A binocular vision-based method and system for collecting truck positioning and guidance

Abstract

The method of binocular vision-based card positioning and guidance includes: calibrating the industrial camera, and establishing a three-dimensional coordinate system with the midpoint of the two industrial cameras as the origin of the world coordinates; calculating the positioning marking line on the x-y plane coordinates of the midpoint; monitor whether there is a collection truck entering the field of view on the lane; identify the target characteristics of the collection truck; crosshairs on the guiding electronic board; calculate the center point of the collection truck target feature to the center point of the positioning marking line on the x-y plane The distance on the guidance electronic kanban will be displayed on the guidance electronic kanban; the angle between the straight line perpendicular to the forward direction of the collection truck in the cross line and the positioning marking line will be calculated, and displayed on the guidance electronic kanban; Move the vehicle at an angle to complete the truck positioning and guidance. The system using the method of the invention is composed of a mounting bracket, two industrial cameras, a guiding electronic kanban, a positioning marking line and an industrial control computer.

Description

technical field [0001] The invention relates to a method and system for positioning and guiding a collection truck, in particular to a method and a system for positioning and guiding a collection truck when heading to a wharf or a container yard by using binocular vision technology. Background technique [0002] At present, in order to improve work efficiency in the container operation of the terminal or yard, it is usually necessary for the container truck (referred to as the collection truck) to enter the designated position of the site according to the established lane, and then the crane drives the cart to the top of the collection truck and puts down the spreader. In the process of grabbing or releasing containers, extra personnel are usually required to direct whether the collection trucks enter the designated position of the site, which makes the efficiency of the entire container picking and placing operation low. [0003] In order to solve the above problems, many e...

AI Technical Summary

Problems solved by technology

[0002] At present, in order to improve work efficiency in the container operation of the terminal or yard, it is usually necessary for the container truck (referred to as the collection truck) to enter the designated position of the site according to the established lane, and then the crane drives the cart to the top of the collection truck and puts down the spreader. During the process of grabbing or putting containers, it usually requires additional personnel to direct whether the collection truck enters the designated position of the site, which makes the efficiency of the entire container picking and placing operation inefficient.

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