The invention discloses a ship scanning and lifting appliance anti-collision system and method based on laser and vision fusion. The system comprises a laser scanner, a vision acquisition instrument, a ship scanning vision controller, a ship scanning laser controller and a quay crane PLC. The laser scanner and the visual acquisition instrument carry out continuous scanning and image shooting on the ship contour and the container stacking contour on the ship according to the scanning instruction and the shooting instruction, and the ship scanning visual controller carries out image processing on the shot image to obtain a ship contour three-dimensional space image; the ship scanning laser controller obtains ship contour point cloud data according to the received scanning data, corrects the ship contour point cloud data according to the received ship contour three-dimensional space image, achieves accurate scanning and recognition of the ship contour, and controls movement of the quay crane trolley and lifting of the lifting appliance through the quay crane PLC. The quay crane sling can avoid obstacles, and sea-land side soft landing of the container is achieved.
本发明公开了一种基于激光和视觉融合的船舶扫描和吊具防撞系统及方法,该系统包括激光扫描仪、视觉采集仪、船舶扫描视觉控制器、船舶扫描激光控制器、岸桥PLC控制器。激光扫描仪和视觉采集仪根据扫描指令和拍摄指令,对船舶轮廓和船舶上集装箱堆码轮廓进行连续扫描和图像拍摄,船舶扫描视觉控制器对拍摄的图像进行图像处理,得到船舶轮廓立体空间图像;船舶扫描激光控制器根据接收的扫描数据,得到船舶轮廓点云数据,并根据接收的船舶轮廓立体空间图像,对船舶轮廓点云数据进行校正,实现对船舶轮廓的精确扫描与识别,并通过岸桥PLC控制器,控制岸桥小车的移动和吊具的升降,实现岸桥吊具避障,实现集装箱海陆侧软着陆。
Ship scanning and lifting appliance anti-collision system and method based on laser and vision fusion
基于激光和视觉融合的船舶扫描和吊具防撞系统及方法
30.06.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
Ship anti-collision integrated method and system based on thunder-vision fusion
Europäisches Patentamt | 2025
|Lifting appliance operation anti-collision method, device and equipment and crane
Europäisches Patentamt | 2022
|Anti-collision control system and method for lifting appliance of container reach stacker
Europäisches Patentamt | 2024
|