The invention discloses a quay crane object identification method, which comprises the following steps of: recording an initial lifting height after a lifting appliance is locked at the position of a lifting object; determining the initial average height of the part in the shell according to the point cloud data obtained by scanning along the cart direction by the laser equipment; when the lifting height of the lifting object is greater than the preset height, recording the current lifting height and the current average height of the point clouds in the shellfish, and calculating the lifting height difference and the average height difference; when the lifting height difference is larger than a second error, if the average height difference is larger than a first error, it is determined that the hanging object is a hatch cover plate; if the average height difference is smaller than a first error, it is determined that the hanging object is a container; wherein the first error is less than the second error. By analyzing and comparing the lifting height difference of the lifting object and the height difference of the point clouds in the shellfish obtained by scanning in the cart direction, whether the lifting object is the hatch cover plate or not is effectively judged.
本申请公开了一种岸桥吊载物识别方法,所述方法包括:待吊具在所述吊载物处完成闭锁后,记录初始起升高度;根据激光设备沿大车方向进行扫描所获取到的点云数据,确定贝内部分初始平均高度;当所述吊载物起升高度大于预设高度后,记录当前起升高度和贝内部分点云当前平均高度,并计算起升高度差和平均高度差;当所述起升高度差大于第二误差时,若所述平均高度差大于第一误差,则确定所述吊载物为舱盖板;若所述平均高度差小于第一误差,则确定所述吊载物为集装箱;其中所述第一误差小于第二误差。本申请通过对吊载物的起升高度差以及沿大车方向扫描得到的贝内部分点云高度差进行分析比较,有效判别吊载物是否为舱盖板。
Shore crane identification method and device and ship sweeping system
一种岸桥吊载物识别方法、装置和船扫系统
2024-06-21
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Shore crane electric room air conditioning system, dehumidification method and shore crane
European Patent Office | 2020
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