Container truck positioning and guidance method based on truck head detection

Abstract

The invention provides a container truck positioning and guidance method based on truck head detection. The method comprises the following steps: 1) mounting an industrial camera on a gantry crane to carry out locating point calibration; 2) detecting a truck head in a video image, and judging moving direction of the truck head according to the truck head position; and 3) judging whether a container exists through line detection, if meeting conditions, calculating deviation angle between an edge of the container and a locating point and relative distance between a right front corner point of the container and the locating point, and transmitting the position of the container in a specified area to a driver through a display device to realize positioning and guidance of a container truck. The method enables the position of the container in the specified area to be transmitted to the driver visually in real time, thereby realizing positioning and guidance of the container truck.

Description

Technical field

[0001] The invention relates to a method for positioning and guiding a container truck based on front-end detection, in particular to a method for positioning and guiding a truck when loading and unloading containers in a port by using front-end detection technology. Background technique

[0002] Container trucks are important logistics tools for port container transportation, loading and unloading. Under normal circumstances, before the container is loaded and unloaded, the truck needs to enter the designated area according to the established lane, the port's gantry crane and other lifting equipment are moved to the top of the truck, and the spreader is put down to load and unload the container. In this process, whether the truck can be positioned quickly and accurately under the container gantry crane not only affects the operation efficiency of the container crane, but also affects the operation safety of the truck driver and the gantry crane. Traditional posi...

Examples

Embodiment Construction

[0022] The present invention will be further explained below in conjunction with the drawings and embodiments.

[0023] Reference figure 1 , figure 2 with image 3 , A method for truck positioning and guidance based on vehicle head detection, including the following steps:

[0024] Step 1: Install the industrial camera on the gantry crane ( figure 1 As shown in the middle number 1) take the image of the guide lane, the origin (0,0) of the image is defined as the lower left corner of the image; select the anchor point A( figure 1 As shown in the middle number 2), adjust the camera angle and position, and move the anchor point A to the (x A ,y A ) Coordinates; the relative position of the positioning point and the camera is fixed, and the positioning point is always located in the image when the gantry crane moves (x A ,y A )coordinate;

[0025] Step 2: The camera shoots the image of the lower lane at a certain frame rate, and processes the image frame by frame. First, the vehicle head...

Technical field

[0001] The invention relates to a method for positioning and guiding a container truck based on front-end detection, in particular to a method for positioning and guiding a truck when loading and unloading containers in a port by using front-end detection technology. Background technique

[0002] Container trucks are important logistics tools for port container transportation, loading and unloading. Under normal circumstances, before the container is loaded and unloaded, the truck needs to enter the designated area according to the established lane, the port's gantry crane and other lifting equipment are moved to the top of the truck, and the spreader is put down to load and unload the container. In this process, whether the truck can be positioned quickly and accurately under the container gantry crane not only affects the operation efficiency of the container crane, but also affects the operation safety of the truck driver and the gantry crane. Traditional posi...

Examples

Embodiment Construction

[0022] The present invention will be further explained below in conjunction with the drawings and embodiments.

[0023] Reference figure 1 , figure 2 with image 3 , A method for truck positioning and guidance based on vehicle head detection, including the following steps:

[0024] Step 1: Install the industrial camera on the gantry crane ( figure 1 As shown in the middle number 1) take the image of the guide lane, the origin (0,0) of the image is defined as the lower left corner of the image; select the anchor point A( figure 1 As shown in the middle number 2), adjust the camera angle and position, and move the anchor point A to the (x A ,y A ) Coordinates; the relative position of the positioning point and the camera is fixed, and the positioning point is always located in the image when the gantry crane moves (x A ,y A )coordinate;

[0025] Step 2: The camera shoots the image of the lower lane at a certain frame rate, and processes the image frame by frame. First, the vehicle head...

Images