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公开(公告)号：US20230324554A1
公开(公告)日：2023-10-12
申请号：US18023938
申请日：2021-09-12
CPC分类号： G01S17/89 , G01S7/497 , G06T7/73 , G06T7/13 , G06T2207/10028
摘要： The present disclosure discloses a container positioning method and apparatus based on multi-line laser data fusion, the method comprising: acquiring point cloud data of at least two multi-line laser radars, and performing point cloud data fusion according to a coordinate system relationship between the at least two laser radars; performing clustering of scanning lines according to the fused point cloud data, and acquiring an edge point of a top surface or a side surface of a target container according to the clustered scanning lines; acquiring a contour of the top surface or the side surface of the target container according to the edge point of the top surface or the side surface of the target container to determine a central point and a heading angle of the target container so as to determine a position of the target container. The container positioning method and apparatus based on multi-line laser data fusion provided in the present disclosure acquire an edge point of a top surface or a side surface of a target container after point cloud data is fused via point cloud data of a multi-line laser radar, so as to accurately acquire the position of the target container.
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公开(公告)号：US11748891B2
公开(公告)日：2023-09-05
申请号：US17799010
申请日：2021-02-26
发明人： Junming Hong , Huan Chen
IPC分类号： G06T7/12 , G06T7/521 , B65G69/24 , B65G69/26 , B66C13/18 , G06T7/10 , G06V30/19 , G06T7/543 , G06T7/564 , B65G67/04
CPC分类号： G06T7/12 , B65G69/24 , B65G69/26 , B66C13/18 , G06T7/10 , G06T7/521 , G06T7/543 , G06T7/564 , G06V30/19127 , B65G67/04
摘要： The present invention provides an automatic container loading and unloading apparatus and method. The apparatus comprises: a data acquisition module, used for scanning a container truck panel to obtain laser point cloud data; a data preprocessing module, used for segmenting a laser point cloud on a surface of the container truck panel from the laser point cloud data; a key point extraction module, used for performing edge extraction on the laser point cloud on the surface of the container truck panel to obtain discrete points on edges of the keel of the container truck panel; and a straight line fitting module, used for performing random sample consensus straight line fitting on the discrete points on the edges of the keel of the container truck panel to obtain spatial straight lines of the edges of the keel of the truck panel. The automatic container loading and unloading apparatus and method provided by the present invention using spatial straight lines on the edges of the keel of the container truck panel for computing processing, thereby achieving stronger robustness and higher accuracy, so that a container is loaded onto the container truck panel with higher precision and lower calculation amount.
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公开(公告)号：US11713218B2
公开(公告)日：2023-08-01
申请号：US17922202
申请日：2021-04-26
CPC分类号： B66C13/085 , B66C1/101 , B66C13/48
摘要： The present invention provides an automatic container landing device based on an expert system and a control method therefor. The device comprises at least four groups of cameras and at least six groups of single-point laser devices, wherein the at least four groups of cameras and four groups of single-point laser devices in the at least six groups of single-point laser devices are arranged at four spreader corners of a spreader fixing support; two groups of single-point laser devices in the at least six groups of single-point laser devices are respectively arranged on the outer sides of two short edges of the spreader fixing support; the front end of the spreader fixing support is lower than the rear end of the spreader fixing support; and the first group of cameras and the second group of cameras in the at least four groups of cameras, as well as the first group of laser devices and the second group of laser devices, and the third group of cameras and the fourth group of cameras, as well as the third group of laser devices and the fourth group of laser devices, are arranged at the front end and the rear end of the spreader fixing support respectively. According to the automatic container landing device based on the expert system, manual container landing experience is integrated into various sensors, a spreader is controlled by means of sensing signals, low-point and high-point container landing of a container is conducted, automatic dynamic container landing of the container is achieved, high-precision measurement is achieved with the cooperation of the cameras and the single-point laser devices, and therefore, the precision and efficiency of the container landing operation are improved.
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公开(公告)号：US20230060463A1
公开(公告)日：2023-03-02
申请号：US17799010
申请日：2021-02-26
发明人： Junming Hong , Huan Chen
摘要： The present invention provides an automatic container loading and unloading apparatus and method. The apparatus comprises: a data acquisition module, used for scanning a container truck panel to obtain laser point cloud data; a data preprocessing module, used for segmenting a laser point cloud on a surface of the container truck panel from the laser point cloud data; a key point extraction module, used for performing edge extraction on the laser point cloud on the surface of the container truck panel to obtain discrete points on edges of the keel of the container truck panel; and a straight line fitting module, used for performing random sample consensus straight line fitting on the discrete points on the edges of the keel of the container truck panel to obtain spatial straight lines of the edges of the keel of the truck panel. The automatic container loading and unloading apparatus and method provided by the present invention using spatial straight lines on the edges of the keel of the container truck panel for computing processing, thereby achieving stronger robustness and higher accuracy, so that a container is loaded onto the container truck panel with higher precision and lower calculation amount.
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公开(公告)号：US11841436B2
公开(公告)日：2023-12-12
申请号：US18023938
申请日：2021-09-12
CPC分类号： G01S17/89 , G01S7/497 , G06T7/13 , G06T7/73 , G06T2207/10028
摘要： The present disclosure discloses a container positioning method and apparatus based on multi-line laser data fusion, the method comprising: acquiring point cloud data of at least two multi-line laser radars, and performing point cloud data fusion according to a coordinate system relationship between the at least two laser radars; performing clustering of scanning lines according to the fused point cloud data, and acquiring an edge point of a top surface or a side surface of a target container according to the clustered scanning lines; acquiring a contour of the top surface or the side surface of the target container according to the edge point of the top surface or the side surface of the target container to determine a central point and a heading angle of the target container so as to determine a position of the target container. The container positioning method and apparatus based on multi-line laser data fusion provided in the present disclosure acquire an edge point of a top surface or a side surface of a target container after point cloud data is fused via point cloud data of a multi-line laser radar, so as to accurately acquire the position of the target container.
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公开(公告)号：US20230131592A1
公开(公告)日：2023-04-27
申请号：US17922202
申请日：2021-04-26
摘要： The present invention provides an automatic container landing device based on an expert system and a control method therefor. The device comprises at least four groups of cameras and at least six groups of single-point laser devices, wherein the at least four groups of cameras and four groups of single-point laser devices in the at least six groups of single-point laser devices are arranged at four spreader corners of a spreader fixing support; two groups of single-point laser devices in the at least six groups of single-point laser devices are respectively arranged on the outer sides of two short edges of the spreader fixing support; the front end of the spreader fixing support is lower than the rear end of the spreader fixing support; and the first group of cameras and the second group of cameras in the at least four groups of cameras, as well as the first group of laser devices and the second group of laser devices, and the third group of cameras and the fourth group of cameras, as well as the third group of laser devices and the fourth group of laser devices, are arranged at the front end and the rear end of the spreader fixing support respectively. According to the automatic container landing device based on the expert system, manual container landing experience is integrated into various sensors, a spreader is controlled by means of sensing signals, low-point and high-point container landing of a container is conducted, automatic dynamic container landing of the container is achieved, high-precision measurement is achieved with the cooperation of the cameras and the single-point laser devices, and therefore, the precision and efficiency of the container landing operation are improved.
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