The invention discloses an automatic container grabbing method and system based on vision, and the method comprises the steps: randomly selecting a pair of corner points from the four corner points of a lifting appliance, respectively installing cameras, and respectively collecting the images of the lockholes of the containers at the corresponding positions below through the cameras; using a deep learning-based method to train a lockhole positioning model; when the lifting appliance runs to a fixed height H away from the lower box surface, continuously and repeatedly positioning a to-be-recognized lockhole area through the lockhole positioning model, and determining a final lockhole positioning point through mean value calculation; converting the lockhole positioning point into a corresponding world coordinate point; the offset of the lifting appliance relative to the lock hole of the box to be grabbed is calculated by combining the lock hole datum point, the position of the lifting appliance is adjusted according to the offset until all the offsets meet the threshold value requirement, and finally the lifting appliance is lowered to complete box grabbing. Through a visual detection method, the position and posture of the lifting appliance are continuously adjusted, the function that the lifting appliance grabs the container below is achieved, and the automatic container grabbing efficiency can be improved.

    本发明公开一种基于视觉的集装箱自动抓箱方法及系统,所述方法包括:在吊具的四个角点上任意选取一对角点分别安装相机,通过相机分别采集下方对应位置的集装箱锁孔图像;使用基于深度学习的方法训练锁孔定位模型;当吊具运行到距离下方箱面固定高度H时,连续多次通过锁孔定位模型定位出待识别锁孔区域,通过均值计算确定最终的锁孔定位点;将锁孔定位点转换为对应的世界坐标点;结合锁孔基准点计算吊具相对于待抓箱锁孔的偏移量,根据偏移量对吊具位置进行调整,直到所有偏移量均满足阈值要求,最后下放吊具完成抓箱。本发明通过视觉检测方法,对吊具的位置和姿态不断调整,实现吊具对下方集装箱的抓取功能,可以提高自动化抓箱效率。


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    Title :

    Automatic container grabbing method and system based on vision


    Additional title:

    一种基于视觉的集装箱自动抓箱方法及系统


    Contributors:
    ZOU YONGKAI (author) / LI HENG (author) / SHI XIANCHENG (author) / CAO ZHIJUN (author) / ZHANG TAO (author)

    Publication date :

    2023-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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