Research on Measurement of Container Lifting Posture Based on Binocular Vision
In order to solve the problem of low lifting speed in the process of port container transportation and loading,a method of measuring the lifting posture of containers based on binocular vision is proposed.This method can make the crane operator complete the lifting of containers independently,and make the port container loading and unloading more intelligent.Firstly,the feature contour extraction of HSV color space and the improved KCF algorithm are used to complete the recognition and real-time tracking of the target container,and then the moment feature com-bined with the three-dimensional pose detection algorithm is used to complete the pose measurement between the tar-get container and the gantry crane.The measurement error of this method is-0.2～+0.4 degrees in the deviation an-gle measurement experiment between the target container and the spreader,and about 4mm in the relative distance measurement experiment.The detection rate of the target container is as high as 97%.The experimental results show that this method meets the requirements of the actual port container lifting and placing,and can accurately lift and place the container.
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