The invention provides a quay crane ship box arrangement self-adaptive positioning method, which comprises the following steps that a depth camera is mounted on a gantry crane cross beam, and a laser scanner is mounted at the bottom of a quay top bridge trolley; establishing a reference coordinate system at the PLC; the depth camera obtains an RGB image and a depth image of the clamping plate area, and the clamping plate area in the RGB image is positioned; corresponding three-dimensional coordinates of a clamping plate area in the RGB image in a depth camera coordinate system are solved point by point, clamping plate point clouds of a depth camera are obtained, and then the clamping plate point clouds of the depth camera are uniformly converted into a reference coordinate system at a PLC; the ship body point cloud obtained by the laser scanner is converted into a reference coordinate system at the PLC, positioning is carried out in the reference coordinate system, conditional filtering is carried out, and the point cloud of the clamping plate part in the ship body point cloud generated by the laser scanner under the reference coordinate system at the PLC is obtained; and further determining the position of the container to be placed in the operation direction of the shore top bridge trolley.

    本发明提供了一种岸桥船箱排位自适应定位方法,包括如下步骤:在龙门吊横梁上安装深度相机,并在岸顶桥小车底部安装激光扫描仪;建立PLC处的参考坐标系;深度相机获取夹板区域的RGB图像和深度图像,对RGB图像中的夹板区域进行定位;将RGB图像中的夹板区域逐点求取对应在深度相机坐标系中三维坐标,得到深度相机的夹板点云,再将深度相机的夹板点云统一转换到PLC处的参考坐标系中;将激光扫描仪获取的船身点云转换到PLC处的参考坐标系中,并在参考坐标系中定位并进行条件滤波,得到PLC处的参考坐标系下激光扫描仪生成的船身点云中的夹板部分的点云;进一步确定待放置的集装箱在岸顶桥小车运行方向上的位置。


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    Title :

    Self-adaptive positioning method for arrangement of quay crane ship boxes


    Additional title:

    一种岸桥船箱排位自适应定位方法


    Contributors:
    WAN JINJIAN (author) / LI HENG (author) / SHI XIANCHENG (author) / CAO ZHIJUN (author) / ZHANG TAO (author)

    Publication date :

    2023-08-08


    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 / G06V



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