Container detection and locking method based on multi-sensor fusion

A multi-sensor fusion and container technology, applied in the field of computer vision, can solve problems such as high labor costs and large differences in work efficiency, and achieve the effects of accurate detection position, accurate attitude estimation, and powerful environmental information collection capabilities

Active Publication Date: 2020-06-16
HANGZHOU DIANZI UNIV +1
View PDF9 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its work efficiency varies from person to person, and the work efficiency of skilled and unskilled workers varies greatly.
At the same time, labor costs are higher

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Container detection and locking method based on multi-sensor fusion
  • Container detection and locking method based on multi-sensor fusion
  • Container detection and locking method based on multi-sensor fusion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] Step (1) Use the TOF depth camera to obtain the grayscale image and depth image of the environment; where the grayscale image is G, and the depth image is D;

[0053] Step (2) Use the trained YOLO-v3 neural network to detect whether there is a container in the grayscale image; the details are as follows:

[0054] ① Input the grayscale image G into the trained YOLO-v3 neural network; extract the image features of the grayscale image through the neural network, and then use the extracted image features to predict the coordinates of the container in the grayscale image, Output multiple possible coordinates, and finally filter multiple coordinates, select the coordinates with the highest confidence and save the coordinates in memory; the representation method of coordinates is (left, right, top, bottom), where left, right, top , bottom represents the leftmost, rightmost, uppermost, and lowermost pixel coordinates of the front of the container in the grayscale image;

[005...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a container detection and locking method based on multi-sensor fusion. In the actual industrial environment, a forklift needs to be used for carrying equipment and containers.During automatic carrying, firstly, the positions of the container and the bottom corner fittings need to be positioned, then carrying equipment is operated to lock and lift the container, and finally the container is carried to a destination. A traditional detection locking method is low in locking efficiency through manual operation and high in labor cost. According to the method, different environmental information is collected through multiple sensors, the position of the container in the image is detected through the neural network, then the front posture of the container is roughly estimated through a principal component analysis method until the container is close to the container, then refined estimation is conducted on the posture of the container, and finally the container is locked.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a container detection and locking method based on multi-sensor fusion. Background technique [0002] In the current container handling methods, most of them use large-scale mechanical equipment such as shore-side loading and unloading bridges, rail-mounted container gantry cranes, rubber-tyred container gantry cranes, container straddle carriers, and container reach stackers. . There is also a small part of equipment used in small handling scenarios. In the container handling method, it is first necessary to lock the corner fittings of the container, and then transport it to the target location. At present, the methods for locking the corner fittings of the container mainly include: 1) manually locking the corner fittings of the container; 2) locking the corner fittings by an automatic method. [0003] The method of manually locking the container is relatively simple...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T5/20G06T5/30G06T7/13G06T7/136G06T7/50G06T7/70G06N3/04
CPCG06T5/002G06T7/50G06T7/70G06T5/20G06T5/30G06T7/13G06T7/136G06N3/045
Inventor 杨宇翔叶健高明煜朱晓靖孙延志李怀壮潘耀辉叶瑶坤
Owner HANGZHOU DIANZI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap