The invention discloses a precise parking method, system and equipment for a port crane scene based on lifting appliance identification, and a storage medium, and aims to directly align an unmanned container truck and a lifting appliance without depending on a guide system of a port crane, improve the operation success rate, directly take the lifting appliance as an alignment reference, do not need to model contour information of the crane, and improve the parking efficiency. The offset of the lifting appliance of the crane does not need to be calibrated, a large amount of function deployment and debugging cost is saved, the method can be transferred to various crane operation scenes such as quay crane rail cranes, box area rail cranes and box area tire cranes, and the generalization ability is high; the lifting appliance position identification comprises two parts of lifting appliance position detection and lifting appliance position prediction, the fact that the lifting appliance can stop swinging during hovering is considered, it is not needed to assume that the lifting machine is kept static in the whole process, and box loading and unloading operation can be automatically carried out after the lifting machine moves; and the abnormal working condition that the lifting appliance swings irregularly or is too large in amplitude in extreme weather can be dealt with.
本发明公开一种基于吊具识别的面向港口吊机场景的精准停车方法、系统、设备及存储介质,直接进行无人集卡与吊具的对位,无需依赖港机的引导系统,提高作业成功率,其直接以吊具为对位基准,无需对吊机的轮廓信息进行建模,无需对吊机吊具的偏移量进行标定,节省大量的功能部署和调试成本,且可迁移到岸桥轨道吊、箱区轨道吊和箱区轮胎吊等多种吊机作业场景,泛化能力强;吊具位置识别包括吊具位置检测和吊具位置预测两部分,考虑吊具在悬停时会发生停摆的事实,无需假设吊机全程保持静止,在吊机发生移动后能够自动化地进行装卸箱作业,能够应对极端天气下的吊具摆动不规律或幅度过大的异常工况。
Precise parking method, system and equipment for port crane scene based on lifting appliance identification and storage medium
基于吊具识别的面向港口吊机场景的精准停车方法、系统、设备及存储介质
2025-05-16
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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