The invention relates to the technical field of machine vision, in particular to a visual box grabbing method for a gantry crane, which comprises the following steps: mounting four groups of high-definition cameras on the same plane of the lifting end of a lifting appliance, and enabling the four groups of cameras to acquire images in real time in up-down and left-right symmetry; based on images shot by a high-precision calibration plate in an operation area, internal parameters and external parameters of four groups of cameras are calculated by applying a calibration algorithm; analyzing container corner image features, and determining corner three-dimensional coordinates and image pixel coordinates based on a measurement tool; a multi-task learning model is established, angular point positioning is used as a main task, the height change of the lifting appliance is simulated by cutting pictures, data enhancement training is carried out, and the method has the advantages of being easy to install, high in detection speed, high in precision, high in robustness and the like.
本发明涉及机器视觉技术领域,具体涉及一种用于龙门吊视觉抓箱的方法,包括:在吊具起吊端的同一平面安装四组高清相机,使四组相机实时采集画面呈上下左右对称;基于高精度标定板在作业区域拍摄图像,应用标定算法计算四组相机内参及外参;分析集装箱角点图像特征,基于测量工具确定角点三维坐标和图像像素坐标;搭建多任务学习模型,将角点定位作为主任务,并通过裁剪图片模拟吊具高度变化,进行数据增强训练,本发明具有易安装,检测速度快,精度高和鲁棒性强等优点。
Visual box grabbing method for gantry crane
一种用于龙门吊视觉抓箱的方法
2025-03-21
Patent
Electronic Resource
Chinese