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Method for measuring container position and state on basis of structured light visual sensor

A visual sensor and container technology, applied in the field of camera measurement and mechanical automation, can solve the problems of high technical and experience requirements of operators, high operation difficulty and low operation efficiency.

Inactive Publication Date: 2014-05-14
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the hoisting operations are all performed manually, which requires relatively high technical and experience requirements for the operators. In particular, during the alignment process of the spreader, the twist lock needs to be connected to the corner fittings of the container, which is difficult and inefficient.

Method used

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  • Method for measuring container position and state on basis of structured light visual sensor
  • Method for measuring container position and state on basis of structured light visual sensor
  • Method for measuring container position and state on basis of structured light visual sensor

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Embodiment Construction

[0034] Such as figure 1 Based on the structured light vision sensor, the container position and attitude measurement system is realized. The structured light vision sensor installed on the container handling equipment and capable of sensitive container edge and / or corner hole information projects structured light to the container surface and takes images, and obtains the container by processing the image. Structural features such as edges, corner holes and / or vertices, use the features to calculate the position and attitude relationship of the container relative to the spreader, the structured light vision sensor is composed of a camera, a structured light projector, a data processor, etc., and the camera is used to project Container imaging with structured light, the data processor is used for image analysis and coordinate calculation.

[0035] Such as figure 2 , after the structured light vision sensor and the spreader are fixed, the relative position and posture relations...

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Abstract

The invention relates to a method for measuring the relative positions and states of a lifting appliance and a container during the container lifting through utilizing a structured light visual sensor. The method adopts the technical scheme that the structured light visual sensor which can sense the container edge and / or angular hole information is installed on the lifting appliance, the structured light is projected to the surface of the container and images are taken during the lifting process, and the container edge, angular hole and / or top joints and other structural characteristics are obtained through processing the images, and the relative position and state relation of the container and the lifting appliance is resolved through utilizing characteristic coordinates, and is used for automatically controlling the lifting of the container. The method can realize the automatic lifting of the container, and can also be used for accurately measuring the relative position and state relation of other objects.

Description

technical field [0001] The invention relates to the fields of camera measurement and mechanical automation, in particular to a method for measuring the relative position and posture of a spreader and a container during the container hoisting process by using a structured light vision sensor. technical background [0002] During the mobile transportation of the container, it is necessary to use the spreader to carry out the hoisting operation of the container. At present, the hoisting operations are all performed manually, which requires high skills and experience of the operators. Especially, during the alignment process of the spreader, the twist lock needs to be connected to the corner fittings of the container, which makes the operation difficult and low in efficiency. In order to improve the operation efficiency of container movement and transportation, reduce the labor intensity of staff, and promote the automation level of hoisting operations, it is necessary to automa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/02
Inventor 于起峰张红良曹动张跃强尚洋刘晓春
Owner NAT UNIV OF DEFENSE TECH
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