The invention discloses a vehicle container alignment method and device. A vehicle parking point is calibrated in advance through a camera; the method comprises the following steps: 1) when a vehiclearrives at an recognition area of a lane, reading a video stream of a camera, and decoding the video stream into a picture; 2) adding and subtracting a certain range according to the calibrated vehicle parking points, and cutting the picture; 3) inputting the cut image into a pre-trained MaskRCNN neural network to obtain a binary image, and calculating according to the binary image to obtain a container center point; and 4) acquiring a vehicle parking point, calculating the Euclidean distance between the central point of the container and the vehicle parking point, and guiding the vehicle to move to an accurate parking position according to the Euclidean distance. According to the method and the device, the container can be directly grabbed without adjusting the position of the vehicle when the vehicle position is adjusted in advance and the lifting appliance is in place, so that the ship loading and unloading efficiency is improved.
一种车辆的集装箱对位方法和装置,预先通过摄像头标定车辆停车点;其余步骤如下:1)当车辆到达车道的识别区域,读取摄像头的视频流,解码成图片;2)根据标定的车辆停车点,加减一定范围,对图片进行剪裁;3)将剪裁得到的图像输入预先训练好的Mask RCNN神经网络,得到二值化图,根据二值化图计算得到集装箱中心点;4)获取车辆停车点,计算集装箱中心点与车辆停车点的欧式距离,根据欧式距离引导车辆移动到达准确的停车位置。本发明的方法和装置,通过事先调整车辆位置,吊具到位时,能直接抓起集装箱,不用再调整车辆位置,提高装卸船效率。
A container alignment method of vehicle
一种车辆的集装箱对位方法
2020-10-16
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2023
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