阅读说明：本技术 一种双箱扫描方法、系统及起重机 (Double-box scanning method and system and crane ) 是由 李映新 谢志鹏 于 2021-07-27 设计创作，主要内容包括：本申请涉及集装箱安全吊运的技术领域,具体涉及一种双箱扫描方法、系统及起重机；应用于吊运集装箱的吊具上,方法包括：扫描集装箱来获取扫描信号；其中,扫描信号表征集装箱的轮廓信息；根据扫描信号确定集装箱的数量信息；在吊具吊运集装箱前,先对集装箱进行扫描来获取扫描信号,从而获取集装箱的轮廓信息,根据集装箱的轮廓信息即可确定集装箱的数量,再根据集装箱的数量来确定集装箱的尺寸,根据集装箱的尺寸来调整吊具的位置,吊具从而在指定位置完成锁箱的动作。以此通过吊运前获取集装箱的轮廓信息来确定集装箱的数量,确保吊具在指定位置完成锁箱的动作,从而提高集装箱吊运的安全性。(The application relates to the technical field of safe lifting of containers, in particular to a double-box scanning method, a double-box scanning system and a crane; the method is applied to a lifting appliance for lifting containers, and comprises the following steps: scanning the container to obtain a scanning signal; wherein the scanning signal represents profile information of the container; determining the quantity information of the containers according to the scanning signals; before a container is lifted by a lifting appliance, the container is scanned to obtain scanning signals, so that the profile information of the container is obtained, the number of the containers can be determined according to the profile information of the container, the size of the container is determined according to the number of the containers, the position of the lifting appliance is adjusted according to the size of the container, and the lifting appliance completes the action of locking the container at a specified position. Therefore, the number of the containers is determined by acquiring the contour information of the containers before lifting, and the lifting appliance is ensured to complete the box locking action at the specified position, so that the lifting safety of the containers is improved.)

1. A double-bin scanning method for use with a spreader for lifting containers, the method comprising:

scanning the container to obtain a scanning signal; wherein the scanning signal characterizes profile information of the container;

and determining the quantity information of the containers according to the scanning signals.

2. The double-bin scanning method according to claim 1, wherein the determining of the quantity information of the containers according to the scanning signal specifically comprises:

scanning the distance between the spreader and the container at different locations to produce a plurality of distance signal values;

comparing any two of the plurality of distance signal values to generate a plurality of difference signal values; and

determining first quantity information for the container based on the plurality of gap signal values.

3. The dual bin scanning method of claim 2, wherein said determining a first quantity information of said container based on said plurality of gap signal values comprises:

when the plurality of difference signal values are all smaller than a preset distance value, determining the number of the containers to be one; and

and when at least one difference signal value in the plurality of difference signal values is smaller than the preset distance value, determining that the number of the containers is two.

4. The method according to claim 3, wherein the determining the number of containers as one when the gap signal values are less than the predetermined distance value comprises:

when the distance signal values are all smaller than the standard distance value, generating a capping signal that the container is a capping box; and

generating an open-top signal that the container is an open-top container when the plurality of distance signal values are each greater than the standard distance value.

5. The double-bin scanning method according to any one of claims 1 to 4, wherein said determining information of the number of containers from the scanning signal comprises:

generating a switching value signal according to the scanning signal; two signal states of the switching value signal respectively correspond to two waveforms of the scanning signal one by one; and

and generating second quantity information for determining the quantity of the containers according to the switching value signal.

6. The dual bin scanning method of claim 2, wherein said determining the quantity information of the containers from the scanning signal comprises:

generating a switching value signal according to the scanning signal; two signal states of the switching value signal respectively correspond to two waveforms of the scanning signal one by one; and

generating second quantity information for determining the quantity of the containers according to the switching value signal;

comparing the first quantity information with the second quantity information to obtain a comparison result; and

and when the comparison result is that the first quantity information is consistent with the second quantity information, determining that the quantity information of the containers is the first quantity information and the second quantity information.

7. The double-bin scanning method of claim 2, further comprising:

and when the distance signal values are all smaller than a preset threshold value, sending a maintenance signal.

8. The double-bin scanning method of claim 4, further comprising:

and displaying the waveform of the scanning signal.

9. A double-box scanning system applied to a spreader for lifting containers, the device comprising:

a scanning module for scanning the container to generate a scanning signal, wherein the scanning signal is indicative of profile information of the container; and

and the processing module is in communication connection with the scanning module to acquire the scanning signals, and is used for determining the quantity information of the containers according to the scanning signals.

10. A crane, characterized in that the crane comprises:

a crane body;

a spreader; and

the double-box scanning system is arranged on the lifting appliance;

wherein the dual bin scanning system is configured to perform the dual bin scanning method of any one of claims 1-8.

Technical Field

The application relates to the technical field of safe lifting of containers, in particular to a double-box scanning method and system and a crane.

Background

When the container is lifted, containers with different sizes are lifted, the positions of the containers, which are grabbed by the lifting appliance, are different, and the lifting appliance needs to grab the designated position on the container to complete the action of locking the container, so that the container is stably grabbed.

In the related art, when the spreader grabs a container, the spreader is moved to the position above the container, and then the container locking action is completed, but because the lengths of two 20-foot containers are equal to the length of one 40-foot container, when the spreader grabs the container, the 40-foot container is easily lifted as two 20-foot containers, so that the spreader has the action of mistakenly locking the container, and safety accidents occur.

Disclosure of Invention

In view of this, the embodiment of the application provides a double-box scanning method and system, and a crane double-box scanning method, which solve or improve the problem that when a spreader is used for lifting containers, the number of the containers cannot be identified, so that the spreader is mistakenly locked, and a safety accident occurs.

In a first aspect, the present application provides a method for scanning a double container, which is applied to a spreader for lifting a container, the method including: scanning the container to obtain a scanning signal; wherein the scanning signal characterizes profile information of the container; and determining the quantity information of the containers according to the scanning signals.

According to the double-container scanning method, before a lifting appliance lifts a container, the container is scanned to obtain scanning signals, so that the profile information of the container is obtained, the number of the containers can be determined according to the profile information of the container, the size of the container is determined according to the number of the containers, the position of the lifting appliance relative to the container is adjusted according to the size of the container, and the lifting appliance completes the box locking action at the specified position. Therefore, the number of the containers is determined by acquiring the contour information of the containers before lifting, and the lifting appliance can complete the action of locking the containers at the specified position, so that the lifting safety of the containers is improved.

With reference to the first aspect, in a possible implementation manner, the determining the number information of the containers according to the scanning signal specifically includes: scanning the distance between the spreader and the container at different locations to produce a plurality of distance signal values; comparing any two of the plurality of distance signal values to generate a plurality of difference signal values; and determining first quantity information for the container based on the plurality of gap signal values.

In one possible implementation, the determining the first quantity information of the container according to the plurality of gap signal values includes: when the plurality of difference signal values are all smaller than a preset distance value, determining the number of the containers to be one; and when at least one difference signal value in the plurality of difference signal values is smaller than the preset distance value, determining that the number of the containers is two.

In a possible implementation manner, when the gap signal values are all smaller than the preset distance value, the determining the number of the containers specifically includes: when the distance signal values are all smaller than the standard distance value, generating a capping signal that the container is a capping box; and generating an open-top signal that the container is an open-top container when the plurality of distance signal values are all greater than the standard distance value.

In one possible implementation, the determining the number information of the containers according to the scanning signal includes: generating a switching value signal according to the scanning signal; two signal states of the switching value signal respectively correspond to two waveforms of the scanning signal one by one; and generating second quantity information for determining the quantity of the containers according to the switching value signal.

In one possible implementation, the determining the number information of the containers according to the scanning signal includes: generating a switching value signal according to the scanning signal; two signal states of the switching value signal respectively correspond to two waveforms of the scanning signal one by one; and generating second quantity information for determining the quantity of the containers according to the switching value signal; comparing the first quantity information with the second quantity information to obtain a comparison result; and when the comparison result is that the first quantity information is consistent with the second quantity information, determining that the quantity information of the containers is the first quantity information and the second quantity information.

In one possible implementation, the method further includes: and when the distance signal values are all smaller than a preset threshold value, sending a maintenance signal.

In one possible implementation, the method further includes: and displaying the waveform of the scanning signal.

In a second aspect, the present application further provides a dual-box scanning system for use in a spreader for lifting a container, the apparatus comprising: a scanning module for scanning the container to generate a scanning signal, wherein the scanning signal is indicative of profile information of the container; and the processing module is in communication connection with the scanning module to acquire the scanning signals, and is used for determining the quantity information of the containers according to the scanning signals.

The application provides a pair of case scanning system, when the hoist operation, scan the container and produce scanning signal through scanning module, acquire the profile information of container according to scanning signal, processing module acquires behind the scanning signal, can confirm the quantity of container to confirm the size of container, according to the position of the size adjustment hoist of container, thereby the hoist accomplishes the action of locking the case in the assigned position, thereby improves the security of container handling.

In a third aspect, the present application further provides a crane, comprising: a crane body; a spreader; the double-box scanning system is arranged on the lifting appliance; wherein the double-bin scanning system is used for the double-bin scanning method of any one of the above in one possible implementation.

The application provides a hoist, when handling the container, when the hoist is close to the container, utilizes two case scanning system to scan the container, confirms the quantity of container, thereby the hoist produces the action of locking the case in the braking position to this security that improves the container at handling in-process.

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 flow chart of a two-bin scanning method according to some embodiments of the present disclosure.

Fig. 2 is a flow chart illustrating the process of determining the container quantity information according to some embodiments of the present disclosure.

Fig. 3 is a flow chart illustrating the determination of the number of containers based on gap signal values according to some embodiments of the present disclosure.

Fig. 4 is a flow chart illustrating the determination of a container category according to some embodiments of the present application.

Fig. 5 is a flow chart illustrating the determination of the number of containers based on the scanning signals according to some embodiments of the present application.

FIG. 6 is a schematic flow chart illustrating comparison of the first quantity information and the second quantity information according to some embodiments of the present disclosure.

Fig. 7 is a schematic diagram of the relative positions of spreader and container for two containers according to some embodiments of the present application.

Fig. 8 shows an enlarged view of a portion a in the implementation shown in fig. 7.

Fig. 9 illustrates waveforms exhibited by the scanning signal for two containers in some embodiments of the present application.

Fig. 10 is a schematic view of the relative positions of the spreader and container when the container is a capped container according to some embodiments of the present application.

Fig. 11 illustrates waveforms exhibited by the scanning signal when the container is a capped container in some embodiments of the present application.

Fig. 12 is a schematic view of the relative positions of the spreader and container in some embodiments of the present application when the container is an open top container.

Fig. 13 illustrates waveforms exhibited by the scanning signal when the container is an open-top container in some embodiments of the present application.

Fig. 14 is an enlarged view of a portion B of the implementation shown in fig. 10.

FIG. 15 is a schematic diagram of a dual bin scanning system according to some embodiments of the present application.

Fig. 16 shows a schematic view of a spreader according to some embodiments of the present application.

Fig. 17 is a schematic diagram of the dual bin scanning system and spreader control system according to some embodiments of the present application.

Fig. 18 is a schematic diagram illustrating a configuration of an electronic device according to some embodiments of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Summary of the application

When the container handling, the position that the hoist snatched the container is different for the not unidimensional container, still has a hoist simultaneously and can snatch two containers simultaneously, like two case hoists, can snatch two length and be 20 containers simultaneously. When the container is grabbed by the lifting appliance, the lifting appliance needs to move to a specified position to complete the action of locking the container, and then the container is stably grabbed. If the spreader does not move to the designated position and grabs the container, the spreader has the action of mistakenly locking the container. For example: because the length of two 20-foot containers is the same as that of a 40-foot container, when the spreader lifts one 40-foot container as two 20-foot containers, the spreader can mistakenly lock the containers. The incorrect locking of the container can lead to the insecure connection between the container and the spreader, and safety accidents can occur in the container lifting process.

In the prior art, when the number of containers is determined, the containers are shot by arranging a camera device, and shot picture information is processed to identify characteristics on the containers, such as lock catches on the containers, so as to identify the number information of the containers. The processing mode is easily influenced by environmental factors, such as bad light or poor visibility, the resolution of the picture information is greatly reduced, so that the characteristics on the container are difficult to identify, and the quantity information of the container cannot be determined.

In order to solve the problems, the basic concept of the application is to provide a double-container scanning method, a double-container scanning system and a crane, wherein a plurality of distances of a certain point of a lifting appliance at different positions of a container are measured in an infrared scanning mode, and then the quantity information of the containers is determined according to the difference change range between the distances, so that the lifting appliance can accurately lock the containers at the specified positions, and the safety performance of the containers is improved.

Having described the general principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.

Exemplary Dual-bin scanning method

FIG. 1 is a schematic flow chart of a two-bin scanning method according to some embodiments of the present disclosure. Referring to fig. 1, the method is used for a spreader for lifting a container, and specifically comprises the following steps:

step 100: the container is scanned to acquire a scanning signal.

Wherein the scanning signal is representative of profile information of the container.

When the container is lifted by the lifting appliance, the lifting appliance approaches the container, then signals such as laser or ultrasonic waves are transmitted to the container to scan the container, and the signals are contacted with the outer surface of the container to generate feedback so as to acquire scanning signals. When scanning, a certain point on a lifting appliance is taken as a reference point, different feedback scanning signals are generated according to different distances between the reference point and different positions of the container outline, and accordingly the outline information of the container is obtained.

Step 200: the number information of the containers is determined according to the scanning signals.

Since the scanning signals represent the profile information of the containers, the number of containers can be determined from the profile information of the containers. And if the contour of the container is a continuous section and no gap exists, determining that the number of the containers is one, and if the contour of the container is two ends and a gap exists between the two sections, determining that the number of the containers is two.

Through the steps 100 and 200, before the container is lifted by the lifting appliance, the container is scanned by using signals to obtain scanning signals so as to represent the profile information of the container, and the number of the containers is determined according to the profile information of the containers, so that the running state of the lifting appliance is determined, the lifting appliance can conveniently generate a box locking action at a specified position, and the safety performance of the container in the lifting process is improved.

Fig. 2 is a flow chart illustrating the process of determining the container quantity information according to some embodiments of the present disclosure. Referring to fig. 2, the step 200 specifically includes:

step 210: the distance between the spreader and the container at different locations is scanned to produce a plurality of distance signal values.

The distance signal values are indicative of the distance between a spreader reference point and the container, and the plurality of distance signal values are indicative of different distances between the reference point and different positions of the container, because the profile of the container has continuity, and thus the plurality of distance signal values exhibit an increasing or decreasing trend in a certain direction when the number of containers is one.

Step 220: any two of the plurality of distance signal values are compared to generate a plurality of difference signal values.

The gap signal value represents the difference between the distance signal values, and the gap signal values vary within a certain range because the distance signal values have a tendency to increase or decrease in a certain direction when there is one container.

Step 230: first quantity information for the container is determined based on the plurality of gap signal values.

And comparing the distance signal values pairwise to generate a plurality of difference signal values, and determining whether the contour of the container is continuous or not according to the variation range of the difference signal values. The first quantity information characterizes a quantity of containers determined from the plurality of gap signal values. Specifically, when the value of the difference signal exceeds a certain range, the profile of the container is determined to be discontinuous, namely two containers exist, and a gap exists between the two containers, so that the profile of the container is discontinuous; when the difference signal values are within a certain range, the contour of the container is determined to be continuous, namely, only one container is provided.

Through the steps 210, 220 and 230, a plurality of distance signal values are generated by measuring a plurality of distances between the spreader reference point and the container at different positions, two pairs of comparison is performed on the plurality of distance information values to generate a plurality of gap signal values, whether the profile of the container is discontinuous or not is determined according to the magnitude of the gap signal values, when the profile of the container is continuous, the number of the containers is determined to be one, and when the profile of the container is discontinuous, the number of the containers is determined to be two.

Fig. 3 is a flow chart illustrating the determination of the number of containers based on gap signal values according to some embodiments of the present disclosure. Referring to fig. 3, the step 230 specifically includes:

step 231: and when the plurality of difference signal values are smaller than the preset distance value, determining that the number of the containers is one.

The preset distance value is a standard for determining the size of the difference signal values, when the difference signal values are smaller than the preset distance value, the difference signal values are all in a certain range, the outlines of the containers are continuous at the moment, and the number of the containers is determined to be one.

Step 232: and when at least one difference signal value in the plurality of difference signal values is smaller than the preset distance value, determining that the number of the containers is two.

If at least one difference signal value in the plurality of difference signal values is smaller than the preset distance value, it indicates that some of the plurality of difference signal values are larger than the preset distance value, that is, the plurality of difference signal values are not all within a certain range, and the contour of the container is discontinuous, that is, the number of containers is two.

In practical cases, when two containers do exist, the number of difference signal values greater than the preset distance value may account for 30% of the total difference signal values, i.e., when the difference signal value at which 30% exists is greater than the preset distance value, the containers are determined to be two. The specific occupation ratio of the difference signal value larger than the preset distance value can be adjusted according to the actual situation.

Through the above steps 231 and 232, the difference signal values are compared with the preset distance values to determine the difference signal values, when a plurality of difference signal values are all smaller than the preset distance values, the number of containers is determined to be one, and when a part of the plurality of difference signal values is smaller than the preset distance values, the number of containers is determined to be two.

Fig. 4 is a flow chart illustrating the determination of a container category according to some embodiments of the present application. Referring to fig. 4, the step 231 specifically includes:

step 2311: and when the plurality of distance signal values are smaller than the standard distance value, generating a capping signal that the container is a capping box.

The distance signal value represents the distance between the spreader reference point and the container, the standard distance value represents the magnitude of the distance signal value, and when the distance signal value is smaller than the standard distance value, the signal is directly contacted with the top wall of the container, namely the container is provided with the top wall, and the container is determined to be a capping container.

Step 2312: when the plurality of distance signal values are all greater than the standard distance value, an open-top signal is generated that the container is an open-top container.

When the distance signal value is greater than the standard distance value, it indicates that the signal is not in direct contact with the top wall of the container, i.e. the container has no top wall, and the container is determined to be an open-top container.

Through the steps 2311 and 2312, the type of the container is automatically identified by comparing the distance signal value with the standard distance value, and the overall automation degree of the spreader is improved.

Fig. 5 is a flow chart illustrating the determination of the number of containers based on the scanning signals according to some embodiments of the present application. Referring to fig. 5, the step 200 further includes:

step 240: a switching value signal is generated according to the scanning signal.

Two signal states of the switching value signal respectively correspond to two waveforms of the scanning signal one by one.

The switching value signal is a signal with only two states, one is an opening signal, and the other is a closing signal; the waveforms of the scanning signals may be classified into two types, one type being a waveform when the number of containers is one, and the other type being a waveform when the number of containers is two. The two waveforms correspond to the signal states of the two switching value signals respectively.

Step 250: second quantity information for determining the number of containers is generated based on the switching value signal.

Different switching value signals correspond to different container numbers, for example, when the switching value signals are opening signals, the container number is one, and when the switching value signals are closing signals, the container number is two, so that the container number is determined rapidly.

Through the steps 240 and 250, the number of the containers can be determined quickly by respectively corresponding the two waveforms of the scanning signals to the two states of the switching value signals, so that only two waveforms of the scanning signals need to be identified, subsequent analysis and processing of the two waveforms are not needed, the processing flow of the signals is simplified, the possibility of inaccurate results caused by loss of the signals in the transmission process can be reduced, and the accuracy and timeliness of the inspection results are improved.

FIG. 6 is a schematic flow chart illustrating comparison of the first quantity information and the second quantity information according to some embodiments of the present disclosure. Referring to fig. 6, the step 250 specifically includes:

step 251: and comparing the first quantity information with the second quantity information to obtain a comparison result.

The first quantity information and the second quantity information are both quantity information representing the quantity of the containers and obtained by processing scanning signals in different modes. The comparison result is the standard for judging whether the two are different, and whether the judgment of the number of the containers is accurate can be determined by obtaining the comparison result.

And 252, when the comparison result shows that the first quantity information is consistent with the second quantity information, determining the quantity of the containers as the first quantity information and the second quantity information.

When the first quantity information is consistent with the second quantity information, the container quantity information obtained by the two processing modes of the scanning signals is accurate and has no deviation. When the first quantity information is inconsistent with the second quantity information, the deviation of the quantity information of the containers generated by one processing mode is shown, and at the moment, an operator can be warned to carry out overhauling and adjustment.

Through the above steps 251 and 252, the first quantity information and the second quantity information are compared to determine whether the container quantity information obtained after the scanning signal processing is accurate. When the quantity information represented by the two pieces of information is consistent, the first quantity information and the second quantity information have no deviation and can represent the quantity information of the container.

In some embodiments of the present application, the method further comprises: and when the distance signal values are all smaller than the preset threshold value, sending a maintenance signal. The preset threshold is a criterion for determining whether the distance signal value is normal. In the normal operation process of the lifting appliance, dirt and the like can be attached to the emission part of the scanning signal, the distance signal value measured by the scanning signal is smaller than the preset threshold value, the scanning signal is determined to be abnormal, the maintenance signal is correspondingly sent out, and the operator determines the corresponding emission part according to the maintenance signal, so that the part is cleaned, and the scanning signal returns to be normal.

In some embodiments of the present application, the method further comprises displaying a waveform of the scan signal. By displaying the waveforms, the operator can determine the number and type of containers by observing the differences in the waveforms.

Specifically, fig. 7 is a schematic diagram showing the relative positions of the spreader and the container for two containers according to some embodiments of the present application. Fig. 8 shows an enlarged view of a portion a in the implementation shown in fig. 7. Fig. 9 illustrates waveforms exhibited by the scanning signal for two containers in some embodiments of the present application. Referring to fig. 7 and 9, when the signal 02 emitted on the spreader 01 scans two containers 03 (refer to fig. 8), the scanning signal assumes the shape of a waveform S1.

Fig. 10 is a schematic view of the relative positions of the spreader and container when the container is a capped container according to some embodiments of the present application. Fig. 11 illustrates waveforms exhibited by the scanning signal when the container is a capped container in some embodiments of the present application. Fig. 12 is a schematic view of the relative positions of the spreader and container in some embodiments of the present application when the container is an open top container. Fig. 13 illustrates waveforms exhibited by the scanning signal when the container is an open-top container in some embodiments of the present application.

Referring to fig. 10, 11, 12 and 13, when the signal 02 emitted from the spreader 01 scans one container 03, and the scanning signal has the shape of the waveform S2 or the waveform S3, it is determined that the containers 03 are one.

Referring to fig. 11, when the scanning signal scans the container 03 having the top wall (see fig. 14), the scanning signal takes the shape of the waveform S2, and it is determined that the container 03 is one and the capping box.

Referring to fig. 13, when the scanning signal scans that the container 03 does not have a top wall, and the scanning signal takes the shape of the waveform S3, it is determined that the container 03 is one and an open-top container.

Exemplary Dual-bin scanning System

FIG. 15 is a schematic diagram of a dual bin scanning system according to some embodiments of the present application. Referring to fig. 15, the scanning and detecting device 30 is applied to a spreader for lifting containers, and specifically includes: a scanning module 400 and a processing module 500. The scanning module 400 is configured to scan the container to generate a scanning signal, wherein the scanning signal is indicative of profile information of the container. The processing module 500 is communicatively connected to the scanning module 400 to obtain the scanning signal, and the processing module 500 determines the number information of the containers according to the scanning signal.

When the spreader approaches to the container, the device starts to operate, the scanning module 400 sends a scanning signal to the container to scan the outline of the container, the processing module 500 acquires the scanning signal, and acquires the outline information of the container according to the scanning signal to determine the quantity information of the containers; therefore, the box locking position of the lifting appliance is determined according to the quantity information of the containers, the lifting appliance can complete the box locking action at the specified position conveniently, and the safety factor in the lifting process of the containers is improved.

In some embodiments of the present application, the scanning module 400 includes a laser unit and a processing unit. The laser unit is used for controlling the signal transmitting part to transmit scanning signals, the signal transmitting part can be a laser range finder, the scanning signals are laser signals transmitted by the laser range finder at the moment, the laser range finder can simultaneously transmit a plurality of laser signals, and the plurality of laser signals are in fan-shaped distribution.

In some embodiments of the present application, to improve the accuracy of the determination of the number of containers, the laser signal satisfies high frequency, high resolution, and long range measurement, while the fan-shaped angle is large to satisfy a wide range of measurement. For example, the frequency may be 10 hertz, the resolution may be 0.3 degrees or 0.1 degrees, the measurement distance may be greater than 20 degrees, and the angle of the fan may be greater than 30 degrees, such as 45 degrees.

The sector scanning signal is contacted with different positions of container to measure several distance signal values. The processing unit is in communication connection with the laser unit, acquires a plurality of distance signal values, can compare any two of the plurality of distance signal values to generate a plurality of difference signal values, and determines the quantity information of the containers according to the plurality of difference signal values.

Specifically, the scanning module 400 includes a comparison unit, the comparison unit is in communication connection with the processing unit to obtain the difference signal value, a preset distance value is provided in the comparison unit, and the comparison unit is used for comparing the difference signal value with the preset distance value to determine the number of the containers. Specifically, when the plurality of difference signal values are all smaller than the preset distance value, the number of containers is determined to be one, and when a part of the plurality of difference signal values is smaller than the preset distance value, the number of containers is determined to be two.

In some embodiments of the present application, the comparison unit further includes a classification unit. The classification portion is connected with the laser unit in a communication mode to obtain a plurality of distance signal values, a standard distance value is arranged in the classification portion, and the classification portion compares the plurality of distance signal values with the standard distance value to determine the type of the container. Specifically, when the plurality of distance signal values are all smaller than the standard distance value, the container is determined to be a capped container. And when the plurality of distance signal values are all larger than the standard distance value, determining that the container is an open-top container.

In some embodiments of the present application, the apparatus further comprises a switching value module 600. The switching value module 600 is communicatively connected to the scan module 400 to obtain the scan signal. The switching value module 600 is used for generating a switching value signal according to the scanning signal to generate first information for determining the number of the containers. Two states of the switching value signal correspond to two waveforms of the scanning signal one by one.

In some embodiments of the present application, a diagnosis unit is disposed in the processing module 500, and the diagnosis unit is in communication with the switching value module 600 to obtain the first information, and the diagnosis unit compares the first information with the quantity information of the containers to determine that the first information is consistent with the quantity information of the containers.

In some embodiments of the present application, the apparatus further comprises a maintenance module 700. The maintenance module 700 is in communication connection with the scanning module 400 to obtain a distance signal value, a preset threshold is provided in the maintenance module 700, and the maintenance module 700 is configured to compare a plurality of distance signal values with the preset threshold and selectively send out a maintenance signal. Specifically, when the distance signals are all smaller than a preset threshold value, a maintenance signal is sent out to prompt an operator to clean the corresponding part, so that the possibility that dirt and the like block the scanning signal is reduced.

In some embodiments of the present application, the apparatus further comprises a display module 800. The display module 800 is in communication connection with the scanning module 400 to obtain a scanning signal, and the display module 800 is configured to convert the scanning signal into a waveform signal and display the waveform signal on a screen, so that an operator can conveniently view the waveform signal. The display module 800 may also be in communication connection with the processing module 500 and the switching value module 600, so as to simultaneously display the container quantity signal calculated by the processing module 500 and the first information generated by the switching value module 600, and facilitate the operator to manually review whether the container quantity information is correct.

Exemplary Crane

Fig. 16 shows a schematic view of a spreader according to some embodiments of the present application. Fig. 17 is a schematic diagram of the dual bin scanning system and spreader control system according to some embodiments of the present application. Referring to fig. 16 and 17, the crane 40 includes a crane body, a spreader 001, and a double-box scanning system 002. Hoist 001 sets up on the organism of hoist, and two case scanning system 002 sets up on hoist 002. And a lifting appliance 001 control system 003 for controlling the lifting appliance 001 to operate is arranged on the crane body. The spreader 002 also has a scanning sensor 004 thereon. The double-box scanning system 002 is respectively communicated with the scanning sensor 004 and the hanger control system 003. Wherein the double-box scanning system 002 is used to execute the double-box scanning method described in any of the above embodiments to control the operation of the scanning sensor 004.

When the hoist operation and handling container, earlier remove through hoist control system 003 control hoist 001, thereby move hoist 001 to the container top, utilize two case scanning system 002 to control scanning sensor 004 and carry out the scanning signal that scans the detection to the container, two case scanning system 002 acquire scanning signal and carry out corresponding processing simultaneously, thereby confirm the quantity and the kind of container, and give hoist control system 003 with the quantity and the kind information transmission of container, hoist control system 003 thereby produce corresponding instruction and control hoist 001 and move, thereby move hoist 001 to the assigned position and accomplish the action of locking the case, reduce the possibility that the mistake lock case appears in hoist 001, thereby improve the security of container handling in-process.

Since the crane is provided with the double-box scanning system, the crane has all the technical effects of the double-box scanning system, and the details are not described herein.

Exemplary electronic device

Fig. 18 is a schematic diagram illustrating a configuration of an electronic device according to some embodiments of the present application. As shown in fig. 18, the electronic device 910 includes: one or more processors 9101 and memory 9102; and computer program instructions stored in memory 9102 that, when executed by processor 9101, cause processor 9101 to perform a two-bin scanning method as in any of the embodiments described above.

Processor 9101 can be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and can control other components in an electronic device to perform desired functions.

Memory 9102 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 9101 to implement the steps in the dual bin scanning methods of the various embodiments of the present application described above and/or other desired functions. Information such as the weight of the container, the size of the container, etc. may also be stored in the computer readable storage medium.

In one example, the electronic device 910 may further include: an input device 9103 and an output device 9104, which are interconnected by a bus system and/or other form of connection mechanism (not shown in fig. 18).

Of course, for simplicity, only some of the components of the electronic device 910 relevant to the present application are shown in fig. 18, and components such as buses, input devices/output interfaces, and the like are omitted. In addition, the electronic device 910 may include any other suitable components depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the double bin scanning method of any of the above-described embodiments.

The computer program product may write program code for carrying out operations for 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.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps of the dual bin scanning method according to various embodiments of the present application described in the "exemplary dual bin scanning method" section above in this specification.

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 describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

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.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.