The invention discloses a vision system, a reach stacker and an automatic container grabbing control method of the reach stacker. The reach stacker comprises the vision system and a control system. The vision system is used for identifying target container lockhole positions, acquiring a current sling position of the reach stacker and a target sling position, constructing a spatial geometric relationship diagram of a current state and a target state according to the acquired current sling position of the reach stacker and the acquired target sling position, and determining a displacement valueof a target sling. The control system is connected with the vision system and used for receiving the displacement value, controlling the reach stacker to act according to the displacement value, andadjusting the reach stacker from the current sling position to the target sling position to make sling twistlocks correspondingly inserted into container lockholes. According to the vision system, thereach stacker and the automatic container grabbing control method of the reach stacker, the hosting automation level of the reach stacker is improved, and the labor intensity of an operator is reduced; and the oil consumption and abrasion of the reach stacker are reduced while the work efficiency of the reach stacker is improved, and the economic benefit of equipment is increased.

    本发明公开了一种视觉系统、正面吊及其自动抓箱控制方法,正面吊包括视觉系统和控制系统,其中,视觉系统,用于识别目标集装箱锁孔位置,获取正面吊的当前吊具位置和目标吊具位置;并根据获取的正面吊的当前吊具位置和目标吊具位置,构建当前状态和目标状态的空间几何关系图,确定目标吊具的位移值;控制系统与视觉系统相连,用于接收位移值,控制正面吊按照位移值进行动作,将正面吊由当前吊具位置调整至目标吊具位置,使吊具旋锁对应插入集装箱锁孔内。本发明提供的视觉系统、正面吊及其自动抓箱控制方法,提高正面吊吊装的自动化水平,降低操作人员的劳动强度;可提高正面吊作业效率的同时,降低正面吊的油耗和磨损,增加设备的经济效益。


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    Title :

    Vision system, reach stacker and automatic container grabbing control method of reach stacker


    Additional title:

    一种视觉系统、正面吊及其自动抓箱控制方法


    Contributors:
    FAN ZHIYONG (author) / TU LINGZHI (author) / LI YI (author) / LIANG GENGSHENG (author) / YANG YONG (author) / SUN BO (author)

    Publication date :

    2020-05-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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