The invention aims to provide a method for positioning a container truck according to a binocular vision positioning algorithm and images acquired by a plurality of image acquisition devices. A plurality of image acquisition devices are mounted on a crane beam structure, and a specific rule for selecting the mounting positions of the image acquisition devices is provided. The visual angles of the image acquisition devices relative to the lifting appliance and the container truck are different, and parallax exists between the image acquisition devices. By setting the minimum value of the parallax angle and limiting the at least two image acquisition devices to be located on the same side of the lifting appliance, the accuracy of a result obtained by applying a binocular vision positioning algorithm is ensured. Therefore, the relative position relation between the container truck and the lifting appliance can be accurately obtained according to a binocular vision positioning algorithm and information in the to-be-analyzed image.
本发明致力于提供一种根据双目视觉定位算法和多个图像采集设备采集的图像,对集卡进行定位的方法。在起重机梁结构上安装多个图像采集设备且提出了选择图像采集设备安装位置的具体规则。各个图像采集设备相对于吊具和集卡的视角不同,互相之间具有视差。通过设定视差角最小值以及限制至少两个图像采集设备位于吊具的同一侧,保证应用双目视觉定位算法获得结果的准确性。使得可以依据双目视觉定位算法以及待分析图像中的信息,准确的获取集卡和吊具的相对位置关系。
Container truck positioning method and device, electronic equipment and storage medium
集卡定位方法、装置、电子设备和存储介质
2024-09-27
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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