The invention discloses a method for placing a container on an outer container truck of a gantry crane, which relates to the field of container lifting and comprises the following steps of: 1, mounting a plurality of image acquisition components on a target lifting appliance, adjusting an acquisition area to be a lifting appliance and container working area, and butting a PLC (Programmable Logic Controller) bus; 2, based on the current acquisition area, arranging a plurality of shooting points and corresponding acquisition angle parameters, shooting the calibration board at different positions, obtaining a plurality of groups of images, calculating internal parameters and external parameters of a plurality of image acquisition components, and generating a calibration file after processing; visual information can be obtained from multiple angles, comprehensive cognition on an operation area is improved, information blind areas are remarkably reduced, the environment adaptability is enhanced, higher-precision container and button lock positioning is achieved by combining internal parameters, external parameters and PLC information of an image acquisition component, depth estimation and semantic segmentation technologies are used, and the positioning accuracy is improved. The recognition and positioning precision of the target object is improved, so that operation errors are reduced, and high-level automation is realized.

    本发明公开了一种用于龙门吊外集卡放箱的方法,涉及集装箱吊运领域,包括以下步骤:步骤1:向目标吊具安装若干图像采集部件,调整采集区域为吊具和集装箱工作区域,对接PLC总线;步骤2:基于当前采集区域,排列若干拍摄点及其对应采集角度参数,在不同位置拍摄标定板,获取多组图像,计算出若干图像采集部件的内参和外参,处理完毕后,生成标定文件;能够从多个角度获取视觉信息,提高对作业区域的全面认知,显著减少信息盲区,增强环境适应能力,结合图像采集部件的内参、外参和PLC信息,实现更高精度的集装箱和钮锁定位,使用深度估计和语义分割技术,提高了对目标物体的识别和定位精度,从而减少了操作错误,实现高水平自动化。


    Access

    Download


    Export, share and cite



    Title :

    Method for placing box on outer container truck of gantry crane


    Additional title:

    一种用于龙门吊外集卡放箱的方法


    Contributors:
    LIN JUNQIANG (author) / ZHANG QIANG (author) / LIU JIANTAO (author) / WEI QIUXIN (author) / ZHANG WEITIAN (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    Gantry crane for container

    ZHANG ZEQIANG / XU PEIYU / LIU SILU et al. | European Patent Office | 2021

    Free access

    GANTRY CRANE FOR CONTAINER

    ZHANG ZEQIANG / XU PEIYU / LIU SILU et al. | European Patent Office | 2021

    Free access

    Container inner gantry crane

    XU JINYONG | European Patent Office | 2015

    Free access

    Novel gantry crane for container

    WEICHANG WANG | European Patent Office | 2015

    Free access

    Container spreader for gantry crane

    YAO BIN / DONG JINZHAO / LI GUOGUANG et al. | European Patent Office | 2025

    Free access