CN115072569A - Lifting appliance positioning method, device, equipment, lifting appliance and crane - Google Patents
Lifting appliance positioning method, device, equipment, lifting appliance and crane Download PDFInfo
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- CN115072569A CN115072569A CN202210848203.0A CN202210848203A CN115072569A CN 115072569 A CN115072569 A CN 115072569A CN 202210848203 A CN202210848203 A CN 202210848203A CN 115072569 A CN115072569 A CN 115072569A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- Automation & Control Theory (AREA)
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Abstract
The application relates to a lifting appliance positioning method, a lifting appliance positioning device, lifting equipment, a lifting appliance and a crane. The lifting appliance comprises a lifting appliance, a lifting platform, a marking plate, a lifting mechanism and a lifting mechanism, wherein the lifting platform of the lifting appliance is provided with the marking plate, the marking plate is obliquely arranged on the lifting platform, and the height of the marking plate is a preset height; the sling positioning method comprises the following steps: acquiring point cloud data fed back by a scanner in the direction of the trolley; clustering all points in the point cloud data to obtain a point cluster set; the point cluster set comprises at least one point cluster subset; detecting whether target point clouds exist in the point cloud data or not based on the point cluster set; the target point cloud is the point cloud of the identification plate; and if the point cloud data contains the target point cloud, determining the spatial position of the identification plate, and determining the spatial position of the lifting appliance according to the spatial position of the identification plate. So, realized the accurate positioning to the hoist.
Description
Technical Field
The application relates to the technical field of positioning, in particular to a lifting appliance positioning method, a lifting appliance positioning device, lifting equipment, a lifting appliance and a crane.
Background
At present, in the operation process of an automatic field bridge and a remote control shore bridge, height information of various objects in an operation scene is generally acquired through a scanner in a ship-type scanning system, and collision avoidance and deceleration limitation are calculated by combining position information of a lifting appliance so as to avoid collision of the lifting appliance with other objects in the operation process. Therefore, how to acquire accurate sling position information so as to avoid the occurrence of collision events is urgent to solve.
Disclosure of Invention
In view of this, the present application provides a method, an apparatus, a device, a spreader and a crane for positioning a spreader, which can achieve accurate positioning of the spreader.
In order to achieve the purpose, the following technical scheme is adopted in the application:
the first aspect of the application provides a lifting appliance positioning method, wherein an upper frame platform of a lifting appliance is provided with an identification plate, the identification plate is obliquely arranged on the upper frame platform, and the set height is a preset height; the method comprises the following steps:
acquiring point cloud data fed back by a scanner in the direction of the trolley;
clustering all points in the point cloud data to obtain a point cluster set; the set of point clusters comprises at least one subset of point clusters;
detecting whether a target point cloud exists in the point cloud data based on the point cluster set; the target point cloud is the point cloud of the identification plate;
and if the target point cloud exists in the point cloud data, determining the spatial position of the identification plate, and determining the spatial position of the lifting appliance according to the spatial position of the identification plate.
Optionally, the detecting whether the point cloud data has the target point cloud based on the point cluster set includes:
detecting whether a point cluster subset exists in the point cluster set and meets the characteristics of an identification plate; the identification panel features include: the number of elements in the point cluster subset is larger than the preset number, the linear distance between the head and the tail of the point cluster subset is matched with the preset distance, the inclination angle of the linear fitting of the point cluster subset is matched with the preset angle, and the elements in the point cluster subset are all in the preset range;
if the existing point cluster subset meets the identification plate characteristics, target point clouds exist in the point cloud data; and if the point cluster subset which does not exist meets the identification plate characteristics, the point cloud data does not have the target point cloud.
Optionally, the clustering all the points in the point cloud data to obtain a point cluster set includes:
and clustering the points in the point cloud data by using a point cloud clustering method of Euclidean distance to obtain a point cluster set.
Optionally, the obtaining point cloud data fed back by the scanner in the cart direction includes:
acquiring original point cloud data fed back by a scanner in the direction of the trolley;
and carrying out discrete point filtering processing on the original point cloud data to obtain the point cloud data.
Optionally, the determining the spatial position of the spreader according to the spatial position of the identification plate includes:
and determining the spatial position of the lifting appliance according to the spatial position of the identification plate and the relative position relationship between the identification plate and the lifting appliance.
Optionally, after detecting whether the point cloud of the identification plate exists in the point cloud data, the method further includes:
and if the target point cloud does not exist in the point cloud data, acquiring lifting appliance lifting data and trolley position data, and determining the spatial position of the lifting appliance according to the lifting appliance lifting data and the trolley position data.
A second aspect of the application provides a lifting appliance positioning device, wherein an upper frame platform of a lifting appliance is provided with an identification plate, the identification plate is obliquely arranged on the upper frame platform, and the set height is a preset height; the spreader positioning device comprises:
the acquisition module is used for acquiring point cloud data fed back by the scanner in the direction of the trolley;
the clustering module is used for clustering all the points in the point cloud data to obtain a point cluster set; the set of point clusters comprises at least one subset of point clusters;
a detection module for detecting whether a target point cloud exists in the point cloud data based on the point cluster set; the target point cloud is the point cloud of the identification plate;
and the determining module is used for determining the spatial position of the identification plate if the target point cloud exists in the point cloud data, and determining the spatial position of the lifting appliance according to the spatial position of the identification plate.
A third aspect of the present application provides an electronic device comprising:
a processor, and a memory coupled to the processor;
the memory is used for storing a computer program;
the processor is configured to invoke and execute the computer program in the memory to perform the spreader positioning method according to the first aspect of the present application.
A fourth aspect of the present application provides a lifting appliance, wherein an identification plate is arranged on an upper frame platform of the lifting appliance; the sign board is in the slope setting on the platform of putting on the shelf, and set up highly for predetermineeing the height.
A fifth aspect of the present application provides a crane comprising a crane body, an electronic device as defined in the third aspect of the present application, and a spreader as defined in the fourth aspect of the present application.
The technical scheme provided by the application can comprise the following beneficial effects:
in the scheme of this application, set up the sign board in advance on the platform of putting on the shelf of hoist to, in order to improve the identifiability of sign board, the sign board slopes to set up on the platform of putting on the shelf, and sets up highly for predetermineeing the height. Based on the point cloud data, point cloud data fed back by a scanner in the direction of the trolley can be obtained, and then all points in the point cloud data are clustered to obtain a point cluster set; wherein the set of point clusters comprises at least one subset of point clusters. And detecting whether a target point cloud exists in the point cloud data based on the point cluster set, wherein the target point cloud is the point cloud of the identification plate. If the point cloud data contains the target point cloud, the identification plate is scanned by the scanner, the space position of the identification plate can be determined, then the space position of the lifting appliance is determined by utilizing the space position of the identification plate, and the accurate positioning of the lifting appliance is realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a spreader positioning method according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a spreader positioning device according to another embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to another embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.
A shore bridge type scanning system is a core safety subsystem for remote control automatic operation of a shore bridge, and is mainly used for realizing anti-collision detection between a lifting appliance (with a container or without the container) and a container or other obstacles on a ship. Currently, a general strategy for collision prevention in the industry is to collect height information of various objects under an operation scene obtained by a scanner in a shore bridge ship type scanning system based on trolley position information and lifting information of a lifting appliance provided by a shore bridge Programmable Logic Controller (PLC), and calculate collision prevention deceleration limit.
However, when the lifting appliance swings, the trolley position information and lifting appliance lifting information provided by the PLC cannot accurately position the lifting appliance, which easily causes a collision event, and brings potential safety hazards to the operation of the lifting appliance.
In view of this, an embodiment of the present application provides a method for positioning a spreader, wherein an identification plate is disposed on an upper platform of the spreader, the identification plate is disposed on the upper platform in an inclined manner, and a set height is a preset height; as shown in fig. 1, the positioning method of the spreader at least comprises the following steps:
s101, point cloud data fed back by a scanner in the direction of the trolley are obtained.
Wherein, the scanner can be a 2D laser scanner arranged on the trolley and used for realizing the scanning of the direction of the trolley.
In the process of operation of the lifting appliance, the direction of the trolley can be scanned by the scanner arranged on the trolley so as to scan the lifting appliance and the operation environment of the lifting appliance, and the point cloud data acquired in such a way can reflect the height information of various objects in the operation environment.
S102, clustering all points in the point cloud data to obtain a point cluster set; the set of point clusters includes at least a subset of point clusters.
During implementation, all points in the point cloud data are clustered, so that points with similar characteristics in the point cloud data can be aggregated into the same point cluster subset, and a foundation is laid for accurately identifying the identification plate.
S103, detecting whether target point clouds exist in the point cloud data or not based on the point cluster set; the target point cloud is the point cloud of the identification plate.
Whether a target point cloud exists in the point cloud data is detected based on the point cluster set, namely whether an identification plate is scanned when the current working environment is scanned is detected. If the identification plate is scanned, the target point cloud exists in the point cloud data, and if the identification plate is not scanned, the target point cloud does not exist in the point cloud data.
During implementation, the shape of sign board can set up as required, for example, circular, positive direction, rectangle etc. all can. Similarly, the size and material of the signboard can be set according to the requirement, but it should be noted that, in order to ensure the identifiability of the signboard, the length and width of the signboard cannot be too small, and the material of the signboard cannot be transparent. For example, the marking plate may be a rectangular aluminum plate, which may be sized to 1.5m by 1m by 0.01m (length by width by thickness).
And S104, if the target point cloud exists in the point cloud data, determining the spatial position of the identification plate, and determining the spatial position of the lifting appliance according to the spatial position of the identification plate.
Where the point cloud is a point data set of the scanned object surface.
The point cloud data scanned by the scanner includes three-dimensional coordinates of each point. Based on this, when the target point cloud exists in the point cloud data, the identification plate is scanned in the scanning of the current environment. So, can determine the spatial position of sign board according to the point cloud of sign board, and the sign board sets up on the platform of putting on the shelf of hoist, after the spatial position of sign board has been confirmed, just can determine the spatial position of hoist, has realized the location to the hoist.
During implementation, the scanning of the lifting appliance in the operation environment is easily interfered by the environment, for example, after the lifting appliance enters a box area, the lifting appliance is easily partially shielded under the operation condition of a 'deep well', therefore, the installation position of the identification plate needs to have a certain preset height, and the preset height refers to the vertical distance between the lower edge of the identification plate and the lifting appliance upper frame platform. Specifically, predetermine highly can set up according to the actual demand, for example, in order to make the marking plate not to cause space interference, can set up the perpendicular distance between marking plate lower limb and the hoist platform of putting on the shelf as 1.8m, and this height can make the scanner of dolly direction scan the time, and the point cloud of marking plate can effectively distinguish with the point cloud of the platform of putting on the shelf, forms an isolated point cloud. And the identification plate is obliquely arranged on the upper platform, so that the point cloud characteristics of the identification plate have uniqueness, and the identifiability of the identification plate is further improved. Wherein, the inclination angle can be set according to the requirement, for example, can be set to 45 °.
In addition, when the identification plate is arranged on the upper platform of the lifting appliance, the identification plate can be arranged on the upper platform close to the edge of the land side. During implementation, the distance between the marking plate and the land side edge of the racking platform can be set according to actual requirements, for example, the horizontal distance between the center point of the marking plate and the land side edge of the racking platform can be set to be 75 cm.
In this embodiment, the identification plate is provided on the upper platform of the hanger in advance, and in order to improve the identifiability of the identification plate, the identification plate is disposed on the upper platform in an inclined manner, and the height of the identification plate is a preset height. Based on the point cloud data, point cloud data fed back by a scanner in the direction of the trolley can be obtained, and then all points in the point cloud data are clustered to obtain a point cluster set; wherein the set of point clusters comprises at least one subset of point clusters. And detecting whether a target point cloud exists in the point cloud data based on the point cluster set, wherein the target point cloud is the point cloud of the identification plate. If the point cloud data contains the target point cloud, the identification plate is scanned by the scanner, the space position of the identification plate can be determined, then the space position of the lifting appliance is determined by utilizing the space position of the identification plate, and the accurate positioning of the lifting appliance is realized.
In some embodiments, when detecting whether a target point cloud exists in the point cloud data based on the point cluster set, whether a subset of the point clusters exists in the point cluster set that satisfies the feature of the identification plate may be detected; wherein, the signboard characteristics include: the number of elements in the point cluster subset is larger than the preset number, the linear distance between the head and the tail of the point cluster subset is matched with the preset distance, the inclination angle of the linear fitting of the point cluster subset is matched with the preset angle, and the elements in the point cluster subset are all in the preset range; if the existing point cluster subset meets the characteristics of the identification plate, target point clouds exist in the point cloud data; and if the point cluster subset does not exist and meets the identification plate characteristics, the target point cloud does not exist in the point cloud data.
Wherein, the preset number needs to be set according to the actual requirement and the size of the identification plate. In practice, the preset number may be set to x, and x cannot be too small to ensure the validity of the identified object, that is, to ensure that the points on the surface of the object to be identified (scanned) are enough (only if the points are enough, the identified object is a valid object). Additionally, consider whether the object is still able to identify at least x points on the surface of the object when the object is farthest from the scanner, e.g., 50m away. The setting of x is also related to the angular resolution of the scanner, for example, if the angular resolution of the scanner is 0.09 °, then at a distance of 50m the linear distance between two adjacent laser points is approximately 8cm, then the linear length of x is 8xcm, if the linear length of the point cloud of the marking plate is 1.5m, then x ≦ 18, so that the preset number may be set to 10 if the linear length of the point cloud of the marking plate is 1.5 m.
The linear distance between the head and the tail of the point cluster subset is matched with the preset distance, and the error between the linear distance between the head and the tail of the point cluster subset and the preset distance does not exceed a first preset error. The preset distance can be the maximum length of the cross section of the identification plate arranged on the lifting appliance upper frame platform in the direction of the trolley, and the first preset error can be set according to requirements. For example, the maximum length of the cross section of the marking plate in the trolley direction is 1.5m, the first preset error is 0.2m, and when the linear distance between the head and the tail points in the point cluster subset is matched with the preset distance, the linear distance between the head and the tail points in the point cluster subset needs to be in the range of [1.3m,1.7m ].
Similarly, the inclination angle of the linear fitting of the point cluster subset is matched with the preset angle, which means that the error between the inclination angle of the linear fitting of the point cluster subset and the preset angle does not exceed a second preset error. The preset angle can be an inclination angle of the identification plate arranged on the lifting appliance upper frame platform and compared with the horizontal plane, and the second preset error can be set according to requirements. For example, if the inclination angle of the marking plate with respect to the horizontal plane is 45 ° and the second predetermined error is 5 °, the inclination angle of the linear fitting of the point cluster subset is required to be in the range of [40 °, 50 ° ] when the inclination angle of the linear fitting of the point cluster subset is matched with the predetermined angle.
The elements in the point cluster subset are all in a preset range, and the horizontal distance between the spatial position identified by the elements in the point cluster subset and the spatial position of the trolley does not exceed the preset horizontal distance. That is, the horizontal distance between the spreader and the trolley center coordinate should not exceed a preset horizontal distance. In practice, the preset horizontal distance may be 4m, and the preset range is [ -4m, 4m ], and in the preset range, 0m is located in the projection of the central coordinate of the trolley with respect to the ground, so that when all the elements in the point cluster subset are within the preset range, the horizontal distance of all the elements in the point cluster subset with respect to the central coordinate of the trolley is not more than 4 m.
If the existing point cluster subset in the point cluster set meets the characteristics of the identification plate, the point cluster subset can be confirmed to be the point cloud of the identification plate, namely the target point cloud exists in the point cloud data fed back by the scanner. If the subset of the point clusters does not exist and meets the characteristics of the identification plate, the point cloud without the identification plate in the point cluster set can be confirmed, that is, the target point cloud does not exist in the point cloud data fed back by the scanner.
In some embodiments, in order to improve the positioning efficiency, when all the points in the point cloud data are clustered to obtain a point cluster set, the points in the point cloud data may be clustered by using a point cloud clustering method of euclidean distance to obtain the point cluster set.
In implementation, the point cloud clustering method adopting the Euclidean distance is relatively simple to realize, the operation efficiency is relatively high, and the method has absolute advantages in processing the 2D laser point cloud.
It should be noted that the clustering method is not limited to this, and in some other embodiments, the point cloud clustering may also adopt other manners, such as density clustering, hierarchical clustering, grid clustering, model clustering, fuzzy clustering, and the like.
In some embodiments, when the point cloud data fed back by the scanner in the cart direction is obtained, the point cloud data may be specifically the original point cloud data fed back by the scanner in the cart direction; and carrying out discrete point filtering processing on the original point cloud data to obtain point cloud data.
The original point cloud data is subjected to discrete point filtering, so that interference points can be effectively filtered, effective points are reserved, and the accuracy of subsequent positioning is improved. In practice, the filtering method may be various, such as statistical filtering, voxel filtering, radius filtering, and pass-through filtering.
In some embodiments, when the spatial position of the spreader is determined according to the spatial position of the identification plate, the spatial position of the spreader may be determined according to the spatial position of the identification plate and the relative positional relationship between the identification plate and the spreader.
During implementation, after the point cloud of the identification plate is found, the spatial position of the identification plate can be determined, wherein the determined spatial position of the identification plate can be the spatial position of the central point of the identification plate or the spatial positions of other points. After the spatial position of the central point of the identification plate is determined, the spatial position of the lifting appliance can be determined according to the relative position relationship between the identification plate and the lifting appliance, and the positioning of the lifting appliance is also realized.
In some embodiments, after detecting whether the point cloud of the identification plate exists in the point cloud data, the spreader positioning method may further include: and if the point cloud data does not have the target point cloud, acquiring lifting appliance lifting data and trolley position data, and determining the spatial position of the lifting appliance according to the lifting appliance lifting data and the trolley position data.
In practice, under the influence of the external environment, the scanner may not be able to scan the identification plate, for example, weather such as heavy rain, heavy fog, heavy snow, etc. may block the scanning of the scanner. Or, the scanning result can be influenced by the self fault of the scanner, so that when the target point cloud cannot be acquired through the scanner, the trolley position information and the lifting information of the lifting appliance can be acquired through the PLC, and the positioning of the lifting appliance is ensured.
The embodiment of the application also provides a lifting appliance positioning device, wherein an upper frame platform of the lifting appliance is provided with an identification plate, the identification plate is obliquely arranged on the upper frame platform, and the set height is a preset height; as shown in fig. 2, the spreader positioning device may include: an obtaining module 201, configured to obtain point cloud data fed back by a scanner in a cart direction; a clustering module 202, configured to perform clustering on all points in the point cloud data to obtain a point cluster set; the point cluster set comprises at least one point cluster subset; a detection module 203, configured to detect whether a target point cloud exists in the point cloud data based on the point cluster set; the target point cloud is the point cloud of the identification plate; and the determining module 204 is configured to determine the spatial position of the identification plate if the target point cloud exists in the point cloud data, and determine the spatial position of the spreader according to the spatial position of the identification plate.
Optionally, when detecting whether a target point cloud exists in the point cloud data based on the point cluster set, the detecting module 203 may be specifically configured to: detecting whether a point cluster subset exists in the point cluster set to meet the characteristics of the identification plate; the identification panel features include: the number of elements in the point cluster subset is larger than the preset number, the linear distance between head and tail points in the point cluster subset is matched with the preset distance, the inclination angle of linear fitting of the point cluster subset is matched with the preset angle, and the elements in the point cluster subset are all in the preset range; if the existing point cluster subset meets the characteristics of the identification plate, target point clouds exist in the point cloud data; and if the point cluster subset does not exist and meets the identification plate characteristics, the target point cloud does not exist in the point cloud data.
Optionally, when clustering all the points in the point cloud data to obtain a point cluster set, the clustering module 202 may be specifically configured to: and clustering the points in the point cloud data by using a point cloud clustering method of Euclidean distance to obtain a point cluster set.
Optionally, when point cloud data fed back by the scanner in the cart direction is obtained, the obtaining module 201 may be specifically configured to: acquiring original point cloud data fed back by a scanner in the direction of the trolley; and carrying out discrete point filtering processing on the original point cloud data to obtain point cloud data.
Optionally, when the spatial position of the spreader is determined according to the spatial position of the identification plate, the determining module 204 may be specifically configured to: and determining the spatial position of the lifting appliance according to the spatial position of the identification plate and the relative position relationship between the identification plate and the lifting appliance.
Optionally, after detecting whether the point cloud of the identification plate exists in the point cloud data, the determining module 204 may be further configured to: and if the point cloud data does not have the target point cloud, acquiring lifting appliance lifting data and trolley position data, and determining the spatial position of the lifting appliance according to the lifting appliance lifting data and the trolley position data.
It should be understood that, for a specific implementation of the spreader positioning device provided in the embodiment of the present application, reference may be made to a specific implementation of the spreader positioning method described in any of the above embodiments, and details are not described here.
Embodiments of the present application further provide an electronic device, as shown in fig. 3, the device may include: a memory 301 and a processor 302; wherein, the memory 301 is connected with the processor 302 and is used for storing programs; the processor 302 is configured to execute the program stored in the memory 301 to implement the spreader positioning method disclosed in any of the above embodiments.
Specifically, the electronic device may further include: a bus, a communication interface 303, an input device 304, and an output device 305.
The processor 302, the memory 301, the communication interface 303, the input device 304, and the output device 305 are connected to each other via a bus. Wherein:
a bus may include a path that transfers information between components of a computer system.
The processor 302 may be a general-purpose processor, such as a general-purpose Central Processing Unit (CPU), microprocessor, etc., an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs in accordance with the present invention. But may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The processor 302 may include a main processor and may also include a baseband chip, modem, and the like.
The memory 301 stores programs for executing the technical solution of the present invention, and may also store an operating system and other key services. In particular, the program may include program code including computer operating instructions. More specifically, memory 301 may include a read-only memory (ROM), other types of static storage devices that may store static information and instructions, a Random Access Memory (RAM), other types of dynamic storage devices that may store information and instructions, a disk storage, a flash, and so forth.
The input device 304 may include a means for receiving data and information input by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor, among others.
Output device 305 may include means, such as a display screen, speakers, etc., for allowing information to be output to a user.
The processor 302 executes the program stored in the memory 301, and invokes other devices, which can be used to implement the steps of the spreader positioning method provided by the embodiment of the present application.
The embodiment of this application still provides a hoist, is provided with the sign board on the platform of putting on the shelf of this hoist, and wherein, the sign board slopes to set up on the platform of putting on the shelf, and sets up highly for predetermineeing the height.
Wherein, the inclination and the predetermined height of sign board on the platform of putting on the shelf all can set up according to actual demand, do not do the restriction here.
Embodiments of the present application also provide a crane, which comprises a crane body, an electronic device as described in any of the above embodiments, and a spreader as described in any of the above embodiments.
Another embodiment of the present application further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the computer program implements the steps of the spreader positioning method provided in any of the above embodiments.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present application is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The steps in the method of the embodiments of the present application may be sequentially adjusted, combined, and deleted according to actual needs.
The modules and sub-modules in the device and the terminal in the embodiments of the present application can be combined, divided, and deleted according to actual needs.
In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of a module or a sub-module is only one logical division, and there may be other divisions when the terminal is actually implemented, for example, a plurality of sub-modules or modules may be combined or integrated into another module, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules or sub-modules described as separate components may or may not be physically separate, and the components described as modules or sub-modules may or may not be physical modules or sub-modules, may be located in one place, or may be distributed on a plurality of network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules or sub-modules in the embodiments of the present application may be integrated into one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules are integrated into one module. The integrated modules or sub-modules may be implemented in the form of hardware, or may be implemented in the form of software functional modules or sub-modules.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software unit executed by a processor, or in a combination of the two. The software cells may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A lifting appliance positioning method is characterized in that an upper frame platform of a lifting appliance is provided with an identification plate, the identification plate is obliquely arranged on the upper frame platform, and the set height is a preset height; the method comprises the following steps:
acquiring point cloud data fed back by a scanner in the direction of the trolley;
clustering all points in the point cloud data to obtain a point cluster set; the set of point clusters comprises at least one subset of point clusters;
detecting whether a target point cloud exists in the point cloud data based on the point cluster set; the target point cloud is the point cloud of the identification plate;
and if the target point cloud exists in the point cloud data, determining the spatial position of the identification plate, and determining the spatial position of the lifting appliance according to the spatial position of the identification plate.
2. The method of claim 1, wherein the detecting whether a target point cloud exists in the point cloud data based on the set of point clusters comprises:
detecting whether a point cluster subset which meets the characteristics of the identification plate exists in the point cluster set; the identification panel features include: the number of elements in the point cluster subset is larger than the preset number, the linear distance between the head and the tail of the point cluster subset is matched with the preset distance, the inclination angle of the linear fitting of the point cluster subset is matched with the preset angle, and the elements in the point cluster subset are all in the preset range;
if the existing point cluster subset meets the identification plate characteristics, target point clouds exist in the point cloud data; and if the point cluster subset does not exist and meets the identification plate characteristics, the target point cloud does not exist in the point cloud data.
3. The method of claim 1, wherein the clustering all the points in the point cloud data to obtain a point cluster set comprises:
and clustering the points in the point cloud data by using a point cloud clustering method of Euclidean distance to obtain a point cluster set.
4. The method of claim 1, wherein the obtaining of the point cloud data fed back by the scanner of cart orientations comprises:
acquiring original point cloud data fed back by a scanner in the direction of the trolley;
and carrying out discrete point filtering processing on the original point cloud data to obtain the point cloud data.
5. The method of claim 1, wherein said determining the spatial position of the spreader from the spatial position of the identification plate comprises:
and determining the spatial position of the lifting appliance according to the spatial position of the identification plate and the relative position relationship between the identification plate and the lifting appliance.
6. The method of claim 1, wherein after detecting whether the point cloud of the identification plate is present in the point cloud data, the method further comprises:
and if the target point cloud does not exist in the point cloud data, acquiring lifting appliance lifting data and trolley position data, and determining the spatial position of the lifting appliance according to the lifting appliance lifting data and the trolley position data.
7. A lifting appliance positioning device is characterized in that an upper frame platform of a lifting appliance is provided with an identification plate, the identification plate is obliquely arranged on the upper frame platform, and the set height is a preset height; the spreader positioning device comprises:
the acquisition module is used for acquiring point cloud data fed back by the scanner in the direction of the trolley;
the clustering module is used for clustering all the points in the point cloud data to obtain a point cluster set; the set of point clusters comprises at least one subset of point clusters;
a detection module for detecting whether a target point cloud exists in the point cloud data based on the point cluster set; the target point cloud is the point cloud of the identification plate;
and the determining module is used for determining the spatial position of the identification plate if the target point cloud exists in the point cloud data, and determining the spatial position of the lifting appliance according to the spatial position of the identification plate.
8. An electronic device, comprising:
a processor, and a memory coupled to the processor;
the memory is used for storing a computer program;
the processor is adapted to invoke and execute the computer program in the memory to perform the spreader positioning method according to any of claims 1-6.
9. A lifting appliance is characterized in that an identification plate is arranged on an upper frame platform of the lifting appliance; the identification plate is arranged on the upper rack platform in an inclined mode, and the height of the identification plate is preset.
10. A crane, comprising a crane body, an electronic device according to claim 8 and a spreader according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210848203.0A CN115072569A (en) | 2022-07-19 | 2022-07-19 | Lifting appliance positioning method, device, equipment, lifting appliance and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210848203.0A CN115072569A (en) | 2022-07-19 | 2022-07-19 | Lifting appliance positioning method, device, equipment, lifting appliance and crane |
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| Publication Number | Publication Date |
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| CN115072569A true CN115072569A (en) | 2022-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210848203.0A Pending CN115072569A (en) | 2022-07-19 | 2022-07-19 | Lifting appliance positioning method, device, equipment, lifting appliance and crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115880252A (en) * | 2022-12-13 | 2023-03-31 | 北京斯年智驾科技有限公司 | Container spreader detection method and device, computer equipment and storage medium |
-
2022
- 2022-07-19 CN CN202210848203.0A patent/CN115072569A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115880252A (en) * | 2022-12-13 | 2023-03-31 | 北京斯年智驾科技有限公司 | Container spreader detection method and device, computer equipment and storage medium |
| CN115880252B (en) * | 2022-12-13 | 2023-10-17 | 北京斯年智驾科技有限公司 | Container sling detection method, device, computer equipment and storage medium |
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