Container truck alignment method, system and device based on binocular recognition and storage medium

Abstract

The invention provides a container truck alignment method, system and device based on binocular recognition and a storage medium, and the method comprises the following steps: receiving container truck state information of a container truck to be aligned, the container truck state information being a to-be-loaded state or a to-be-unloaded state; calculating a parallax matrix according to the leftimage and the right image obtained by the binocular camera device at the same moment, obtaining a depth value of each pixel point of the left image according to the parallax image, and obtaining a three-dimensional point cloud of the container truck and a space coordinate according to the parallax matrix; obtaining spatial coordinates of the alignment feature points through plane fitting; and judging the current position of the alignment feature point and a preset position range to obtain an alignment instruction of the container truck. According to the invention, the loading and unloading operation of the container truck under the field bridge under all working conditions can be completed by single equipment, the container truck alignment function is well met, and the loading and unloading efficiency of the container truck container is greatly improved.

Description

technical field [0001] The present invention relates to the field of truck alignment, in particular to a binocular recognition-based truck alignment method, system, device and storage medium for crane container operations. Background technique [0002] The bridge crane business of yard crane and quay crane is the core mechanical operation of the container terminal, and the speed and safety of the spreader loading and unloading containers from the container truck directly affect the operation efficiency of the entire terminal. The traditional method requires the truck driver to move the truck back and forth repeatedly through visual inspection to complete the alignment between the truck and the spreader. However, with the improvement of the economy, the area of ​​the container terminal has expanded, and the workload has increased sharply, which has increased the driver's operational fatigue and negligence. At the same time, it is difficult to completely avoid collisions betwe...

AI Technical Summary

Problems solved by technology

However, with the improvement of the economy, the area of ​​the container terminal has expanded, and the workload has increased sharply, which has increased the driver's operational fatigue and negligence. At the same time, it is difficult to completely avoid collisions between spreaders, containers and trucks, and equipment damage has brought many safety hazards.

At the same time, artificial alignment reduces the loading and unloading speed of containers, which greatly affects the operation efficiency. There is an urgent need for a simple and effective automatic alignment technology for trucks that does not rely on human judgment and is suitable for all working conditions.

[0003] In the existing technology, there is a method of installing the pan / tilt, laser scanning rangefinder, and controller under the bridge crane, using the controller to set the designated lane, and using the pan / tilt to control the laser scanner to scan the designated lane, reminding The deviation of the alignment of the truck driver; however, it is impossible to judge the position of the truck without the container, resulting in the lack of system functions, and the cooperation of multiple lasers is required to complete the completion, which increases the complexity of the external equipment

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