Visual identification, distance measurement and positioning method in port container automatic loading and unloading operation

Abstract

The invention provides a visual identification, distance measurement and positioning method in port container automatic loading and unloading operation, and the method comprises the following steps: S1, building a binocular camera system, and deploying and installing the binocular camera system at two ends of a container bridge crane; s2, performing identification and plane positioning on a target container; s3, after the plane position of the target container is obtained, a binocular camera system is used for achieving preliminary distance measurement of the target container, accurate calculation of the height of the target container is achieved in combination with structural size information of the target container, and spatial position coordinates of the target container are determined through inverse perspective transformation; and S4, plane positioning of the lifting appliance is achieved by recognizing the pre-coating mark on the lifting appliance, the distance between the lifting appliance and the moving trolley of the container bridge crane is obtained through a monocular camera or a laser distance measuring sensor, and therefore the spatial position coordinates of the lifting appliance are determined. According to the invention, the deployment difficulty and maintenance cost of the camera are effectively reduced.

Description

technical field [0001] The invention belongs to the field of computer vision and image processing, and in particular relates to a visual recognition, distance measurement and positioning method in the automatic loading and unloading operation of port containers. Background technique [0002] At present, in the process of grabbing and stacking containers in ports, manual control spreaders are generally used to achieve docking with containers. This method has problems such as low efficiency, low precision, and dependence on worker experience. Therefore, it is very necessary to realize the precise docking between the automatic spreader and the container. To realize this technology, the first problem to be solved is the precise identification and positioning of the target container and the spreader, and obtaining the precise position coordinates of the target container and the spreader in the space coordinate system. Existing mature positioning methods usually use 2D and 3D las...

AI Technical Summary

Problems solved by technology

However, this method requires the modification of the spreader and the deployment of the communication and power supply cables of the camera. The maintenance cost is high, and the position information of the spreader itself cannot be obtained, so it cannot meet the actual application requirements.

[0004] To sum up, the method of using lidar to realize the identification and positioning of containers and spreaders has the problems of high cost and limited information acquisition; the method of using cameras deployed on spreaders to realize container recognition and positioning has high maintenance costs , unable to obtain the spreader position and other issues

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