The invention discloses a control method and device for grabbing and releasing a container and a crane. The grabbing and releasing efficiency of the container can be improved. The control method for grabbing and releasing the container is applied to the crane, the crane comprises a cross beam, a trolley capable of moving on the cross beam and a lifting appliance arranged below the trolley, and a plurality of first cameras are installed on the trolley; the control method for grabbing and releasing the container comprises the steps that when a lifting appliance is controlled to descend, a first camera is controlled to shoot views of the lifting appliance and a target object located in a grabbing and releasing area from multiple view angles, and the target object is a target container to be grabbed by the lifting appliance or a target object to be placed on the container in the lifting appliance; constructing a bird's-eye view according to the views of the multiple visual angles and the grabbing and releasing working conditions of the lifting appliance; according to the aerial view, the lifting appliance is regulated and controlled in real time so that the horizontal position difference between the lifting appliance and the target object can be within the preset range, and the lifting appliance is controlled to grab or place the container.

    本申请公开了一种抓放集装箱的控制方法、装置及起重机,可以提高集装箱的抓放效率。其中,抓放集装箱的控制方法应用于起重机,起重机包括横梁、可在横梁上移动的小车以及设置在小车下方的吊具,小车上安装多个第一摄像头;所述抓放集装箱的控制方法包括:在控制吊具下降的同时,控制第一摄像头从多个视角拍摄吊具以及位于抓放区域中的目标物体的多个视角的视图,目标物体为吊具所要抓取的目标集装箱或者吊具中的集装箱将被放置的目标对象;根据多个视角的视图以及吊具的抓放工况,构建鸟瞰视图;根据鸟瞰视图,实时调控吊具以使吊具与目标物体之间的水平位置差在预设范围内,并控制吊具进行抓取集装箱任务或放置集装箱任务。


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    Title :

    Container grabbing and releasing control method and device and crane


    Additional title:

    一种抓放集装箱的控制方法、装置及起重机


    Contributors:
    ZHU LINGUI (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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    SUN JUN / YUAN YIPING / ZENG YONG et al. | European Patent Office | 2023

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