The invention provides a container lifting control method, device and equipment and a readable storage medium. The method comprises the following steps: receiving a lifting appliance lifting height value sent by gantry crane equipment, and when it is judged that the lifting appliance lifting height value reaches a first preset value, controlling a scanner to perform three-dimensional scanning on target sides of a container and a truck to obtain target point cloud data; rasterizing the target point cloud data to obtain a target two-dimensional raster image, each raster in the target two-dimensional raster image containing a distance value between an object in the raster and a scanner at a target side; according to the target two-dimensional grid image, whether the container is separated from the truck is judged, and a judgment result is obtained; and decision information is sent to the gantry crane equipment according to the judgment result, so that the gantry crane equipment controls lifting or lowering of the container according to the decision information. According to the method, the energy consumption in the process of judging whether the container and the truck are separated or not is reduced.

    本申请提供一种集装箱起吊控制方法、装置、设备及可读存储介质。该方法包括:接收龙门吊设备发送的吊具吊起高度值,当判定吊具吊起高度值达到第一预设值时,控制扫描仪对集装箱与卡车的目标侧进行三维扫描,得到目标点云数据;对目标点云数据进行栅格化处理,得到目标二维栅格图像,其中目标二维栅格图像中每个栅格中均含有栅格中物体在目标侧与扫描仪的距离值;根据目标二维栅格图像,判断集装箱与卡车是否分离,并得到判断结果;根据判断结果发送决策信息至龙门吊设备,以使龙门吊设备根据决策信息控制集装箱的吊起或下放。本申请的方法,降低了判断集装箱与卡车是否分离过程中的能耗。


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    Title :

    Container hoisting control method, device and equipment and readable storage medium


    Additional title:

    集装箱起吊控制方法、装置、设备及可读存储介质


    Contributors:
    TAN BAOLIN (author) / LIN YIMIN (author) / LIU ZHAOXIANG (author) / LIAN SHIGUO (author)

    Publication date :

    2023-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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