US 11,748,891 B2
Automatic container loading and unloading apparatus and method
Junming Hong, Shanghai (CN); and Huan Chen, Shanghai (CN)
Assigned to Shanghai Master Matrix Information Technology Co., Ltd., Shanghai (CN)
Appl. No. 17/799,010
Filed by Shanghai Master Matrix Information Technology Co., Ltd., Shanghai (CN)
PCT Filed Feb. 26, 2021, PCT No. PCT/CN2021/078140
§ 371(c)(1), (2) Date Aug. 11, 2022,
PCT Pub. No. WO2021/196938, PCT Pub. Date Oct. 7, 2021.
Claims priority of application No. 202010240029.2 (CN), filed on Mar. 31, 2020.
Prior Publication US 2023/0060463 A1, Mar. 2, 2023
Int. Cl. G06T 7/12 (2017.01); G06T 7/521 (2017.01); B65G 69/24 (2006.01); B65G 69/26 (2006.01); B66C 13/18 (2006.01); G06T 7/10 (2017.01); G06V 30/19 (2022.01); G06T 7/543 (2017.01); G06T 7/564 (2017.01); B65G 67/04 (2006.01)
CPC G06T 7/12 (2017.01) [B65G 69/24 (2013.01); B65G 69/26 (2013.01); B66C 13/18 (2013.01); G06T 7/10 (2017.01); G06T 7/521 (2017.01); G06T 7/543 (2017.01); G06T 7/564 (2017.01); G06V 30/19127 (2022.01); B65G 67/04 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An automatic container loading and unloading apparatus, characterized in that comprising:
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;
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;
obtaining spatial straight lines of the edges of the keel of the container truck panel comprising obtaining spatial straight lines of a first edge and spatial straight lines of a second edge of the keel of the container truck panel, judging whether the included angle between spatial straight lines of the first edge and spatial straight lines of the second edge is less than the preset value, if the included angle is less than the preset value, fusing spatial straight lines of the first edge and spatial straight lines of the second edge, otherwise rescanning the container truck panel to obtain new laser point cloud data.