阅读说明：本技术 一种集卡车头防撞保护方法及其控制器、防撞保护系统 (Truck head anti-collision protection method, controller and anti-collision protection system thereof ) 是由 王艳宾 于 2021-07-28 设计创作，主要内容包括：一种集卡车头防撞保护方法及其控制器、防撞保护系统,该方法通过获取扫描仪对集卡扫描后的点云数据,根据所述点云数据生成所述集卡的轮廓图,根据所述集卡的集卡车头的标准轮廓图,对所述集卡的轮廓图进行标定,生成所述集卡车头的轮廓图,根据所述集卡车头的轮廓图获取所述集卡车头与集装箱在竖直方向上的距离,当所述距离小于预设距离时,生成预警信息。此方法可以准确地判断出集卡车头的位置,在吊具进行集装箱的装卸过程中,实时判断集卡车头与集装箱之间的距离,当此距离小于最小安全距离时,及时发出警告,极大地避免了安全伤亡事故的发生,提高了此过程中集卡车头以及集卡司机的安全性。(A truck collection locomotive anti-collision protection method, a controller and an anti-collision protection system thereof are disclosed, the method comprises the steps of obtaining point cloud data obtained after a scanner scans a truck collection, generating a profile map of the truck collection according to the point cloud data, calibrating the profile map of the truck collection according to a standard profile map of the truck collection locomotive of the truck collection, generating the profile map of the truck collection locomotive, obtaining the distance between the truck collection locomotive and a container in the vertical direction according to the profile map of the truck collection locomotive, and generating early warning information when the distance is smaller than a preset distance. The method can accurately judge the position of the truck head, judge the distance between the truck head and the container in real time in the loading and unloading process of the container by the spreader, and send out warning in time when the distance is less than the minimum safety distance, thereby greatly avoiding the occurrence of safety casualty accidents and improving the safety of the truck head and truck drivers in the process.)

1. A truck head collision avoidance protection method is characterized by comprising the following steps:

acquiring point cloud data obtained after a scanner scans a collection card;

generating a contour map of the collecting card according to the point cloud data;

calibrating the profile map of the container truck according to the standard profile map of the container truck head of the container truck to generate the profile map of the container truck head;

acquiring the distance between the truck collecting head and a container grabbed by a lifting appliance in the vertical direction according to the profile of the truck collecting head;

and when the distance is smaller than the preset distance, generating early warning information.

2. The truck head collision avoidance method of claim 1, wherein the generating of the profile of the truck from the point cloud data comprises:

scanning the point cloud data of the collecting card one by adopting a first window;

when the number of the point clouds in the first window is smaller than or equal to a first preset number, deleting the point cloud data in the first window to generate effective point cloud data of the collecting card;

and generating a contour map of the collecting card according to the effective point cloud data of the collecting card.

3. The truck head collision avoidance method of claim 2,

the radius of the first window is 10cm, and the first preset number is 5.

4. The truck head collision avoidance method of claim 2, wherein the scanner is mounted on a spreader;

wherein, the point cloud data after obtaining the scanner and scanning the collection card includes:

acquiring the height of the truck head of the collecting card;

acquiring the height of the lifting appliance, wherein the height of the lifting appliance is the vertical distance between the lifting appliance and a lane where the container truck is located in the vertical direction;

acquiring original point cloud data obtained after a scanner scans the collecting card; and

and filtering the original point cloud data of the container truck, deleting the original point cloud data between the height of the head of the container truck and the height of the lifting appliance, and generating the point cloud data of the container truck.

5. The truck head collision avoidance method of claim 4, wherein the truck head height of the truck is: 2.4m to 3.2 m.

6. The truck head collision avoidance method of claim 1, wherein the obtaining a distance in a vertical direction between the truck head and a container gripped by the spreader according to the profile of the truck head comprises:

acquiring an angular point of a maximum inflection point of the contour map of the truck head in a first direction according to the contour map of the truck head, wherein the first direction is vertical to the vertical direction;

acquiring the distance between the angular point and the scanner in the vertical direction according to the point cloud data of the angular point;

and the distance between the corner point and the container grabbed by the lifting appliance in the vertical direction is the distance between the truck head and the container grabbed by the lifting appliance in the vertical direction.

7. The truck head collision avoidance method of claim 1, wherein the predetermined distance is 1 m.

8. The utility model provides a collection card locomotive collision avoidance control ware which characterized in that includes:

the data acquisition module is used for acquiring point cloud data obtained after the scanner scans the collecting card;

the identification module is used for generating a contour map of the collecting card according to the point cloud data; calibrating the profile map of the container truck according to the standard profile map of the container truck head of the container truck to generate the profile map of the container truck head;

the distance calculation module is used for acquiring the distance between the truck collecting head and the container in the vertical direction according to the profile of the truck collecting head; and

and the early warning information generating module is used for generating early warning information when the distance is smaller than a preset distance.

9. The utility model provides a collection card locomotive collision avoidance system which characterized in that includes:

the scanner is installed on a crane, wherein the scanning line of the scanner is parallel to the central line of the lane where the truck is located; and

the truck head anti-collision protection controller is in communication connection with the scanner;

the truck head collision avoidance controller of claim 8.

10. The truck head collision avoidance system of claim 9, wherein the crane comprises a spreader, a driveway cart leg, and a trolley frame;

wherein, the scanner is installed on hoist or lane cart landing leg or dolly frame.

Technical Field

The application relates to the field of engineering machinery, in particular to a truck head anti-collision protection method, a truck head anti-collision protection controller and an anti-collision protection system.

Background

At present, container transportation is often required for a container truck working in a port environment, and in the process of automatically grabbing and placing the container truck, when a spreader loads and unloads the container truck, the container truck head is hit by the container truck due to misjudgment of the positions of the truck head and a carriage or the fact that a truck driver stops the truck head in a loading and unloading area by mistake, so that the truck head is easily damaged, and even the casualties of the truck driver are caused.

Therefore, how to effectively identify the head position of the collection truck in real time becomes an important safety problem for the yard automation. At present, in the related art, the measure for protecting the truck head of the truck is usually completed by positioning the truck, a threshold signal is triggered by the position of the truck, and whether the truck head is safe is judged according to whether the threshold is reached. The method still has the problem that the determined locomotive position is not accurate enough. Therefore, how to further improve the accuracy of the position judgment of the vehicle head, and further ensure the safety of the vehicle head and a driver is a problem to be solved urgently.

Disclosure of Invention

In view of this, the application provides a truck head anti-collision protection method, a controller thereof and an anti-collision protection system, which solve the technical problems that in the prior art, the judgment of the position of the truck head is not accurate enough, and the safety of the truck head and a driver cannot be further improved.

According to one aspect of the application, the application provides a truck head collision avoidance method, which comprises the following steps: acquiring point cloud data obtained after a scanner scans a collection card; generating a contour map of the collecting card according to the point cloud data; calibrating the profile map of the container truck according to the standard profile map of the container truck head of the container truck to generate the profile map of the container truck head; acquiring the distance between the truck head and a container grabbed by a lifting appliance in the vertical direction according to the profile of the truck head; and when the distance is smaller than the preset distance, generating early warning information.

Optionally, the generating a contour map of the container truck according to the point cloud data includes: scanning the point cloud data of the collecting card one by adopting a first window; when the number of the point clouds in the first window is smaller than or equal to a first preset number, deleting the point cloud data in the first window to generate effective point cloud data of the collecting card; and generating a contour map of the collecting card according to the effective point cloud data of the collecting card.

Optionally, the radius of the first window is 10cm, and the first preset number is 5.

Optionally, the scanner is mounted on a spreader; wherein, the point cloud data after obtaining the scanner and scanning the collection card includes: acquiring the height of the truck head of the collecting card; acquiring the height of the lifting appliance, wherein the height of the lifting appliance is the vertical distance between the lifting appliance and a lane where the container truck is located in the vertical direction; acquiring original point cloud data obtained after a scanner scans the collecting card; and filtering the original point cloud data of the container truck, deleting the original point cloud data between the height of the head of the container truck and the height of the lifting appliance, and generating the point cloud data of the container truck.

Optionally, the height of the truck head of the container truck is: 2.4m to 3.2 m.

Optionally, the obtaining, according to the profile of the truck head, a distance in a vertical direction between the truck head and a container grabbed by the spreader includes: acquiring an angular point of a maximum inflection point of the contour map of the truck head in a first direction according to the contour map of the truck head, wherein the first direction is vertical to the vertical direction; acquiring the distance between the angular point and the scanner in the vertical direction according to the point cloud data of the angular point; the distance between the corner point and the container grabbed by the lifting appliance in the vertical direction is the distance between the truck collecting head and the container grabbed by the lifting appliance in the vertical direction.

Optionally, the preset distance is 1 m.

According to a second aspect of the present application, the present application provides a truck head collision avoidance controller, including a data acquisition module, configured to acquire point cloud data obtained after a scanner scans a truck; the identification module is used for generating a contour map of the collecting card according to the point cloud data; calibrating the profile map of the container truck according to the standard profile map of the container truck head of the container truck to generate the profile map of the container truck head; the distance calculation module is used for acquiring the distance between the truck collecting head and the container in the vertical direction according to the profile of the truck collecting head; and the early warning information generation module is used for generating early warning information when the distance is smaller than a preset distance.

According to a third aspect of the present application, the present application provides a truck locomotive collision avoidance system, including: the scanner is installed on the crane, wherein a scanning line of the scanner is parallel to a central line of a lane where the truck is located; the truck head anti-collision protection controller is in communication connection with the scanner; the truck head anti-collision protection controller is the truck head anti-collision protection controller.

Optionally, the crane comprises a lifting appliance, a support leg of a large vehicle on a lane and a trolley frame; wherein, the scanner is installed on hoist or lane cart landing leg or dolly frame.

According to the method, the point cloud data after a collector card is scanned by a scanner is obtained, a profile map of the collector card is generated according to the point cloud data, the profile map of the collector card is calibrated according to a standard profile map of a collector card head of the collector card, the profile map of the collector card is generated, the distance between the collector card head and a container in the vertical direction is obtained according to the profile map of the collector card head, and when the distance is smaller than a preset distance, early warning information is generated. The position of the truck head is accurately judged, the distance between the truck head and the container is judged in real time in the loading and unloading process of the container by the lifting appliance, and when the distance is smaller than the minimum safety distance, a warning is timely sent out, so that the occurrence of safety casualty accidents is greatly avoided, and the safety of the truck head and a truck driver in the process is improved.

Drawings

Fig. 1 is a schematic flow chart illustrating a method for collision avoidance of a truck head according to an embodiment of the present application;

fig. 2 is a diagram illustrating a positional relationship among a truck, a spreader, and a container in a truck head collision avoidance method according to an embodiment of the present application;

fig. 3 is a contour diagram of a truck in a coordinate system, generated by a plurality of point cloud data, in a truck head collision avoidance method according to an embodiment of the present application;

fig. 4 is a schematic flowchart illustrating a step S2 in a truck head collision avoidance method according to an embodiment of the present application;

fig. 5 is a schematic flowchart illustrating a step S1 in a truck head collision avoidance method according to an embodiment of the present application;

fig. 6 is a schematic flowchart illustrating a step S4 in a truck head collision avoidance method according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a truck head collision avoidance controller according to an embodiment of the present application;

fig. 8 is a diagram illustrating a positional relationship between a crane and a truck in a truck head collision avoidance system according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Reference numerals: 1. a controller; 11. a data acquisition module; 12. an identification module; 13. a distance calculation module; 14. an early warning information generation module; 2. a crane; 201. a container; 2021. a truck head; 21. a lifting tool; 22. a lane cart support leg; 23. a trolley frame; 3. a scanner; 600. an electronic device; 601. a processor; 602. A memory; 603. an input device; 604. and an output device.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement of the components, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

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.

Fig. 1 is a schematic flow chart of a truck head collision avoidance method according to an embodiment of the present application, and fig. 2 is a diagram of a positional relationship among a truck, a spreader 21, and a container 201 in the truck head collision avoidance method according to the embodiment of the present application.

As shown in fig. 1 and 2, the truck head collision avoidance method includes the following steps:

step S1: acquiring point cloud data obtained after a scanner 3 scans a collection card;

the point cloud data is a set of a group of vectors in a coordinate system and is used for representing a geometric position in the coordinate system, and the point cloud data is point cloud data of a plurality of points acquired by the scanner 3 when the container truck is detected;

step S2: generating a contour map of the collecting card according to the point cloud data;

fig. 3 is a contour diagram of a container truck in a coordinate system, which is generated by a plurality of point cloud data in the container truck head collision avoidance method provided by the present application, as shown in fig. 3, because the point cloud data of a plurality of points about the container truck is collected by the scanner 3, and the point cloud data is used to represent a set position of a point in the coordinate system, positions of the plurality of points on the container truck can be generated according to the point cloud data of the plurality of points, that is, the contour diagram of the container truck in the coordinate system can be generated;

step S3: calibrating the profile map of the container truck according to the standard profile map of the container truck head 2021 of the container truck to generate the profile map of the container truck head 2021;

since the truck head 2021 is characterized by a convex shape, the contour map can be searched by taking the convex shape as a feature, so as to identify the representation of the truck head 2021 on the contour map, that is, the contour map of the truck is calibrated by using the standard contour map of the truck head 2021, and the contour map of the truck head 2021 is identified in the contour map of the truck;

step S4: acquiring the distance between the truck head 2021 and the container 201 grabbed by the spreader 21 in the vertical direction according to the profile of the truck head 2021;

since the point cloud data is the position data of a point on the container truck in the coordinate system, the point cloud data of a point on the container truck head 2021 is collected, that is, the coordinate data (for example, ordinate data and abscissa data) of the point in the coordinate system can be obtained, and then the distance in the vertical direction between the container truck head 2021 and the container 201 grabbed by the spreader 21 can be obtained according to the point cloud data, as shown in fig. 2, the distance in the vertical direction between the container truck head 2021 and the container 201 grabbed by the spreader 21 is L;

step S5: and judging whether the distance L is smaller than a preset distance or not, and generating early warning information when the distance L is smaller than the preset distance.

The early warning information is used for prompting that the distance between the container 201 grabbed by the spreader 21 and the truck head 2021 is small, if the spreader 21 continues to move downwards at the position, the container 201 can collide with the truck head 2021, therefore, after the early warning information is generated, on one hand, the early warning information can be transmitted to the controller 1 for controlling the spreader 21, and the controller 1 for controlling the spreader 21 can directly control the spreader 21 to move in the horizontal direction according to the early warning information, so that the container 201 grabbed by the spreader 21 is far away from the truck head 2021, and the container 201 can stably fall into a truck carriage; on the other hand, the early warning information may be in a form that sounds or characters are easily received by the worker, and the worker controls the spreader 21 to move in the horizontal direction, so that the container 201 gripped by the spreader 21 is far away from the truck head 2021.

The truck head 2021 collision avoidance method provided by the application can accurately judge the position of the truck head 2021, judge the distance between the truck head 2021 and the container 201 in real time in the loading and unloading process of the container 201 by the spreader 21, and timely send out early warning information when the distance is smaller than the minimum safe distance, thereby greatly avoiding the occurrence of safe casualty accidents and improving the safety of the truck head 2021 and truck drivers in the process.

Specifically, the preset distance in step S5 is 1 m. It should be clear that during the lifting and lowering of the container 201 by the spreader 21, the container 201 has a large inertia due to its large weight; meanwhile, in the process that the worker obtains the alarm information and takes the protective measures, a certain reaction time is needed, so that when the preset distance is smaller than 1m, the risk that the container 201 collides with the vehicle head is still high, and the preset distance is larger than 1m, so that the safety is high, and the preset distance is set to be 1m, so that the safety is high.

In a possible implementation manner, fig. 4 is a schematic flowchart illustrating a flow of step S2 in a method for protecting a truck head from collision according to an embodiment of the present application, and as shown in fig. 4, step S2 (generating a profile of a truck from point cloud data) specifically includes the following steps:

step S21: scanning the point cloud data of the collecting card one by adopting a first window;

step S22: judging whether the number of the point clouds in the first window is smaller than or equal to a first preset number or not, and deleting the point cloud data in the first window to generate effective point cloud data of the collecting card when the number of the point clouds in the first window is smaller than or equal to the first preset number;

because a plurality of points of the card concentrator are concentrated, if the data of the points in a range is less, the points are probably isolated points, so that the detection precision is higher, the isolated points are deleted, the existence of interference points is reduced, and the detection precision is improved;

step S23: and generating a contour map of the collecting card according to the effective point cloud data of the collecting card.

When the port encounters rainy and snowy weather, raindrops or snowflakes interfere with the point cloud data of the scanner 3, so that the interfering point clouds can be filtered through the step S22, thereby further improving the accuracy of the effective point cloud data and further improving the accuracy of the card collecting profile and the card collecting headstock 2021 profile.

Specifically, the radius of the first window is 10cm, and the first preset number is 5. It can be understood that when the number of the point clouds within the range taking 10cm as the radius is less than 5, the point cloud data can be deleted as interference point clouds, so that the influence of extreme weather on the judgment of the truck collection contour and the truck collection head 2021 contour is greatly reduced.

In a possible implementation manner, fig. 5 is a schematic flowchart illustrating a step S1 in a truck head crash protection method according to an embodiment of the present application; as shown in fig. 2 and 5, when the scanner 3 is installed on the hanger 21, that is, the scanner 3 moves up and down along with the hanger 21, in this case, the step S1 (acquiring the point cloud data after the scanner 3 scans the card collector) may specifically include the following steps:

step S11: acquiring the height D of the truck head of the truck;

the height D of the truck head of the container truck is the distance from the highest position of the truck head of the container truck to the ground, and the container truck is manufactured according to the standard, so long as the type of the container truck can be obtained, the height D of the truck head of the container truck is a certain numerical value;

step S12: acquiring the height H of a lifting appliance 21, wherein the height H of the lifting appliance 21 is the vertical distance between the lifting appliance 21 and a truck lane in which a container truck is located in the vertical direction;

since the spreader 21 needs to place the grabbed container 201 into the truck carriage, the spreader 21 will move up and down, and therefore, the height H of the spreader 21, that is, the height of the spreader 21 from the ground, needs to be obtained in real time;

step S13: acquiring original point cloud data obtained after a scanner 3 scans a container truck;

step S14: and filtering the original point cloud data of the container truck, deleting the original point cloud data between the height D of the head of the container truck and the height H of the hanger 21, and generating the point cloud data of the container truck. When the scanner 3 is installed on the spreader 21, the scanner 3 is lifted along with the lifting of the spreader 21, and the spreader 21 needs to transfer the container 201 to a truck-collecting carriage after being lifted, and the height of the container from the ground needs to be higher than that of the truck-collecting head 2021, so that the possible height range of the truck-collecting head 2021 is set to be D, the vertical distance between the spreader 21 and the truck-collecting lane in the vertical direction is set to be H, and the point cloud data between the distances (H-D) is invalid data, so as to obtain the valid point cloud data of the truck-collecting. The effectiveness of the point cloud data is improved, so that the collecting card profile generated by the scanner 3 and the collecting card head 2021 profile are more accurate.

It should be noted that the installation position of the scanner 3 is not limited to the hanger 21, and the scanner may also be installed at other positions of the crane, and when the installation position of the scanner 3 is not on the hanger 21, the scanning range is fixed, and it is not necessary to delete too many invalid point clouds, which is more convenient. Therefore, the installation position of the scanner 3 is not further limited in the present application.

Specifically, the truck head height D of the truck is: 2.4m to 3.2 m. The height of the top of the truck head 2021 is in a certain standard, so the height of the truck head 2021 is in a certain range according to the standard, 2.4-3.2 m of the height of the truck head comprises the heights of all truck heads of different models in the current universal standard range, the height D of the truck head is set in the range, and the generated effective point cloud data of the truck is more comprehensive and reliable.

In a possible implementation manner, fig. 6 is a schematic flowchart illustrating a step S4 in a truck head crash protection method according to an embodiment of the present application, and as shown in fig. 6, the step S4 (obtaining a distance between the truck head 2021 and the container 201 in a vertical direction according to an outline of the truck head 2021) may specifically include the following steps:

step S41: acquiring an angular point of a maximum inflection point of the contour map of the truck head 2021 in a first direction according to the contour map of the truck head 2021, wherein the first direction is vertical to the vertical direction;

as shown in fig. 3, a position a in fig. 3 is a corner position of the maximum inflection point in the first direction, and a height of a horizontal line where the corner position of the maximum inflection point is located from the ground is a height of the upper surface of the truck head 2021.

Step S42: acquiring the distance between the angular point and the scanner 3 in the vertical direction according to the point cloud data of the angular point;

the distance between the corner point and the scanner 3 in the vertical direction is the distance between the truck head 2021 and the scanner 3 in the vertical direction.

The position of the corner point can be understood as the position of the vertical height of the truck head 2021, and when the position of the corner point is determined, the vertical height of the truck head 2021 can also be determined accordingly. The position of the corner point can be more accurately obtained through the steps, so that the height of the truck head 2021 of the truck is more accurately determined, and the safety is improved.

As a second aspect of the present application, the present application provides a truck head collision avoidance controller, which is used to apply the truck head collision avoidance method shown in fig. 1. Fig. 7 is a schematic structural diagram of a truck head crash protection controller according to an embodiment of the present application, and as shown in fig. 7, the truck head crash protection controller includes:

the data acquisition module 11 is used for acquiring point cloud data obtained after the collection card is scanned by the scanner;

the identification module 12 is used for generating a contour map of the collecting card according to the point cloud data; calibrating the profile map of the container truck according to the standard profile map of the container truck head of the container truck to generate the profile map of the container truck head;

the distance calculation module 13 is used for acquiring the distance between the truck head and the container in the vertical direction according to the profile of the truck head; and

and the early warning information generating module 14 is configured to generate early warning information when the distance is smaller than the preset distance.

According to the anti-collision controller for the truck head of the truck, point cloud data scanned by a scanner are acquired through a data acquisition module 11; after the identification module 12 identifies the point cloud data, generating a profile of the card collection, calibrating the profile of the card collection, and then generating a profile of the head of the card collection; then, the distance between the truck head and the container in the vertical direction is calculated by a distance calculation module 13; and finally, when the distance is smaller than the preset distance, the early warning information generating module 14 generates early warning information to remind the workers to stop loading, so that casualty accidents are avoided. The truck collecting profile and the truck head profile information generated by the truck collecting head collision avoidance controller are accurate and high in safety.

As a third aspect of the present application, the present application provides a truck head collision avoidance system, which is used for applying the truck head collision avoidance method and the truck head collision avoidance controller. Fig. 8 is a diagram illustrating a positional relationship between a crane and a truck in a truck head collision avoidance system according to an embodiment of the present disclosure, and as shown in fig. 3 and 8, a truck head 2021 collision avoidance system includes a scanner 3 mounted on the crane 2, where a scan line of the scanner 3 is parallel to a center line of a lane where the truck is located; the truck head 2021 collision avoidance controller is in communication connection with the scanner 3; the truck head 2021 collision avoidance controller is the truck head 2021 collision avoidance controller 1 according to the second aspect of the present application. The system can more accurately generate the truck-collecting profile and the profile of the truck-collecting head 2021, and when the vertical height distance of the container 201 from the truck-collecting head 2021 exceeds a safety range, early warning information is generated in time, so that casualty accidents are greatly reduced, and the safety performance is improved.

In one possible implementation, as shown in fig. 8, the crane 2 comprises a spreader 21, a driveway cart leg 22 and a trolley frame 23; the scanner 3 may be mounted on the spreader 21 or the legs 22 of the truck or the trolley frame 23, and the determination of the truck profile and the truck head 2021 profile may be achieved, therefore, the application does not limit the specific position of the scanner 3 on the crane 2.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 9. Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 9, the electronic device 600 includes one or more processors 601 and memory 602.

The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

Memory 601 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. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program information may be stored on the computer readable storage medium, and the processor 601 may execute the program information to implement the above described truck head collision avoidance method of the present application or other desired functions.

In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 603 may include, for example, a keyboard, a mouse, and the like.

The output device 604 can output various kinds of information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.

Of course, for simplicity, only some of the components of the electronic device 600 relevant to the present application are shown in fig. 9, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.

In addition to the above methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the truck head collision avoidance methods according to various embodiments of the present application described in the present specification.

The computer program product may include 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 information, which, when executed by a processor, causes the processor to perform the steps in the truck head collision avoidance method according to various embodiments of the present application.

A computer-readable storage medium may employ 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 diskette, 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 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 exemplary only and not limiting, and 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 present disclosure is not intended to be limited to the specific details set forth herein.

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, each component or each step 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 above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.