Title:
THREE-DIMENSIONAL LASER-BASED CONTAINER TRUCK ANTI-SMASHING DETECTION METHOD AND APPARATUS, AND COMPUTER DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/179988
Kind Code:
A1
Abstract:
A three-dimensional laser-based container truck anti-smashing detection method and apparatus, and a computer device. The method comprises: obtaining size parameters of a container currently clamped by a spreader of a container crane in a container truck loading operation (S202); obtaining a three-dimensional point cloud of a container operation acquired by a laser radar when a container is clamped by the spreader and falls (S204); obtaining attitude parameters of the laser radar (S206); transforming the three-dimensional point cloud according to the attitude parameters to obtain a comprehensive point cloud of the container operation (S208); obtaining a relative translation of the spreader and the laser radar (S210); determining a container fall area range in the comprehensive point cloud according to the relative translation and the size parameters of the container (S212); and when an obstacle is detected within the container fall area range, sending an anti-smashing alarm (S214). The accuracy of the data source of the method is high, and the detection method is not affected by the installation position of the laser radar, thereby greatly improving the accuracy of anti-smashing detection.
Inventors:
HU RONGDONG (CN)
WEN CHI (CN)
LI MIN (CN)
LI YAMENG (CN)
PENG QING (CN)
WEN CHI (CN)
LI MIN (CN)
LI YAMENG (CN)
PENG QING (CN)
Application Number:
PCT/CN2021/079102
Publication Date:
September 16, 2021
Filing Date:
March 04, 2021
Export Citation:
Assignee:
CHANGSHA INTELLIGENT DRIVING INST CORP LTD (CN)
International Classes:
B66C15/06; B65G67/02; B66C13/18; G01S17/93
Foreign References:
| CN110431101A | 2019-11-08 | |||
| CN104085794A | 2014-10-08 | |||
| CN107089599A | 2017-08-25 | |||
| CN109752726A | 2019-05-14 | |||
| CN106794971A | 2017-05-31 | |||
| CN110673183A | 2020-01-10 | |||
| US20150191333A1 | 2015-07-09 | |||
| JP2006160402A | 2006-06-22 |
Other References:
HUNAGHE CAI, SHUANGHUA YANG, ZHENSHENG YU: "Locatization System of Automatic Ｒail-mounted Gantry Crane at Container Terminal", 31 December 2017 (2017-12-31), pages 21 - 24, XP055846579, ISSN: 1000-8969
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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