A method, system, equipment and medium for positioning and unloading containers in a port.

Abstract

This invention provides a method, system, equipment, and medium for positioning and handling containers in ports, belonging to the field of port automation and machine vision positioning technology. The method includes: acquiring images of the container surface and synchronous spreader motion data; evaluating the jitter amplitude and combining image analysis with lighting conditions, adaptively selecting or fusing multispectral images to generate an anti-interference image; extracting corner coordinates and inputting them, along with the motion data, into a vision-inertial tightly coupled optimization model for state estimation, solving for real-time pose; using the motion data to drive a spreader-load dynamics model to predict future pose deviations caused by inertia and swaying; fusing feedback control quantities based on real-time pose and feedforward compensation quantities based on predicted deviations to generate precise control commands for driving the spreader. This invention overcomes the problems of image quality degradation and feature loss caused by strong light, weak light, and spreader swaying, achieving high-precision and robust container positioning and alignment in complex dynamic environments.

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