The invention discloses a visual box stacking method for a gantry crane, and relates to the field of automatic box stacking, and the method comprises the following steps: step 1, mounting a plurality of cameras on a lifting appliance, and enabling the collection angles of the cameras to cover the range of the lifting appliance; 2, initial lifting appliance working pictures are collected through a camera, a distortion line segment on the collected pictures is marked, and camera distortion parameter calibration is carried out; step 3, performing camera radial distortion removal on the originally collected picture through the calibrated distortion parameter to obtain a camera radial distortion removal picture; through effective camera calibration and distortion correction, the precision and consistency of image acquisition are ensured, the container identification accuracy is further improved, the condition that the image acquired by the camera is closer to the real world is ensured, the discrimination capability of the model on the position and attitude of the container is improved, and the identification accuracy of the container is improved through real-time monitoring and data analysis. Fine adjustment control can be rapidly carried out on the lifting appliance, and it is ensured that all parameters in the box stacking process are kept within a safe and effective range.
本发明公开了一种用于龙门吊视觉叠箱的方法,涉及自动化叠箱领域,包括以下步骤:步骤1:将若干相机安装至吊具,使相机采集角度覆盖吊具范围;步骤2:通过相机进行初始吊具工作图片采集,标注所采集图片上的一条畸变线段,进行相机畸变参数标定;步骤3:通过所标定畸变参数对原采集的图片进行去相机径向畸变,获得去相机径向畸变图片;通过有效的相机标定和畸变校正,确保了图像采集的精度和一致性,进而提高了集装箱识别的准确率,确保相机获取的图像更接近真实世界的情况,从而提高了模型对集装箱位置和姿态的判别能力,通过实时监控和数据分析,能快速对吊具进行微调控制,确保叠箱过程中的各项参数保持在安全和有效范围内。
Visual box stacking method for gantry crane
一种用于龙门吊视觉叠箱的方法
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
Double-beam gantry stacking crane and application workshop thereof
European Patent Office | 2020
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