The invention provides a box grabbing control method, device and system, hoisting equipment and a storage medium. The box grabbing control method is applied to the hoisting equipment. The hoisting equipment comprises a driving trolley, a lifting appliance and an image acquisition unit. The method comprises the steps that when the distance between a lifting appliance and a container is larger than a first distance threshold value, multiple first target images are collected; each first target image at least comprises a first marker of the edge of the lifting appliance and one edge of the top surface of the container; determining a first deviation between a first marker in each first target image and the edge of the container; the position of the lifting appliance is adjusted according to the multiple first deviations; when the distance between the lifting appliance and the container is smaller than or equal to a first distance threshold value, multiple second target images are collected, and each second target image at least comprises the corner of one lifting appliance and the corner of the top face of the container; determining a second deviation between the marker in each second target image and the box angle; and adjusting the position of the lifting appliance according to the plurality of second deviations.

    本申请提供一种抓箱控制方法、装置及系统、起重设备及存储介质。该抓箱控制方法应用于起重设备,起重设备包括驱动小车、吊具及图像采集单元;该方法包括:当吊具与集装箱的距离大于第一距离阈值时,采集多个第一目标图像;每个第一目标图像至少包括吊具边缘的第一标志物和集装箱顶面的一个边缘;确定每个第一目标图像中的第一标志物与集装箱的边缘的第一偏差;根据多个第一偏差,调节吊具的位置;当吊具距离集装箱的距离小于或等于第一距离阈值时,采集多个第二目标图像,其中,每个第二目标图像至少包括一个吊具的角和集装箱的顶面的箱角;确定每个第二目标图像中的标志物与箱角的第二偏差;根据多个第二偏差,调节吊具的位置。


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    Title :

    Box grabbing control method, device and system, hoisting equipment and storage medium


    Additional title:

    抓箱控制方法、装置及系统、起重设备及存储介质


    Contributors:
    ZHU LINGUI (author) / DUAN PANPAN (author) / LIAO ZHENGQING (author)

    Publication date :

    2024-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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