The invention relates to the field of automatic unmanned hook picking and hooking for hoisting transportation, and discloses a visual identification-based horizontal lifting lug ton bag automatic hook picking and hooking system, which comprises a visual identification device, a hoisting sling device and a horizontal lifting lug ton bag. The visual identification device is installed on transfer equipment such as a crane and a forklift which are used for lifting the ton bag, the visual identification device uses three-dimensional perception sensors such as a binocular camera, a structured light sensor and a laser radar to obtain three-dimensional information of a lifting appliance, the ton bag and a ton bag lifting lug, and detection and navigation of hook picking and hooking actions of the ton bag lifting lug are achieved. The lifting sling device is a novel sling designed for the ton bag with the horizontal lifting lugs, and the ton bag with the horizontal lifting lugs is a novel ton bag designed for facilitating hanging of the lifting lugs. The three-dimensional sensing technology is fully utilized, the poses of the ton bag lifting lugs are recognized, then the automatic hook picking and hooking actions of the lifting appliance are controlled, the intelligent degree is high, consumption of manpower resources is reduced, and the safety protection level is improved.

    本发明涉及起重运输自动无人摘挂钩领域,公开了一种基于视觉识别的水平式吊耳吨袋自动摘挂钩系统,包括视觉识别装置和起升吊具装置,以及水平式吊耳吨袋。视觉识别装置安装在对吨袋执行吊运动的起重机、叉车等转运设备上,视觉识别装置使用双目相机、结构光传感器、激光雷达等三维感知传感器,获取吊具、吨袋、吨袋吊耳的三维信息,实现对吨袋吊耳摘挂钩动作的检测与导航,起升吊具装置为针对水平式吊耳吨袋进行设计的新型吊具,水平式吊耳吨袋是为方便吊耳悬挂而设计的新型吨袋。本发明充分利用了三维感知技术,对吨袋吊耳的位姿进行识别,进而控制吊具的自动摘挂钩动作,智能化程度高,减少人力资源的消耗及提高了安全防护等级。


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    Title :

    Horizontal lifting lug ton bag automatic hook picking and hooking system based on visual identification


    Additional title:

    一种基于视觉识别的水平式吊耳吨袋自动摘挂钩系统


    Contributors:
    ZHAO KEYUAN (author) / JIA XUANBIN (author) / XU GENING (author) / QI QISONG (author) / DONG QING (author)

    Publication date :

    2022-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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