The invention provides an automatic container grabbing and releasing system based on machine vision and an operation method. The automatic container grabbing and releasing system comprises a ground identification unit, an image acquisition module, an image processing module and a control module; ground identifications are arranged on the ground of a storage yard in a linear array mode and fixed to the ground; the ground identifications at least correspond to the end point position of one container placing position; the image acquisition module comprises a plurality of industrial cameras and pinhole cameras, and the industrial cameras are symmetrically arranged at the end positions in the extension direction of the two long sides; the pinhole cameras are arranged at locksets on two short edges of the lifting appliance correspondingly; the image processing module is used for receiving images, shot by the first industrial camera and the second industrial camera, of the ground identifications and lockhole images or container corner images, shot by the pinhole cameras, of the containers below the lifting appliance; the relative poses of the ground identifications and the container identifications in the cameras are calculated, and the relative poses are converted into the angle offset and the position offset of the lifting appliance relative to the ground identifications; and the control module correspondingly sends out a container grabbing and releasing control signal.
本发明提供了一种基于机器视觉的集装箱自动抓放系统及操作方法,包括地面标识单元、图像采集模块、图像处理模块和控制模块;地面标识线性阵列排布在堆场的地面上并固定在地面;地面标识至少与一个集装箱放置位置的端点位置相对应;图像采集模块包括若干工业相机和针孔相机,工业相机对称设置在两长边延伸方向的端部位置;针孔相机分别设置在吊具的两短边上的锁具处;图像处理模块,接收第一工业相机和第二工业相机拍摄的地面标识的图像以及各针孔相机拍摄的吊具下方的集装箱的锁孔图像或者箱角图像,计算地面标识、集装箱标识在相机中的相对位姿并换算为吊具相对地面标识的角度偏移量和位置偏移量;控制模块对应的发出抓放箱控制信号。
Automatic container grabbing and releasing system based on machine vision and operation method
一种基于机器视觉的集装箱自动抓放系统及操作方法
2022-01-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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