The invention provides a container automatic loading and unloading operation outer container truck automatic container landing method and device, and the method comprises the steps: building a container truck laser point cloud image database, arranging a supporting rod beside a parking lane of a target wharf container yard, arranging a 3D laser scanner on the supporting rod, obtaining the coordinate position of the 3D laser scanner relative to a hoisting system through calibration, and carrying out the automatic loading and unloading operation. Establishing a lock head position determination model, obtaining the type of the corresponding container truck in the container truck laser point cloud image through machine learning, detecting a first lock head and a second lock head in the container truck laser point cloud image through a target detection algorithm, obtaining the coordinate positions of the first lock head and the second lock head relative to the hoisting system, and determining the position of the first lock head. According to the obtained types, the relative distance between the lock heads in the corresponding container trucks in the container truck laser point cloud images is determined, the coordinate positions of other lock heads relative to the hoisting system are judged, the positions of the lock heads of the container trucks can be accurately obtained, and containers can be conveniently hoisted.

    本发明提供一种集装箱自动化装卸作业外集卡自动着箱方法及装置,包括建立集卡激光点云图像数据库,在目标码头集装箱堆场的停车车道旁设置支杆,在支杆上设置3D激光扫描仪,通过标定获3D激光扫描仪仪相对于吊装系统的坐标位置,建立锁头位置确定模型,通过机器学习获取集卡激光点云图像中对应的集卡的类型,通过目标检测算法检测出集卡激光点云图像中的第一锁头和第二锁头,获取第一锁头和第二锁头相对于吊装系统的坐标位置,根据获取的类型确定集卡激光点云图像中对应的集卡中各个锁头之间的相对距离,判断其他锁头相对于吊装系统的坐标位置,本发明能够准确获取集卡的各个锁头位置,方便吊装集装箱。


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    Title :

    Automatic container landing method and device for outer container truck in container automatic loading and unloading operation


    Additional title:

    一种集装箱自动化装卸作业外集卡自动着箱方法及装置


    Contributors:
    TONG JIE (author) / CHEN ZHUO (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES




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