Method, device, system and yard bridge for positioning a yard bridge trolley

Abstract

The application relates to the technical field of engineering machinery, and particularly relates to a yard crane trolley positioning method, equipment and system and a yard crane trolley, the method comprising the following steps: firstly, in the running process of the yard crane trolley, a wide-angle image containing markers is acquired, the yard crane trolley is controlled to run in a preset area based on the wide-angle image, and any marker with a distance less than a preset distance from the yard crane trolley is determined as a center marker; then, a second image containing the center marker is acquired; finally, the target position of the yard crane trolley is determined based on the second image. In this way, the yard crane trolley can always run in the preset area, and accurate positioning of the yard crane trolley can be realized on the basis, so that normal operation of the yard crane trolley can be ensured.

Description

Technical Field

[0001] This application relates to the technical field of engineering machinery, specifically to the positioning method, equipment, system, and trolley for yard cranes. Background Technology

[0002] With the development of the logistics industry, yard crane trucks are widely used due to their high loading and unloading efficiency. During loading and unloading operations, yard crane trucks require precise positioning of both the truck and the goods to achieve accurate loading and unloading.

[0003] In existing technologies, yard cranes are generally positioned using GPS or image recognition. However, GPS positioning devices are complex in structure, have poor stability, and generally have low positioning accuracy, affecting operational accuracy. Image recognition positioning typically involves capturing and identifying markers placed near the runway to locate the yard crane. Although the positioning accuracy is high, it becomes difficult to locate the yard crane when it deviates from the track due to abnormal movement, or for yard cranes without fixed tracks, once the yard crane has deviated from the runway, leading to operational disruptions. Therefore, there is an urgent need for a high-precision technology capable of locating yard cranes without runways. Summary of the Invention

[0004] In view of this, the present invention aims to provide a high-precision positioning method that can achieve the positioning of the large trolley of the yard bridge.

[0005] In a first aspect, the present invention provides a method for positioning a trolley in a yard crane, comprising:

[0006] During the operation of the yard crane, a first image containing markers is acquired, the first image being a wide-angle image; wherein, the markers are fixed at multiple positions along the extension direction of the yard crane's running road, the running road including the running road and the track;

[0007] Based on the first image, control the trolley to run within a preset area;

[0008] In addition, any marker whose distance from the yard bridge trolley is less than a preset distance is designated as the central marker;

[0009] Acquire a second image containing the central landmark;

[0010] Based on the second image, the target location of the yard crane is determined.

[0011] Optionally, when the running road is a track, controlling the yard crane trolley to run within a preset area based on the first image includes: controlling the yard crane trolley to run on the track based on the first image;

[0012] When the operating road is a runway, controlling the yard crane trolley to operate within a preset area based on the first image includes:

[0013] Based on the first image, the yard crane trolley is initially located to obtain the first position of the yard crane trolley.

[0014] Based on the positional relationship between the first position of the yard crane and the preset area, the yard crane is controlled to run within the preset area.

[0015] Optionally, each of the markers is provided with a preset number corresponding to its actual location.

[0016] Optionally, the initial positioning of the yard crane trolley based on the first image to obtain the first position of the yard crane trolley includes:

[0017] Identify any one of the landmarks in the first image as the target landmark;

[0018] The actual location of the target marker is determined based on its preset number.

[0019] Based on the positional pixel deviation of the target marker in the first image and the first preset reference image, the distance deviation between the yard crane trolley and the actual position of the target marker is determined; the first preset reference image is an image containing the target marker that was taken in advance at the position of the target marker.

[0020] Based on the actual position of the target marker and the distance deviation, the first position of the yard crane is determined.

[0021] Optionally, determining the distance deviation between the gantry crane and the actual position of the target marker based on the position pixel deviation of the target marker in the first image and the first preset reference image includes:

[0022] Based on the longitudinal pixel deviation of the target marker in the first image and the first preset reference image, the first distance deviation between the field bridge trolley and the actual position of the target marker in the direction parallel to the runway extension is determined.

[0023] Based on the lateral pixel deviation of the target marker's position in the first image and the first preset reference image, a second distance deviation between the field bridge trolley and the actual position of the target marker in the direction perpendicular to the runway extension is determined.

[0024] Determining the first position of the yard crane trolley based on the actual position of the target marker and the distance deviation includes:

[0025] The first position of the yard crane is determined based on the actual position of the target marker, the first distance deviation, and the second distance deviation.

[0026] Optionally, determining the target location of the yard crane based on the second image includes:

[0027] The actual position of the central marker is determined based on its preset number.

[0028] Based on the position pixel deviation of the central marker in the second image and the second preset reference image, the distance deviation between the gantry crane and the actual position of the central marker is determined; the second preset reference image is an image containing the central marker that was taken in advance at the position of the central marker.

[0029] Based on the actual position of the central marker and the distance deviation, the target position of the yard crane is determined.

[0030] Optionally, determining the distance deviation between the gantry crane and the actual position of the central marker based on the position pixel deviation of the central marker in the second image and the second preset reference image includes:

[0031] Based on the longitudinal pixel deviation of the position of the central marker in the second image and the second preset reference image, the first distance deviation between the field bridge trolley and the actual position of the central marker in the direction parallel to the runway extension is determined.

[0032] When the operating road is a runway, determining the distance deviation between the yard crane trolley and the actual position of the center marker based on the position pixel deviation of the center marker in the second image and the second preset reference image further includes:

[0033] Based on the lateral pixel deviation of the position of the central marker in the second image and the second preset reference image, the second distance deviation between the field bridge trolley and the actual position of the central marker in the direction perpendicular to the runway extension is determined.

[0034] When the running road is a track, determining the target position of the yard crane trolley based on the actual position of the center marker and the distance deviation includes: determining the target position of the yard crane trolley based on the actual position of the center marker, the first distance deviation, and preset yard crane trolley track information;

[0035] When the operating road is a runway, determining the target position of the yard crane truck based on the actual position of the center marker and the distance deviation includes: determining the target position of the yard crane truck based on the actual position of the center marker, the first distance deviation, and the second distance deviation.

[0036] Secondly, embodiments of this application also provide a positioning device for a yard crane trolley, including a control calculation module, a first camera device, and a second camera device;

[0037] Both the first camera device and the second camera device are mounted on the yard crane trolley, and both the first camera device and the second camera device are communicatively connected to the control computing module;

[0038] The first camera device is a wide-angle camera device;

[0039] The control and calculation module is used to control the first camera device to capture a first image containing at least one marker, and based on the first image, control the yard crane trolley to run within a preset area; the marker is fixed at multiple positions along the extension direction of the yard crane trolley's running road, and the running road includes a runway and a track;

[0040] The control calculation module is also used to determine, based on the first image, any marker whose distance from the gantry crane is less than a preset distance as the central marker;

[0041] The control calculation module is also used to control the second camera device to capture a second image containing the central marker, and to determine the target position of the yard crane based on the second image.

[0042] Optionally, the first camera device is positioned at a first position on the gantry crane, and the second camera device is positioned at a second position on the gantry crane, with the first position being higher than the second position.

[0043] Thirdly, embodiments of this application also provide a positioning system for a yard crane, including a plurality of markers disposed in the yard crane running road track area and distributed along the extension direction of the yard crane running road track, and the positioning device described above.

[0044] Fourthly, embodiments of this application also provide a yard crane, characterized in that it includes the yard crane trolley positioning device as described above.

[0045] This application provides a method, device, system, and a yard crane positioning system. The method includes: firstly, during the operation of the yard crane, acquiring a wide-angle image containing a marker; and controlling the yard crane to operate within a preset area based on the wide-angle image; secondly, determining any marker whose distance from the yard crane is less than a preset distance as a central marker; then, acquiring a second image containing the central marker; and finally, determining the target position of the yard crane based on the second image. This ensures that the yard crane always operates within the preset area, enabling precise positioning of the yard crane and guaranteeing the normal operation of long-bridge cranes. Attached Figure Description

[0046] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0047] Figure 1 This is a flowchart illustrating the positioning method for the main trolley of a yard crane provided in an embodiment of the present invention. It also includes a structural schematic diagram.

[0048] Figure 2 This is a schematic diagram of the marker setting for a single track in the bridge trolley positioning method provided in an embodiment of the present invention.

[0049] Figure 3 This is a schematic diagram of the marker setting for the dual-track system in the bridge trolley positioning method provided in this embodiment of the invention.

[0050] Figure 4 This is a schematic diagram of the initial positioning process in the bridge trolley positioning method provided in the embodiments of this application.

[0051] Figure 5 This is provided by the embodiments of this application. Figure 4 A flowchart illustrating the specific implementation of step S203.

[0052] Figure 6 This is a schematic diagram of the precise positioning process in the bridge trolley positioning method provided in the embodiments of this application.

[0053] Figure 7 This is a structural schematic diagram of the yard crane positioning device provided in the embodiments of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Method Implementation Examples:

[0056] Figure 1 This is a flowchart illustrating the trolley positioning method for the yard crane provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method for positioning the gantry crane provided in this application includes:

[0057] S101. During the operation of the on-site bridge trolley, acquire the first image containing the marker.

[0058] Specifically, multiple markers are first installed along the operating route of the yard crane (including tracked and trackless runways). These markers can be track spikes, siding spikes, or a combination of track spikes and magnetic nails. They can be installed on flat areas of the ground near the runway, or, to prevent obstruction, in pre-designed recessed or raised areas. During operation, the yard crane can capture a first image containing at least one marker using a camera mounted on it.

[0059] It should be noted that the first image is a wide-angle image, meaning that the actual area covered by the image is relatively large. In addition, there are a large number of signs set up along the direction of the road where the large vehicles on the bridge are traveling. Therefore, by taking a wide-angle image with a wide-angle camera, it can be ensured that the first image containing at least one sign can be captured.

[0060] S102. Based on the first image, control the trolley to run within the preset area.

[0061] Specifically, the location of each marker is fixed and known, and can be recorded in various ways. For example, each marker can be assigned a preset number corresponding to its actual location, such as a position number. Alternatively, markers of different colors or shapes can be used, with color or shape corresponding to their actual locations. Based on the actual location of the markers and their positions in the wide-angle image, the location information of the yard crane trolley, or its positional relationship with a preset area, can be obtained. This allows for automatic control of the yard crane trolley's movement or sending command prompts to operators, such as warnings of deviation from the preset area and direction of movement, enabling operators to control the yard crane trolley to operate within the preset area.

[0062] S103. Determine any marker whose distance from the yard bridge trolley is less than a preset distance as the center marker.

[0063] Specifically, based on the first image, it can be calculated whether the distance between the gantry crane and a certain marker is less than a preset distance, that is, whether the gantry crane has moved to the vicinity of the center of a certain marker. If the distance between the gantry crane and a marker is less than the preset distance, it is determined that the gantry crane has moved to the vicinity of the center of the marker, and the marker is identified as the center marker.

[0064] S104. Obtain the second image containing the central marker.

[0065] S105. Based on the second image, determine the target position of the yard crane trolley.

[0066] Specifically, a second image containing the central marker can be obtained by other camera devices installed on the yard crane, such as a high-precision camera. Based on the actual position information of the central marker and its position in the second image, the target position of the yard crane can be determined. The obtained target position of the yard crane is the precise position of the yard crane, thus completing the precise positioning of the yard crane.

[0067] The method for positioning a gantry crane provided in this application involves pre-laying multiple markers in the gantry crane's operating area. These markers are fixed at multiple locations along the direction of the operating road, and the position of each marker is fixed and known, corresponding to a preset number. During the gantry crane's operation, a wide-angle first image containing at least one marker is acquired. Based on this first image, the gantry crane is controlled to operate within a preset area. Furthermore, based on the captured wide-angle image, any marker located at a distance less than a preset distance from the gantry crane is identified as the center marker. Then, a high-precision second image containing the center marker is acquired. Finally, based on the high-precision image, the target position of the gantry crane is determined. This ensures that the gantry crane always operates within the preset area and is accurately positioned, guaranteeing the normal operation of long-bridge cranes.

[0068] It should be noted that in this application, the first image can be captured in real time or at fixed intervals based on the spacing between markers. If no marker with a distance less than a preset distance from the gantry crane is found in the first image, the system can continue to determine whether a marker meeting the above conditions exists based on the next first image, until an image containing a marker meeting the conditions is captured.

[0069] In some embodiments, the method by which this application controls the operation of the gantry crane within a preset area based on a first image may specifically include:

[0070] For tracked gantry cranes, the first image can be used to determine whether the gantry crane is operating normally on the track. If the gantry crane is operating normally on the track, no action is required. If the gantry crane is operating normally on the track, the positional relationship between the gantry crane and the track can be used to control the gantry crane to return to the track, or to issue warnings and reminders to relevant personnel to control the gantry crane to return to the track.

[0071] For a trackless yard crane, which is a yard crane that runs on a road that is a runway, the yard crane can be initially positioned based on the first image to obtain the first position of the yard crane. Then, based on the positional relationship between the first position of the yard crane and the preset area, the yard crane can be controlled to run within the preset area.

[0072] It should be noted that because the first image is a wide-angle image, its field of view is relatively wide, and therefore its shooting accuracy is generally low. In this application, the purpose of the initial positioning of the gantry crane based on the first image is to determine whether the gantry crane has deviated far from the preset area and whether the gantry crane has moved near a certain marker. That is to say, it is not necessary to achieve precise positioning of the gantry crane based on the first image. Therefore, the first image is a wide-angle image, which can both capture a large area to determine the positional relationship between the gantry crane and the preset area, and also meet the need for rough positioning of the gantry crane to determine the relative position of the gantry crane and the marker.

[0073] In some embodiments, such as Figure 2 and Figure 3 As shown, the yard crane positioning method provided in this application can also set markers, such as track spikes with preset numbers, on both sides of the running track. Furthermore, the two markers distributed on both sides of the running track and aligned perpendicular to the runway direction can be assigned the same number. For yard cranes operating on a runway (trackless), or other scenarios with dual running tracks, track spikes can be set on the outer side of each track, and the two markers aligned perpendicular to the track direction can be assigned the same number, thereby improving the positioning speed when the yard crane deviates from different sides of the running track.

[0074] Figure 4 This is a flowchart illustrating the initial positioning process in the crane trolley positioning method provided in this application embodiment, as shown below. Figure 4 As shown, for a yard crane operating on a runway (i.e., a trackless runway), the initial positioning in the yard crane positioning method provided in this application embodiment includes:

[0075] S201. Identify any marker in the first image as the target marker.

[0076] S202. Determine the actual location of the target marker based on its preset number.

[0077] Specifically, as mentioned above, the first image is a wide-angle image, which contains at least one landmark. In practice, it may contain multiple landmarks. When performing the initial positioning of the gantry crane, any one of the landmarks in the first image can be used as the target landmark.

[0078] S203. Based on the position pixel deviation of the target marker in the first image and the first preset reference image, determine the distance deviation between the gantry crane and the actual position of the target marker.

[0079] In this application, the preset reference image is an image pre-captured at each marker location. The first preset reference image is an image captured at each marker using the same capturing device as the one used to capture the first image.

[0080] In some embodiments, the first preset reference image may be captured by a different camera device than the camera device that captured the first image, but the resolution and screen area of ​​the captured image are the same as the first image, or it may simply be an image with the same resolution and screen area as the first image after image processing.

[0081] In other embodiments, there can be multiple first preset reference images; that is, one first preset reference image is taken for each marker, and the marker can be centered in the image. After determining the target marker, it is only necessary to find the first preset reference image corresponding to the target marker to perform subsequent initial positioning. It should be noted that because the marker has a unique preset number, finding the image corresponding to a specific preset number is also easy to achieve, and the details will not be elaborated further.

[0082] It should be noted that the resolution of the first preset reference image is the same as that of the first image, and the captured image area is also the same. Therefore, the distance in reality corresponding to each pixel in the first preset reference image is the same as the distance in reality corresponding to each pixel in the first image. Thus, by identifying the pixel deviation between the target marker in the first image and the first preset reference image centered on the target marker, the deviation between the actual position of the yard crane and the target marker can be determined. Then, based on the preset number of the target marker, the actual position of the target marker can be obtained, and the first position of the yard crane can be obtained, completing the initial positioning of the yard crane.

[0083] Figure 5 This is provided by the embodiments of this application. Figure 4 A flowchart illustrating the specific implementation of step S203 is shown below. Figure 5 As shown, step S203 determines the distance deviation between the gantry crane and the actual position of the target marker based on the position pixel deviation of the target marker in the first image and the first preset reference image. Specifically, it may also include:

[0084] S2031. Based on the longitudinal pixel deviation of the target marker's position in the first image and the first preset reference image, determine the first distance deviation between the field bridge trolley and the actual position of the target marker in the direction parallel to the runway extension.

[0085] S2032. Based on the lateral pixel deviation of the target marker's position in the first image and the first preset reference image, determine the second distance deviation between the field bridge trolley and the actual position of the target marker in the direction perpendicular to the runway extension.

[0086] Specifically, since the actual distance represented by each pixel is the same in the first image and the first preset reference image, the deviation of the corresponding actual distance can be obtained based on the determined vertical or horizontal pixel deviation.

[0087] In practical applications, there are various methods for determining the actual position of a reference object based on pixel deviations across multiple images. Examples are provided below:

[0088] For example, the position of the gantry crane can be aligned with the centerline of the first image by setting the position of the shooting device. Taking the horizontal direction as an example, the horizontal centerline of the first image represents the position of the gantry crane, and the centerline of the first preset reference image represents the distance to the target marker. By calculating the horizontal pixel difference of the target marker in the first image and the first preset reference image, the actual distance corresponding to each pixel, and the known actual position of the target marker, the actual position of the gantry crane can be obtained, which is the first position mentioned above.

[0089] It should be noted that when the large vehicle is traveling normally along the runway, the longitudinal pixel deviation determines the deviation between the large vehicle and the target marker in the direction parallel to the runway extension, which is the deviation of the large vehicle's direction; while the lateral pixel deviation determines the deviation between the large vehicle and the target marker in the direction perpendicular to the runway extension, which is the deviation of the small vehicle's direction.

[0090] S204. Based on the actual position and distance deviation of the target marker, determine the first position of the yard crane trolley.

[0091] Specifically, after determining the deviations of the actual positions of the yard crane and the target marker in two directions in the above steps, the first position of the yard crane can be obtained by combining the actual position of the target marker with the two deviations.

[0092] For example, the deviation value can be set to positive or negative based on the direction of the pixel deviation. After obtaining the deviation value, the actual position of the target marker can be added to the deviation value to obtain the first position of the gantry crane. Alternatively, the first position can be obtained by directly adding or subtracting based on the direction of the deviation.

[0093] S205. Based on the positional relationship between the first position of the yard crane and the preset area, control the yard crane to run within the preset area.

[0094] Specifically, after obtaining the approximate location of the yard crane, the system can automatically control the yard crane to run to the preset area, or send a reminder to the host computer or operator so that the host computer or operator can control the yard crane to run within the preset area.

[0095] Furthermore, in this application, the initial positioning of the yard crane operating on a trackless runway aims to control its movement within a predetermined area and to determine the center marker. Similarly, for yard cranes operating on tracks, the same method can be used for initial positioning to determine the center marker. However, since determining whether a yard crane has moved off the track is relatively simple for those operating on tracks, other methods can be used to determine the center marker for yard cranes operating on guide rails, such as directly determining the center marker based on the positional relationship between the shooting angle and the marker in the first image. After determining the center marker based on the first image, a second image containing the center marker is captured to accurately position the yard crane based on the second image. Figure 6 As shown, precise positioning includes:

[0096] S301. Determine the actual position of the central marker based on its preset number.

[0097] S302. Based on the position pixel deviation of the central marker in the second image and the second preset reference image, determine the distance deviation between the gantry crane and the actual position of the central marker.

[0098] Specifically, the second image can be a high-precision, high-resolution image captured by a high-precision imaging device. Because the first image is a wide-angle image, the resolution of the second image is much higher than that of the first image. The relationship between the second preset reference image and the second image is the same as the relationship between the first preset reference image and the first image described above, so it will not be repeated here.

[0099] S303. Based on the actual position and distance deviation of the center marker, determine the target position of the yard crane trolley.

[0100] Similar to the initial positioning process described above, when precisely positioning the bridge trolley based on the second image and the second preset reference image, it also includes determining the first distance deviation between the bridge trolley and the actual position of the center marker in the direction parallel to the runway extension based on the longitudinal pixel deviation of the center marker's position in the second image and the second preset reference image.

[0101] When the running road is a runway, the method also includes determining the second distance deviation between the field bridge trolley and the actual position of the center marker in the direction perpendicular to the runway extension, based on the lateral pixel deviation of the center marker's position in the second image and the second preset reference image.

[0102] Finally, for the yard bridge trolley operating on the track, the actual position of the center marker can be obtained directly from the preset number of the center marker, and the first and second distance deviations between the yard bridge trolley and the center marker determined based on the second image can be used to determine the target position of the yard bridge trolley. The target position is determined as the result of the precise positioning of the yard bridge trolley, i.e., the precise position.

[0103] For the overhead crane truck operating on the runway, the actual position of the center marker can be obtained based on its preset number. The target position of the overhead crane truck can then be determined by calculating the first and second distance deviations between the overhead crane truck and the center marker based on the second image. This target position is the result of the overhead crane truck's precise positioning, i.e., its accurate position. The detailed calculation process can be understood by referring to the initial positioning process described above, and will not be repeated here.

[0104] In a complete implementation process, the field bridge trolley positioning method provided in this application includes firstly acquiring a wide-angle first image including markers, using any marker in the first image as a target marker. For track-mounted field bridge trolleys, the trackless field bridge trolley can be controlled to run on the track directly using the track position information in the first image, and the center marker can be determined directly using the first image or using the same method as determining the center marker for trackless track bridge trolleys. For trackless track bridge trolleys, the approximate position of the field bridge trolley can be determined based on the pixel deviation of the target marker in the first image and in a pre-shot first preset reference image with the same resolution and shooting range as the first image, and the actual position of the target marker obtained according to the preset number of the target marker. Then, based on the approximate position of the field bridge trolley, the field bridge trolley is controlled to run within a preset area, and a center marker with a distance less than a preset distance from the field bridge trolley is determined. Then, a high-precision second image including the center marker is captured for both types of field bridge trolleys. Based on the same principle as the above approximate positioning, the field bridge trolley is precisely positioned based on the second image and the second preset reference image to obtain the precise position of the field bridge trolley. In this way, the control of the yard crane truck within the preset area is achieved, and its precise positioning is realized, thus solving the problem in the prior art that the yard crane truck cannot be located after it has moved out of the preset road range.

[0105] Equipment Example:

[0106] Figure 7 This is a schematic diagram of the structure of the yard crane positioning device provided in the embodiments of this application, as shown below. Figure 7 As shown, the trolley positioning device for the yard crane provided in this application embodiment includes a first camera device 1, a second camera device 2, and a control calculation module 3;

[0107] The first camera device 1 and the second camera device 2 are both installed on the yard crane trolley, and both the first camera device 1 and the second camera device 2 are communicatively connected to the control computing module 3;

[0108] Specifically, the first camera device 1 is a wide-angle camera device, and the second camera device 2 can be a regular camera device (neither wide-angle nor high-precision) or a high-precision camera device. The control computing module can be a device installed on the trolley of the yard crane, or it can be a remote control computing module that communicates with the first camera device 1 and the second camera device 2, such as a remote industrial control computer.

[0109] The control calculation module 3 is used to control the first camera device 1 to capture a first image including at least one marker set in the direction of the extension of the running road, and based on the first image, control the yard bridge trolley to run within a preset area, wherein the running road includes a track and a runway.

[0110] The control calculation module 3 is also used to determine, based on the first image, any marker whose distance from the yard bridge trolley is less than a preset distance as the center marker.

[0111] The control and calculation module 3 is also used to control the second camera device 2 to capture a second image containing the central marker, and to determine the target position of the yard bridge trolley based on the second image.

[0112] In some embodiments, the first camera device 1 can be positioned at a higher position on the gantry crane, while the second camera device 2 can be positioned at a lower position on the gantry crane, thereby enabling the first camera device to capture images of a wider range and the second camera device to capture more accurate images of the ground.

[0113] The track bridge positioning system provided in this application uses a first camera device to capture images of markers placed along the track bridge's operating route (including the track and runway). For track bridges running on the track, based on the position information of the guide rail in the first image, the system controls the track bridge to run on the guide rail and directly determines the center marker based on the first image, or determines the center marker using the same method as for runway track bridges. For track bridges running on the runway, based on the first image and the known actual positions of the markers, the system performs initial positioning of the track bridge to obtain a coarse position. Based on the coarse position, the system controls the track bridge to run within a preset area and determines the center marker located at a distance less than a preset distance from the track bridge. Then, for both types of track bridges, based on the center marker, a second image containing the center marker is captured using a high-precision camera device. Based on the second image and the known actual positions of the center marker, the system performs precise positioning of the track bridge to obtain its precise position. The markers can be track spikes with preset numbers corresponding to their actual positions. In this way, the gantry crane can be controlled to always run within the preset area and can be positioned with high precision, while greatly reducing positioning costs.

[0114] System Implementation Example:

[0115] Based on the same inventive concept, this application also provides a yard crane positioning system, including multiple markers set in the yard crane operating road area and distributed along the extension direction of the yard crane operating road. The operating road includes tracks and a runway, and the markers can be track spikes with preset numbers corresponding to their actual positions. This system can control the yard crane to always operate within the preset area and perform high-precision positioning, while significantly reducing positioning costs.

[0116] Example of a yard bridge:

[0117] Based on the same inventive concept, this application also provides a yard crane, including the long-bridge trolley positioning device as provided in the above-described equipment embodiments. By installing the yard crane positioning device provided in the above embodiments on the yard crane, the yard crane provided in this application can be controlled to always run within a preset area and can be positioned with high precision.

[0118] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for positioning a large trolley in a yard crane, characterized in that, include: During the operation of the gantry crane, a first image containing markers is acquired. The first image is a wide-angle image. The markers are fixed at multiple positions along the extension direction of the gantry crane's operating road, which includes a runway and a track. Each marker is assigned a preset number corresponding to its actual position. Based on the first image, control the trolley to run within a preset area; When the running road is a runway, controlling the yard crane trolley to run within a preset area based on the first image includes: performing initial positioning of the yard crane trolley based on the first image to obtain the first position of the yard crane trolley; and controlling the yard crane trolley to run within the preset area based on the positional relationship between the first position of the yard crane trolley and the preset area. In addition, any marker whose distance from the yard bridge trolley is less than a preset distance is designated as the central marker; Acquire a second image containing the central landmark; Based on the second image, the target position of the yard crane truck is determined; The step of determining the target position of the yard crane trolley based on the second image includes: determining the actual position of the center marker based on the preset number of the center marker; determining the distance deviation between the yard crane trolley and the actual position of the center marker based on the position pixel deviation of the center marker in the second image and the second preset reference image; the second preset reference image is an image containing the center marker that was previously taken at the position of the center marker; and determining the target position of the yard crane trolley based on the actual position of the center marker and the distance deviation.

2. The method for positioning the gantry crane according to claim 1, characterized in that, When the running road is a track, controlling the yard crane trolley to run within a preset area based on the first image includes: controlling the yard crane trolley to run on the track based on the first image.

3. The method for positioning the main trolley of the yard crane according to claim 1, characterized in that, The initial positioning of the yard crane trolley based on the first image to obtain the first position of the yard crane trolley includes: Identify any one of the landmarks in the first image as the target landmark; The actual location of the target marker is determined based on its preset number. Based on the positional pixel deviation of the target marker in the first image and the first preset reference image, the distance deviation between the yard crane trolley and the actual position of the target marker is determined; the first preset reference image is an image containing the target marker that was taken in advance at the position of the target marker. Based on the actual position of the target marker and the distance deviation, the first position of the yard crane is determined.

4. The method for positioning the trolley of the yard crane according to claim 3, characterized in that, The step of determining the distance deviation between the gantry crane and the actual position of the target marker based on the pixel deviation of the target marker in the first image and the first preset reference image includes: Based on the longitudinal pixel deviation of the target marker in the first image and the first preset reference image, the first distance deviation between the field bridge trolley and the actual position of the target marker in the direction parallel to the runway extension is determined. Based on the lateral pixel deviation of the target marker's position in the first image and the first preset reference image, a second distance deviation between the field bridge trolley and the actual position of the target marker in the direction perpendicular to the runway extension is determined. Determining the first position of the yard crane trolley based on the actual position of the target marker and the distance deviation includes: The first position of the yard crane is determined based on the actual position of the target marker, the first distance deviation, and the second distance deviation.

5. The method for positioning the main trolley of the yard crane according to claim 1, characterized in that, The step of determining the distance deviation between the gantry crane and the actual position of the central marker based on the pixel deviation of the central marker in the second image and the second preset reference image includes: Based on the longitudinal pixel deviation of the position of the central marker in the second image and the second preset reference image, the first distance deviation between the field bridge trolley and the actual position of the central marker in the direction parallel to the runway extension is determined. When the operating road is a runway, determining the distance deviation between the yard crane trolley and the actual position of the center marker based on the position pixel deviation of the center marker in the second image and the second preset reference image further includes: Based on the lateral pixel deviation of the position of the central marker in the second image and the second preset reference image, the second distance deviation between the field bridge trolley and the actual position of the central marker in the direction perpendicular to the runway extension is determined. When the running road is a track, determining the target position of the yard crane trolley based on the actual position of the center marker and the distance deviation includes: determining the target position of the yard crane trolley based on the actual position of the center marker, the first distance deviation, and preset yard crane trolley track information; When the operating road is a runway, determining the target position of the yard crane truck based on the actual position of the center marker and the distance deviation includes: determining the target position of the yard crane truck based on the actual position of the center marker, the first distance deviation, and the second distance deviation.

6. A positioning device for a yard crane trolley, characterized in that, It includes a control computing module, a first camera device, and a second camera device; Both the first camera device and the second camera device are mounted on the yard crane trolley, and both the first camera device and the second camera device are communicatively connected to the control computing module; The first camera device is a wide-angle camera device; The control and calculation module is used to control the first camera device to capture a first image containing the markers, and based on the first image, control the yard crane to run within a preset area; the markers are fixed at multiple positions along the extension direction of the yard crane's running road, and the running road includes a runway and a track; each marker is provided with a preset number corresponding to its actual position; The control calculation module is specifically used to perform initial positioning of the yard crane trolley based on the first image to obtain the first position of the yard crane trolley; and to control the yard crane trolley to run within the preset area based on the positional relationship between the first position of the yard crane trolley and the preset area. The control calculation module is also used to determine, based on the first image, any marker whose distance from the gantry crane is less than a preset distance as the central marker; The control calculation module is also used to control the second camera device to capture a second image containing the central marker, and to determine the target position of the yard crane based on the second image; The control calculation module is specifically used to: determine the actual position of the central marker based on its preset number; determine the distance deviation between the yard crane trolley and the actual position of the central marker based on the position pixel deviation of the central marker in the second image and the second preset reference image; the second preset reference image is an image containing the central marker that was previously taken at the position of the central marker; and determine the target position of the yard crane trolley based on the actual position of the central marker and the distance deviation.

7. The yard crane positioning device according to claim 6, characterized in that, The first camera device is installed at a first position on the yard crane trolley, and the second camera device is installed at a second position on the yard crane trolley, with the first position being higher than the second position.

8. A positioning system for a yard crane trolley, characterized in that, It includes a plurality of markers set up in the area where the yard crane and large vehicle operate, and distributed along the extension direction of the yard crane and large vehicle operating road, and a positioning device as described in any one of claims 6-7.

9. A field bridge, characterized in that, Includes the yard crane positioning device as described in any one of claims 6-7.

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