The invention relates to a box grabbing control method, device and system, a field bridge automation system and a crane. The container grabbing control method is applied to the container grabbing control system, the system comprises a plurality of cameras evenly distributed on the periphery of a lifting appliance, the cameras are used for collecting sub-images of all lock holes of a container, the lock holes corresponding to the cameras are different from one another, and the method comprises the steps that a target image is obtained; the target image is obtained by splicing the sub-images; identifying each target lock hole in the target image, and detecting whether the target lock hole satisfies a preset position; the preset position comprises that a perpendicular bisector of a connecting line of specified positions of the target lockhole in any two adjacent sub-images passes through a central point of the target image; if the target lock hole does not meet the preset position, the position of the lifting appliance is adjusted, so that the target lock hole meets the preset position. Therefore, the changeable environmental influence of an operation site is avoided, repeated calibration is not needed, and it is ensured that the lifting appliance can accurately and efficiently grab the container in a storage yard.
本申请涉及一种抓箱控制方法、装置、系统及场桥自动化系统、起重机。抓箱控制方法应用于抓箱控制系统,该系统包括多个均布于吊具四周的摄像头,多个摄像头用于采集集装箱所有锁孔的子图像且各摄像头对应的锁孔互不相同,该方法包括:获取目标图像;目标图像由各子图像拼接得到;识别目标图像中的每个目标锁孔,并检测目标锁孔是否满足预设位置;预设位置包括:任意相邻的两幅子图像中目标锁孔指定位置的连线的中垂线经过目标图像的中心点;若目标锁孔不满足预设位置,调整吊具的位置,以使目标锁孔满足预设位置。如此,避免了作业现场多变的环境影响,也无需重复标定,确保了吊具能够在堆场中准确、高效地抓取到集装箱。
Box grabbing control method, device and system, yard crane automation system and crane
抓箱控制方法、装置、系统及场桥自动化系统、起重机
2022-12-13
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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