward a side of the container 510 close to the laser transmitter 510; the electronic device 540 is configured to execute the above-mentioned method for monitoring the anti-hanging of the container truck.
The container truck anti-hanging monitoring system provided by the embodiment of the application confirms the position relation between a target body and an anti-hanging monitoring area by acquiring a first point cloud set of a side face of a container close to a laser transmitter and then obtaining the anti-hanging monitoring area according to the first point cloud set and the anti-hanging monitoring area according to a second point cloud set of the target body, and confirms whether the target body belongs to the middle part of a container truck or an object except the container and the container truck according to the characteristics of the second point cloud set under the condition that the target body is in the anti-hanging monitoring area, so that the detection accuracy is improved, and the probability of false alarm caused by the fact that a rope or other objects are hung in the anti-hanging monitoring area is reduced.
Fig. 16 is a block diagram of an electronic device according to an exemplary embodiment of the present application. As shown in fig. 16, the electronic device 540 may be either or both of the first device and the second device, or a stand-alone device separate from them, which may communicate with the first device and the second device to receive the collected input signals therefrom.
As shown in fig. 16, electronic device 540 includes one or more processors 541 and memory 542.
Processor 541 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in electronic device 540 to perform desired functions.
Memory 542 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by processor 541 to implement the methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 540 may further include: an input device 543 and an output device 544, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 543 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 543 may include a keyboard, a mouse, and the like.
The output device 544 may output various information to the outside, including the determined distance information, direction information, and the like. The output devices 544 can include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for simplicity, only some of the components of the electronic device 540 relevant to the present application are shown in fig. 16, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 540 may include any other suitable components depending on the particular application.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (11)
1. A method for monitoring anti-hanging of a container truck is characterized by comprising the following steps:
acquiring a first point cloud set of the side face, close to the laser emitter, of the container; wherein the first set of point clouds characterizes a set of points emitted by the laser emitter to a side of the container proximate to the laser emitter;
obtaining an anti-hanging monitoring area according to the first point cloud set;
acquiring a second point cloud set of a target body; wherein the target represents a portion of the container or an object other than the container and the container, and the second set of point clouds represents a set of points emitted by the laser emitter to the target; and
outputting a signal representing whether the collection card is lifted or not lifted according to the anti-lifting monitoring area and the second point cloud set; wherein the hub is configured to load the container.
2. The method for monitoring the anti-hanging of the container truck according to claim 1, wherein before the anti-hanging monitoring area is obtained according to the first point cloud set, the method for monitoring the anti-hanging of the container truck further comprises:
acquiring the opening size of a lifting appliance; wherein the spreader is configured to hoist the container;
obtaining the type of the container according to the opening size of the lifting appliance;
the step of obtaining the anti-hanging monitoring area according to the first point cloud set comprises the following steps:
and obtaining the anti-hanging monitoring area according to the first point cloud set and the type of the container.
3. The method for monitoring the anti-hanging of the container truck according to claim 1, wherein the obtaining the anti-hanging monitoring area according to the first point cloud set comprises:
obtaining coordinates of boundary points of the anti-hanging monitoring area according to the first point cloud set; and
and obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area.
4. The method according to claim 3, wherein the boundary points of the anti-hanging monitoring area comprise a first point, a second point, a third point and a fourth point, wherein the first point and the second point are two end points of an intersection line of a laser plane emitted by the laser emitter and a side surface of the container close to the laser emitter; the third point and the fourth point are two end points of an intersection line of a laser surface emitted by the laser emitter and the side surface of the container departing from the laser emitter;
the obtaining of the coordinates of the boundary points of the anti-hanging monitoring area according to the first point cloud set comprises:
obtaining the slope of the intersection line of the side surface of the container close to the laser emitter and the top surface, the coordinate of the first point and the coordinate of the second point according to the first point cloud set; and
obtaining the coordinates of the third point and the fourth point according to the slope of the intersection line, the coordinates of the first point and the coordinates of the second point;
the obtaining the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area comprises:
and obtaining the anti-hanging monitoring area according to the coordinates of the first point, the second point, the third point and the fourth point.
5. The method of claim 3, wherein outputting a signal characterizing whether the container is picked up or not picked up based on the pick-up prevention monitoring area and the second set of point clouds comprises:
obtaining coordinates of all points in the second point cloud set according to the second point cloud set;
obtaining the position relation between each point in the second point cloud set and the anti-hanging monitoring area according to the coordinates of the boundary points of the anti-hanging monitoring area and the coordinates of all points in the second point cloud set; the position relation represents that the point in the second point cloud set is located in the anti-hanging monitoring area or the point in the second point cloud set is located outside the anti-hanging monitoring area; and
and outputting a signal representing whether the hub is lifted or not lifted according to the position relation.
6. The method of claim 5, wherein said outputting a signal indicative of whether the hub is hoisted or not hoisted based on the positional relationship comprises:
and if all points in the second point cloud set are positioned outside the anti-lifting monitoring area, outputting a signal representing that the collecting card is not lifted.
7. The method of claim 5, wherein said outputting a signal indicative of whether the hub is hoisted or not hoisted based on the positional relationship comprises:
if the second point cloud set comprises points located in the anti-hanging monitoring area, selecting a plurality of points located in the anti-hanging monitoring area in the second point cloud set to form a third point cloud set;
if a preset number of points in the third point cloud set meet a preset condition, outputting a signal representing that the collecting card is lifted; and the preset condition represents that the distance between any two adjacent points is smaller than a preset value.
8. The method of claim 7, wherein said outputting a signal indicative of said hub being lifted or not lifted based on said positional relationship after said selecting a plurality of points in said second point cloud located in said anti-lift monitoring area to form a third point cloud set further comprises:
and if the preset number of points in the third point cloud set does not meet the preset condition, outputting a signal representing that the collection card is not lifted.
9. The method of claim 1, wherein the obtaining a first set of point clouds of the container on a side near a laser transmitter comprises:
acquiring a fourth point cloud set in the emission range of the laser emitter; wherein the fourth set of clouds characterizes a set of all points transmitted onto an object within the transmission range;
and clustering the points in the fourth point cloud set to divide different parts of point cloud sets, and selecting the first point cloud set representing the side surface of the container close to the laser transmitter according to the number of points in the different parts of point cloud sets and the distance between two adjacent points.
10. The utility model provides a monitoring device is prevented hanging by collection card which characterized in that includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is configured to acquire a first point cloud set of the side surface of a container close to a laser transmitter; wherein the first set of point clouds characterizes a set of points emitted by the laser emitter to a side of the container proximate to the container emitter;
the first calculation module is configured to obtain an anti-hanging monitoring area according to the first point cloud set;
a second acquisition module configured to acquire a second point cloud set of the target volume; wherein the target represents a portion of the container or an object other than the container and the container, and the second set of point clouds represents a set of points emitted by a laser emitter to the target; and
a first output module configured to output a signal representing whether the container truck is hoisted or not according to the anti-hoisting monitoring area and the second point cloud set; wherein the hub is configured to load the container.
11. The utility model provides a monitoring system is prevented hanging by collection card which characterized in that includes:
a container;
a hub configured to load the container;
a laser emitter configured to emit laser light toward a side of the container proximate to the laser emitter;
an electronic device configured to perform the method of hub anti-hang monitoring of any one of claims 1 to 9.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210195450.5A CN114647011B (en) | 2022-02-28 | 2022-02-28 | Anti-hanging monitoring method, device and system for integrated cards |
| PCT/CN2022/103152 WO2023159848A1 (en) | 2022-02-28 | 2022-06-30 | Anti-craning monitoring method, apparatus and system for container truck |
| AU2022368366A AU2022368366A1 (en) | 2022-02-28 | 2022-06-30 | Anti-hoisting monitoring method, apparatus, and system for container truck |
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| CN202210195450.5A CN114647011B (en) | 2022-02-28 | 2022-02-28 | Anti-hanging monitoring method, device and system for integrated cards |
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| WO2023159848A1 (en) * | 2022-02-28 | 2023-08-31 | 三一海洋重工有限公司 | Anti-craning monitoring method, apparatus and system for container truck |
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| CN114647011B (en) | 2024-02-02 |
| AU2022368366A1 (en) | 2023-09-14 |
| WO2023159848A1 (en) | 2023-08-31 |
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