CN108263950A - Harbour gantry crane suspender based on machine vision it is automatic case system and method - Google Patents
Harbour gantry crane suspender based on machine vision it is automatic case system and method Download PDFInfo
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- CN108263950A CN108263950A CN201810110818.7A CN201810110818A CN108263950A CN 108263950 A CN108263950 A CN 108263950A CN 201810110818 A CN201810110818 A CN 201810110818A CN 108263950 A CN108263950 A CN 108263950A
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- suspender
- image acquisition
- acquisition equipment
- gantry crane
- control point
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/085—Control actuators
Abstract
The invention discloses a kind of harbour gantry crane suspender based on machine vision it is automatic case system and method, this method include：The first image acquisition equipment is set to install on the datum mark of small car bottom, the second image acquisition equipment is set in the land side of gantry crane crossbeam, third image acquisition equipment is set in the extra large side of gantry crane crossbeam, light source is set on suspender.First image acquisition equipment, the second image acquisition equipment, third image acquisition equipment are connected to image processing module and controller.Controller demarcates the coordinate system of suspender using the first image acquisition equipment, and obtain the control point coordinates of suspender, utilize the second image acquisition equipment, the coordinate system of third image acquisition equipment calibration container, using the profile of image processing module identification container, and further obtain the control point coordinates of container.Controller is final to determine to operate case according to the control point coordinate control trolley translation of control point coordinates sum aggregate vanning of suspender and rotation, suspender cart or the fine motion of trolley direction.
Description
Technical field
The present invention relates to harbour gantry crane automation equipment and method, more specifically to a kind of based on machine vision
Harbour gantry crane suspender it is automatic case system and method.
Background technology
Gantry crane crane is that harbour is commonly used in container handling, stacking and the equipment of carrying.Container terminal is real
Now automation or semi-automatic, needs to load onto eyes to crane using alignment sensor, enable crane realize safety with
Accurately case is operated.During motion control, crane needs various positioning, if crane positions, lifting altitude
Positioning, monkey positioning, suspender Micro-positioning, container position positioning.Light, electricity, magnetic, machine are combined in position fixing process
The technologies such as tool, hydraulic pressure and image procossing make positioning accuracy higher.
Object recognizing sensor system would generally be used in position fixing process, object recognizing sensor system refers to passing through
Machine vision product, i.e. image-pickup device (two kinds of CMOS and CCD) and laser, will intake target be converted into image information and
Data information is transmitted to dedicated image processing module and data processing module, obtains clarification of objective after treatment, according to mesh
It marks feature and carries out motion control.
The image sensor system used in existing position fixing process generally comprises light source, camera lens, camera, image pick-up card
With the parts such as vision processor.Light source can be divided into visible ray and black light, and light source provides enough illumination, mirror for vision system
Head by the target imaging in tested scene to visual imaging plane, be responsible for electric signal being changed into digitized map by image memory bank
Picture for gray-scale data and stores the brightness transition of every bit.Picture recognition module handles image, is analyzed, is known
Not and judge, finally provide target signature information.
Traditional gantry crane operation needs harbour driver to carry out operation gantry crane operation to live drivers' cab, not only makes
Into the waste on personnel, while the working environment of harbour driver is also quite severe.Gantry crane in general sense is semi-automatic, although
Improve the working environment of harbour driver, at the same make harbour driver one people of Central Control Room can and meanwhile more banks of remote control successively
Bridge, but since it remotely by camera to case, inevitably cause low in efficiency.
Invention content
For harbour gantry crane operating efficiency in the prior art it is low the problem of, the object of the present invention is to provide one kind
Harbour gantry crane suspender based on machine vision it is automatic case system and method.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of harbour gantry crane suspender based on machine vision it is automatic case method, including：On the datum mark of small car bottom
The first image acquisition equipment is set to install, the second image acquisition equipment is set in the land side of gantry crane crossbeam, in the sea of gantry crane crossbeam
Side sets third image acquisition equipment, and light source is set on suspender.First image acquisition equipment, the second image acquisition equipment,
Three image acquisition equipments are connected to image processing module and controller.Controller demarcates suspender using the first image acquisition equipment
Coordinate system, and obtain the control point coordinates of suspender, utilize the second image acquisition equipment, third image acquisition equipment calibration packaging
The coordinate system of case using the profile of image processing module identification container, and further obtains the control point coordinates of container.Control
Control point coordinate control trolley translation and rotation of the device processed according to the control point coordinates sum aggregate vanning of suspender, suspender cart or small
The fine motion of vehicle direction turns operation console and finally determines to operate case.
Further, the first image acquisition equipment, the second image acquisition equipment, third image acquisition equipment are video camera.
Light source is infrared lamp, and quantity is three, infrared lamp support is equipped on suspender, infrared lamp is installed on upward on infrared lamp support.
Further, three light source informations on the first image acquisition equipment acquisition suspender, pass through image processing module meter
The coordinate of light source in the camera is calculated, three lamps is calculated using the spatial relation of the calibrating parameters of camera and three lamps and exists
Magazine coordinate.Controller chooses two control points in left and right on suspender, and control is calculated according to the distance at control point to lamp
Point space coordinate, according to the relationship between camera and datum mark coordinate system obtain position of the suspender in datum mark coordinate system and
Posture then according to the mechanical structure of suspender and the coordinate of infrared lamp, demarcates left control point (x equidistant from suspender center1,
y1,z1) and right control point (x1',y1',z1') coordinate.
Further, the scaling method of container coordinate system is：It sets along gantry crane crane track as X-axis, along small
Track road is Y-axis, and direction is Z axis perpendicular to the ground；Suspender is grabbed into container in zero under natural conditions and is put into ground；Utilize camera shooting
Head identifies the upper surface of container, and the normal vector of container upper surface is obtained, is then entered according to rotation angle counter-bonification；Profit
The slope that long side direction is calculated with container is K1, is K2 using the container long side direction slope that survey tool is measured,
The rotation angle of coordinate system about the z axis is A=K1-K2.
Further, controller identifies the profile of container by the first image acquisition equipment, extracts container case angle point
Coordinate carries out coordinate translation, then calculate the left control point (x of target chest according to the coordinate system of suspender2,y2,z2) and right control point
(x2',y2',z2') coordinate.
Further, suspender control point coordinates sum aggregate vanning control point coordinates is compared by controller, if trolley direction |
y1+y1'-y2-y2'|/2>60mm then carries out integral translation to trolley.
Further, suspender control point coordinates sum aggregate vanning control point coordinates is compared by controller, if trolley side
To | (x1'-x2')-(x1-x2)/2>50mm or | (y1'-y2')+(y1-y2)|/2>50mm, then suspender cart direction back-and-forth motion
Or trolley direction left-right rotary oil cylinder.
To achieve the above object, the present invention also adopts the following technical scheme that：
A kind of harbour gantry crane suspender based on machine vision it is automatic case system, including the first camera, second camera,
Third camera, junction box, controller, light source.First camera is installed on the datum mark of small car bottom, second camera peace
Land side loaded on gantry crane crossbeam, third camera are installed on the extra large side of gantry crane crossbeam, and light source is set on suspender.First camera shooting
Head, second camera, third camera are connected to junction box, and junction box connects the controller of distal end.
Further, light source is infrared lamp, and quantity is three, is distributed in isosceles triangle.The red of triangle is installed on suspender
Outer lamp support, infrared lamp are installed on upward on infrared lamp support.
Further, suspender and container rigid connection, two base angles of the infrared lamp support of triangle, which are fixedly welded on, hangs
The upper surface of tool.First video camera is welded on the lower surface of trolley, and optical axis is directed toward ground, and with positioned at intermediate infrared lamp
The center of circle is aligned in vertical direction.
In the above-mentioned technical solutions, the harbour gantry crane suspender of the invention based on machine vision it is automatic case system and method
The working environment of harbour driver is not only improved, reduces the human cost of employee, and improves the operating efficiency at harbour.
Description of the drawings
Fig. 1 is the camera scheme of installation of present system；
Fig. 2 is the spreader position detecting system schematic diagram of present system；
Fig. 3 for the present invention it is automatic case align schematic diagram；
Fig. 4 is the schematic diagram of present system；
Fig. 5 is the flow chart of the method for the present invention.
Specific embodiment
The technical solution further illustrated the present invention with reference to the accompanying drawings and examples.
With reference to Fig. 1, the present invention disclose first a kind of harbour gantry crane suspender based on machine vision it is automatic case system, peace
It is set loaded on the first image acquisition equipment, the second image acquisition equipment, third image acquisition on harbour gantry crane suspender, is mainly included
Standby, junction box, image processing module, controller, light source.For above equipment, the first image acquisition equipment, image procossing mould
Block, light source together constitute fishing tackle position detecting device.Second image acquisition equipment, third image acquisition equipment and image procossing
Module together constitutes target chest (i.e. container) position detecting device.
As shown in Figure 1, the first image acquisition equipment is installed on the datum mark of 1 bottom of trolley, the second image acquisition equipment
The land side of gantry crane crossbeam is installed on, third image acquisition equipment is installed on the extra large side of gantry crane crossbeam, and light source is set on suspender.The
One image acquisition equipment, the second image acquisition equipment, third image acquisition equipment are connected to junction box 2, and junction box 2 connects far
The image processing module and controller at end.
As one embodiment of the present invention, the first image acquisition equipment, the second image acquisition equipment, third image obtain
Taking equipment is video camera.Light source can be three with the most common infrared lamp of selected as, quantity, be distributed in isosceles triangle.On suspender
The infrared lamp support of triangle is installed, infrared lamp is installed on upward on infrared lamp support.Controller is PLC controller.Target
Chest is container 6.Above-mentioned selection is as just one embodiment of the present invention, and the simultaneously limitation of non-present invention.
With continued reference to Fig. 1, video camera 3 (the first image acquisition equipment) is on bridge crane trolley frame, for spreader position
Detection.Camera 10 (third image acquisition equipment), camera 11 (the second image acquisition equipment) are on bridge crane crossbeam, sea
Each one of land side, installation site require that entire working region can be covered, and the zoom data of video camera can pass through ether
Net transmits out.
As shown in Figures 2 and 3, video camera 3 is directed toward ground, video camera 3 and trolley 1 in 1 bottom of trolley, the optical axis of video camera
By being welded to connect, 4 short side of tripod is downward with suspender 5 by being welded to connect.Three 7 front verticals of near infrared emission lamp are upward
It is bolted with tripod 4.The optical axis 8 of video camera 3 is with the emission lamp center of circle among near infrared emission lamp 7 in vertical direction
Upper alignment.Near infrared emission lamp 7 is connect with 24V DC power supplies, and video camera 3 is connect with 12V DC power supply, and is passed through RS422 and connect
Mouth is communicated with external PLC controller.Software handler is run in near-infrared video camera 3.In case operation is put, packaging to be put
Case 6 is rigid connection with suspender 5, so detecting that the posture of suspender is just able to know that the posture of container.In case operation is grabbed,
Then without container 6 on suspender 5.
On the other hand, as shown in Figure 4 and Figure 5, invention additionally discloses a kind of harbour gantry crane suspender based on machine vision certainly
Case method is moved, motion control is realized using the above system of the present invention, builds the above system of the present invention first, i.e., small
The first image acquisition equipment is set to install on the datum mark of car bottom, the second image acquisition is set to set in the land side of gantry crane crossbeam
It is standby, third image acquisition equipment is set in the extra large side of gantry crane crossbeam, light source is set on suspender.First image acquisition equipment,
Two image acquisition equipments, third image acquisition equipment are connected to image processing module and controller.
Secondly, as shown in figure 4, the method that the present invention realizes motion control mainly includes parallel suspender operation and goal box
Sub (container) operation.
Operation for suspender：
Spreader position detection device passes through camera acquisition image first；
The position of image processing module identification suspender is passed to by optical fiber；
Suspender or so control point coordinates is obtained after treatment, is then passed to PLC controller.
Operation for target chest：
Utilize the second image acquisition equipment, third image acquisition equipment acquisition image and the coordinate system for demarcating container；
Utilize the profile of image processing module identification container；
Further obtain the control point coordinates of container.
After two parallel operations are all completed, control that PLC controller is cased according to the control point coordinates sum aggregate of suspender
Point coordinates controls trolley translation and rotation.Finally, suspender cart or the fine motion of trolley direction turn operation console and finally determine to grasp case
Make.
With reference to Fig. 5, above-mentioned method can be embodied in following each step.
S1：System, which is sent out, grabs case or puts case order.
S2：PLC controller control trolley is reached near the small truck position of target.
S3：Object detection system starts to detect the container below the small truck position of target in real time, and image information is transmitted to figure
As processing module, and carry out the calibration of the coordinate system of the sub- position detecting device of goal box.Specifically, include the following steps：
It sets along gantry crane crane track as X-axis, is Y-axis along trolley track, direction is Z axis perpendicular to the ground.
When being installed due to video camera, it can not accurately ensure the X-axis of the coordinate model of video camera and cart parallel track, it
Y-axis is parallel with trolley track, it is therefore desirable to target-based coordinate system be corrected by container.
Suspender is grabbed into one 40 ruler containers in zero under natural conditions and is put into ground.
The upper surface of container is identified using camera, the normal vector of container upper surface is obtained, then according to rotation
Angle counter-bonification is entered.
The slope K 1 of long side direction equally is calculated by container to the correction of Z axis and packaging that survey tool is measured
Case long side direction slope K 2 is corrected, and the rotation angle of coordinate system about the z axis is A=K1-K2.
S4：Using image processing techniques, the outline identification of container is come out, and image processing module obtains object set
Vanning control point coordinates.
The profile of container is identified by camera, container case angular coordinate is extracted, is then detected according to suspender
The coordinate system of device carries out coordinate translation, then extrapolates the left control point (x of target chest2,y2,z2) and right control point (x2',y2',
z2') coordinate, control point coordinates is finally issued PLC controller.
S5：Meanwhile suspender drops to the position that suspender detecting system is able to detect that suspender control point coordinates.
S6：Image processing module obtains suspender control point coordinates.
Specifically, a datum mark is chosen first on gantry crane monkey bottom, on camera acquisition suspender
Three structure light source informations, the coordinate of light source in the camera is calculated by the recognizer in image processing module, then
According to camera imaging principle, three lamps are calculated in the camera using the spatial relation of the calibrating parameters of camera and three lamps
Coordinate.
Two control points in left and right are chosen on suspender, the space that control point is calculated according to the distance at control point to lamp is sat
Mark, then obtains position and posture of the suspender in datum mark coordinate system according to the relationship between camera and datum mark coordinate system,
Then according to the mechanical structure of suspender and the coordinate of infrared lamp, left control point (x equidistant from suspender center is demarcated1,y1,z1)
With right control point (x1',y1',z1') coordinate, the control point coordinates calculated is transmitted to PLC controller.
S7：According to the deviation between goal box or so control point and suspender or so control point to determine whether to move small
Vehicle.
Specifically, the suspender control that PLC controller is obtained according to spreader position detection device and target location detection device
Point coordinates processed and targeted containers control point coordinates are compared, if trolley direction | y1+y1'-y2-y2'|/2>60mm, to small
Vehicle carries out integral translation.
S8：If do not moved, suspender directly drops to top of 1 meter from goal box.Specifically if do not moved, stop
Suspender declines after 1 second.When suspender drops to 1 meter from target location, according to spreader position detection device and target chest
The control point coordinates that detection device obtains carries out motion control.
S9：If wanting moving trolley, PLC controller control trolley is moved, until not needing to moving trolley.Such as
Fruit is moved, and is stopped 1 second after mobile.
S10：Judge top of 1 meter from goal box suspender whether fine motion.
Specifically, if | (x1'-x2')-(x1-x2)|/2>50mm or | (y1'-y2')+(y1-y2)|/2>50mm, then
Suspender cart direction is moved forward and backward or trolley direction left-right rotary oil cylinder.
S11：If fine motion, suspender is in cart or the fine motion of trolley direction.
S12：Case is operated by manually finally confirming if not fine motion directly turns operation console.
The present invention obtains suspender control point coordinates using spreader position detection device and target chest position detecting device obtains
Targeted containers is taken to control point coordinates, the control point coordinates that PLC controller is provided according to the device can calculate trolley and big
The distance of vehicle movement, then by the movement of gantry crane monkey and suspender fine motion, quickly and efficiently to realize accurate suspender
Case is operated.
The present invention to case accuracy rating within 3cm, ensure gantry crane container during case is put can accurate stacked box, tool
There is stronger adaptive capacity to environment, can be used under harbour rugged environment.The harbour gantry crane suspender has case auxiliary system
There is the advantages of accuracy of detection height is easily achieved, disclosure satisfy that the remote-operated demand of user.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as in the spirit of the present invention, the change to embodiment described above
Change, modification will be all fallen in the range of claims of the present invention.
Claims (10)
1. a kind of harbour gantry crane suspender based on machine vision it is automatic case method, it is characterised in that：
The first image acquisition equipment is set to install on the datum mark of small car bottom, the second image is set in the land side of gantry crane crossbeam
Equipment is obtained, third image acquisition equipment is set in the extra large side of gantry crane crossbeam, light source is set on suspender；
First image acquisition equipment, the second image acquisition equipment, third image acquisition equipment be connected to image processing module and
Controller；
The controller demarcates the coordinate system of suspender using the first image acquisition equipment, and obtains the control point coordinates of suspender, profit
With the second image acquisition equipment, the coordinate system of third image acquisition equipment calibration container, known using described image processing module
The profile of other container, and further obtain the control point coordinates of container；
Control point coordinate control trolley translation and rotation of the controller according to the control point coordinates sum aggregate vanning of suspender；
Suspender cart or the fine motion of trolley direction；
Turn operation console finally to determine to operate case.
2. as described in claim 1 the harbour gantry crane suspender based on machine vision it is automatic case method, it is characterised in that：
It is video camera that described first image, which obtains equipment, the second image acquisition equipment, third image acquisition equipment,；
The light source is infrared lamp, and quantity is three；
Infrared lamp support is installed, the infrared lamp is installed on upward on the infrared lamp support on the suspender.
3. as claimed in claim 2 the harbour gantry crane suspender based on machine vision it is automatic case method, it is characterised in that：
Three light source informations on first image acquisition equipment acquisition suspender, light source is calculated in camera by image processing module
In coordinate, calculate the coordinate of three lamps in the camera using the spatial relation of the calibrating parameters of camera and three lamps；
Controller chooses two control points in left and right on suspender, and the space that control point is calculated according to the distance at control point to lamp is sat
Mark, obtains position and posture of the suspender in datum mark coordinate system, then according to the relationship between camera and datum mark coordinate system
According to the mechanical structure of suspender and the coordinate of infrared lamp, left control point (x equidistant from suspender center is demarcated1,y1,z1) and it is right
Control point (x1',y1',z1') coordinate.
4. as claimed in claim 3 the harbour gantry crane suspender based on machine vision it is automatic case method, which is characterized in that packaging
The scaling method of case coordinate system is：
It sets along gantry crane crane track as X-axis, is Y-axis along trolley track, direction is Z axis perpendicular to the ground；
Suspender is grabbed into container in zero under natural conditions and is put into ground；
The upper surface of container is identified using camera, the normal vector of container upper surface is obtained, then according to rotation angle
Counter-bonification is entered；
The slope of long side direction is calculated as K1 using container, the container long side direction slope measured using survey tool
For K2, the rotation angle of coordinate system about the z axis is A=K1-K2.
5. as claimed in claim 4 the harbour gantry crane suspender based on machine vision it is automatic case method, it is characterised in that：
Controller identifies the profile of container by the first image acquisition equipment, container case angular coordinate is extracted, according to suspender
Coordinate system carry out coordinate translation, then calculate the left control point (x of target chest2,y2,z2) and right control point (x2',y2',z2') sit
Mark.
6. as claimed in claim 5 the harbour gantry crane suspender based on machine vision it is automatic case method, it is characterised in that：
Suspender control point coordinates sum aggregate vanning control point coordinates is compared by controller, if trolley direction | y1+y1'-y2-y2'|/
2>60mm then carries out integral translation to trolley.
7. as claimed in claim 5 the harbour gantry crane suspender based on machine vision it is automatic case method, it is characterised in that：
Suspender control point coordinates sum aggregate vanning control point coordinates is compared by controller, if trolley direction | (x1'-x2')-
(x1-x2)|/2>50mm or | (y1'-y2')+(y1-y2)|/2>50mm, then suspender cart direction be moved forward and backward or trolley side
Dextrorotation oil cylinder to the left.
8. a kind of harbour gantry crane suspender based on machine vision it is automatic case system, which is characterized in that including：
First camera, second camera, third camera, junction box, controller, light source；
First camera is installed on the datum mark of small car bottom, and the second camera is installed on the land of gantry crane crossbeam
Side, the third camera are installed on the extra large side of gantry crane crossbeam；
The light source is set on suspender；
First camera, second camera, third camera are connected to junction box, and the junction box connects the control of distal end
Device processed.
9. as claimed in claim 8 the harbour gantry crane suspender based on machine vision it is automatic case system, it is characterised in that：
The light source is infrared lamp, and quantity is three, is distributed in isosceles triangle；
The infrared lamp support of triangle is installed, the infrared lamp is installed on upward on the infrared lamp support on the suspender.
10. as claimed in claim 9 the harbour gantry crane suspender based on machine vision it is automatic case system, it is characterised in that：
The suspender and container rigid connection, two base angles of the infrared lamp support of triangle are fixedly welded on the upper of suspender
Surface；
First video camera is welded on the lower surface of trolley, and optical axis is directed toward ground, and with the circle positioned at intermediate infrared lamp
The heart is aligned in vertical direction.
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| CN109455619A (en) * | 2018-12-30 | 2019-03-12 | 三海洋重工有限公司 | Localization method, device and the suspender controller of container posture |
| CN110113511A (en) * | 2019-01-29 | 2019-08-09 | 上海驭矩信息科技有限公司 | The design of a novel three mesh camera with image identification function |
| EP3699136A1 (en) * | 2019-02-25 | 2020-08-26 | ABB Schweiz AG | Container crane comprising reference marker |
| CN111891927A (en) * | 2020-07-16 | 2020-11-06 | 上海振华重工(集团)股份有限公司 | First floor container placement method and computer readable storage medium |
| CN112010177A (en) * | 2020-08-31 | 2020-12-01 | 上海驭矩信息科技有限公司 | Automatic container landing method for ground containers in storage yard |
| CN112456332A (en) * | 2020-11-17 | 2021-03-09 | 山东省科学院海洋仪器仪表研究所 | Deviation correcting system in ice block carrying or transferring process |
| CN113086852A (en) * | 2021-03-31 | 2021-07-09 | 赤湾集装箱码头有限公司 | Container spreader management system based on Internet of things |
| CN113379684A (en) * | 2021-05-24 | 2021-09-10 | 武汉港迪智能技术有限公司 | Container corner line positioning and automatic container landing method based on video |
| CN113428790A (en) * | 2020-03-23 | 2021-09-24 | 杭州海康威视系统技术有限公司 | Container information identification method and device, monitoring equipment and system |
| CN113428780A (en) * | 2021-06-24 | 2021-09-24 | 中南大学 | Crane hook/hanging object rotation angle detection method, error elimination method and system |
| CN113460888A (en) * | 2021-05-24 | 2021-10-01 | 武汉港迪智能技术有限公司 | Automatic box grabbing method for gantry crane lifting appliance |
| CN113666269A (en) * | 2021-09-03 | 2021-11-19 | 上海振华重工(集团)股份有限公司 | Lifting appliance zero position detection method based on inclinometer and lifting appliance detection system |
| CN113955640A (en) * | 2021-10-19 | 2022-01-21 | 中联恒通机械有限公司 | Lifting appliance accurate positioning system and method based on machine vision |
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