CN108394814A - Gantry crane cart based on image recognition guides system and method - Google Patents
Gantry crane cart based on image recognition guides system and method Download PDFInfo
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- CN108394814A CN108394814A CN201810111513.8A CN201810111513A CN108394814A CN 108394814 A CN108394814 A CN 108394814A CN 201810111513 A CN201810111513 A CN 201810111513A CN 108394814 A CN108394814 A CN 108394814A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 38
- 241000208340 Araliaceae Species 0.000 claims abstract description 29
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims abstract description 29
- 235000003140 Panax quinquefolius Nutrition 0.000 claims abstract description 29
- 235000008434 ginseng Nutrition 0.000 claims abstract description 29
- 239000003550 marker Substances 0.000 claims abstract description 21
- 235000015170 shellfish Nutrition 0.000 claims abstract description 18
- 239000000284 extract Substances 0.000 claims abstract description 8
- 230000009466 transformation Effects 0.000 claims abstract description 6
- 239000013643 reference control Substances 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229920002334 Spandex Polymers 0.000 description 1
- 238000005352 clarification Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004759 spandex Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of, and the gantry crane cart based on image recognition guides system and method, which includes image acquisition equipment, calibrated reference, outer ginseng marker, cart, processing equipment.Wherein, outer ginseng marker obtains the world coordinate system and image coordinate system of equipment to uncalibrated image.The image of calibrated reference is acquired respectively using two image acquisition equipments and is transmitted to processing equipment, and processing equipment obtains the three-dimensional coordinate information of calibrated reference.Processing equipment extracts container profile information from the image collected, calculate the position data of container, and obtain coordinate transformation relation of the container in image coordinate system and world coordinate system, processing equipment calculates the real time position of container according to the relationship of two coordinate systems, and controls cart according to real time position and carry out changing shellfish guiding.Invention not only improves the working environments of harbour driver, reduce the human cost of employee, and improve the operating efficiency at harbour.
Description
Technical field
The present invention relates to gantry crane carts to guide system and method, more specifically to a kind of bank based on image recognition
Bridge cart guides system and method.
Background technology
In ship loading transportational process, location information is made of container 6 character codes, referred to as shellfish position.Shellfish
6 character informations of position are respectively row number, row number and level number composition.Front two character is row's (row) number, it is by Arabic number
Word number composition, is usually ranked sequentially from bow to stern by natural number；Intermediate two are row number, it is by two Arabic numbers
Word is numbered, and on the basis of central fore-and-aft vertical plane, astarboard odd number is aport ranked sequentially with even number；Two bit numbers are level number afterwards, it
It is indicated in the form of numbering, in cabin on the basis of basecoat, sequence from low to uper part.
So-called cart changes shellfish operation, i.e. bridge crane is moved to another row number by a row number along ship cephalocaudal direction, realizes
The handling operation of dress is arranged in a row to difference.It is very strong empirical that traditional gantry crane operation not only needs harbour driver to have,
The working environment of driver is also quite severe simultaneously, and also results in the waste on dock personnel.
Harbour driver one people of Central Control Room can more gantry cranes of remote control successively simultaneously, but it is according to sea that its cart, which changes shellfish,
20/40/45 ruler graduation mark symmetrically draws 4 lines on a display screen on the bottom end rail of side, and cart contraposition is carried out according to the symmetry of line,
But since camera can not ensure very installation level, display line is identical as the impossible holding of actual conditions, causes accurate
Degree is not high, inevitably causes low in efficiency.
Invention content
The problem of changing not high shellfish precision, inefficiency for cart existing in the prior art, the purpose of the present invention is carry
System and method is guided for a kind of gantry crane cart based on image recognition.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of gantry crane cart guiding system based on image recognition, including image acquisition equipment, calibrated reference, outer ginseng mark
Will object, cart, processing equipment.Wherein, outer ginseng marker obtains the world coordinate system and image coordinate of equipment to uncalibrated image
System.The image of calibrated reference is acquired respectively using two image acquisition equipments and is transmitted to processing equipment, and processing equipment obtains
The three-dimensional coordinate information of calibrated reference.Processing equipment extracts container profile information from the image collected, calculates packaging
The position data of case, and obtain coordinate transformation relation of the container in image coordinate system and world coordinate system, processing equipment root
The real time position of container is calculated according to the relationship of two coordinate systems, and cart is controlled according to real time position and carries out changing shellfish guiding.
Further, outer ginseng marker is round, a diameter of 30cm, both horizontally and vertically two neighboring outer ginseng mark
The circle center distance of object is 2m, and multiple outer ginseng markers are in the row arrangement of 3 rows 2.
Further, there are two image acquisition equipments, the left and right crossbeam both sides of cart sea side direction are separately fixed at.
Further, the coloured image of image acquisition equipment is converted to gray level image by processing equipment, according to adaptive thresholding
The method of value obtains the later image of binaryzation, the contour area of targeted containers is extracted according to Boundary extracting algorithm, to carry
The location information of the reference control point of container is taken, and marks its focus point, then carries out binocular ranging, obtains the ginseng of container
Examine the three-dimensional coordinate information at control point.
Further, cart includes extra large side and land side, and calibrated reference is installed on the ground of cart sea side direction, calibration ginseng
The image center location of image acquisition equipment is according to object.
Further, processing equipment handles the image in image acquisition equipment in real time, and the image of container is sat
Mark is converted to world coordinates in real time, and calculates under current location information, and the image positional relationship of the center line of bridge crane cart is used for
It is compared with container centerline.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of gantry crane cart bootstrap technique based on image recognition, includes the following steps：In cart and its periphery setting figure
As obtaining equipment and calibrated reference；The world coordinate system and image coordinate of equipment are obtained using outer ginseng marker uncalibrated image
System；The image for acquiring calibrated reference respectively using two image acquisition equipments, obtains the three-dimensional coordinate information of calibrated reference；
Container profile information is extracted from the image collected, calculates the position data of container, and is obtained container and sat in image
Mark system and the coordinate transformation relation in world coordinate system；The real time position of container is calculated according to the relationship of two coordinate systems,
And cart is controlled according to real time position and carries out changing shellfish guiding.
Further, further comprising the steps of：The coloured image of image acquisition equipment is converted into gray level image, according to certainly
The method for adapting to threshold value obtains the later image of binaryzation, and the contour area of targeted containers is extracted according to Boundary extracting algorithm,
To extract container reference control point location information, and mark its focus point, then carry out binocular ranging, obtain packaging
The three-dimensional coordinate information of the reference control point of case.
Further, further comprising the steps of：Image in image acquisition equipment is handled in real time, by container
Image coordinate is converted to world coordinates in real time, and calculates under current location information, and the picture position of the center line of bridge crane cart is closed
System, for being compared with container centerline.
Further, calibrated reference is in the image center location of image acquisition equipment.
In the above-mentioned technical solutions, the gantry crane cart guiding system and method for the invention based on image recognition not only improves
The working environment of harbour driver, reduces the human cost of employee, and improve the operating efficiency at harbour, additionally it is possible to improve
The competitiveness at dock container harbour.
Description of the drawings
Fig. 1 is the equipment scheme of installation of the present invention；
Fig. 2 is the schematic diagram of outer ginseng marker；
Fig. 3 is the apparatus logic block diagram of the present invention；
Fig. 4 is the device running model figure of the present invention；
Fig. 5 is flow chart of the method for the present invention.
Specific implementation mode
The technical solution further illustrated the present invention with reference to the accompanying drawings and examples.
Referring to Fig.1, the present invention discloses a kind of gantry crane cart guiding system based on image recognition, capital equipment packet first
Include image acquisition equipment 2, calibrated reference (or being referred to as " object of reference "), outer ginseng marker 1, cart 3, processing equipment.This hair
Bright system uses the object recognizing sensor system based on image procossing.Object recognizing sensor system refers to passing through machine
Visual sensor (such as image acquisition equipment 2 and laser) absorbs the image information and space length information of target, utilizes two
A image acquisition equipment 2 acquires the image of calibrated reference and is transmitted to processing equipment respectively, and processing equipment obtains calibration reference
The three-dimensional coordinate information of object.It is transmitted to dedicated processing equipment (such as image processing module and data processing module), by processing
After extract clarification of objective, video image analysis is carried out according to target signature, to making motion control to cart 3.
Specifically, the invention firstly uses world coordinate systems and image that outer ginseng 1 uncalibrated image of marker obtains equipment 2
Coordinate system.Calibrated reference is acquired respectively by two image acquisition equipments 2 (camera) on 3 or so crossbeam of cart
Image (i.e. shoot cabin in container 4 image), obtain the three-dimensional coordinate information of calibrated reference.
Then, image acquisition equipment 2 extracts the profile information of container 4 from the image collected, that is, it includes collection to obtain
Video/image information including the babinet of vanning 4, profile of container 4 etc., and it is transmitted to processing equipment.
Then, processing equipment detected the object of reference in image by image processing techniques, calculate it in the picture
Coordinate, extract container 4 profile information.According to the calibration relationship between image coordinate system and binocular coordinate system, by reference
It is converted to the camera coordinates of binocular vision system to the image coordinate of object, to calculate the babinet of container 4 in vision system
Absolute position in system calculates 3 travel distance of cart and ship further according to installation external parameter of the camera on bridge crane cart 3
The opposite offset relationship of container 4 in cabin is operated according to the offset data to control the traveling of bridge crane, and that realizes cart 3 changes shellfish
Guiding operation.
In the present invention, image acquisition equipment 2 can be camera, camera etc., and processing equipment can be image procossing mould
Block, data processing module, PLC, industrial personal computer etc. and its arbitrary combination.Above-mentioned selection is only several optional embodiment party of the present invention
Formula is not intended as the limitation of the present invention.
With further reference to Fig. 1, cart 3 includes extra large side and land side, and calibrated reference is installed on the ground of the extra large side direction of cart 3
Face, calibrated reference are in the image center location of image acquisition equipment 2.There are two image acquisition equipments 2, is separately fixed at big
The left and right crossbeam both sides of the extra large side direction of vehicle 3.
As shown in Fig. 2, ginseng marker 1 is round, a diameter of 30cm outside, both horizontally and vertically two neighboring outer ginseng is marked
The circle center distance of will object 1 is 2m, and multiple outer ginseng markers 1 arrange arrangement in 3 rows 2, joins marker 1 outside for totally 6, each outer ginseng
The position of marker 1 is an index point.
As one embodiment of the present invention, as shown in Figure 3 and Figure 4, equipment 1 is mounted to several marks on ground
Object is the core calibration element for constituting the cart based on image procossing and changing shellfish guiding system, mainly carries out whole system to equipment 2
System calibration and usage.
Equipment 2 is to use short focus wide-angle intelligent camera, and the composition of main left and right two possesses larger field range,
Adjusting can be rotated up and down by being installed on, and be rotated left and right inside the waterproof cover rack shell of adjusted design, to facilitate field camera to clap
The adjusting of angle is taken the photograph, can accomplish the overall picture shooting to the container 4 in ship shellfish position.It will be outside video camera and its waterproof cover stent
Shell is installed to position as shown in Figure 1, can accomplish the overall monitor shooting to job area.
Equipment 3 is the operation processing units such as industrial personal computer or embedded operation mainboard, to equipment 2 acquire video photography into
Row processing in real time, then exports operation result and gives large vehicle walking PLC.
Equipment 4 is large vehicle walking controller PLC, that accepting device 3 exports as a result, the walking to cart provides drive control
Signal.
On the other hand, as shown in figure 5, the invention also discloses the above-mentioned gantry crane carts based on image recognition of correspondence to guide system
The method of system, including each step below：
S1：The installation and debugging of calibrated reference.
The standard component that object of reference is passive and reflection can significantly be bought in the market.By passive reflective object of reference by certain
Distributing installation (preferably, is evenly distributed in the ground of the extra large side direction of bridge crane cart, transverse direction in bridge crane sea near side edges
About 4 meters of spacing) so that object of reference can be in camera within sweep of the eye simultaneously with container in cabin, and ensure to join
It can simultaneously be taken by two cameras in left and right according to object.
S2：The installation of binocular camera shooting machine support.
Two video cameras (or camera) are separately fixed to the left and right crossbeam both sides of bridge crane cart sea side direction, video camera peace
Loaded on adjusting can be rotated up and down, rotate left and right inside the waterproof cover rack shell of adjusted design, to facilitate field camera to shoot
The adjusting of angle.Adjusting bracket setting angle so that cabin shellfish position range is in center in the visual field of image,
And at least take the 4 apparent containers in shellfish position.Left and right adjusting video camera makes object of reference in shot by camera image
Center.
S3：Camera calibration.
Outer ginseng marker is placed in the constant spacing position under cart coordinate system, using mounted camera acquisition outside
Ginseng mark object image calibrates the outer ginseng parameter between camera coordinate system and cart coordinate system, i.e. rotation parameter is joined with translation
Number.Image coordinate and the coordinate in world coordinate system are converted according to outer ginseng parameter, world coordinate system is established and is sat with image
Correspondence between mark system.Coordinate in the world coordinate system and image coordinate system of outer ginseng marker completes one-to-one close
After system, that is, imaging relations of the video camera under current pose are determined.
In the present invention, outer ginseng marker obtains the world coordinate system and image coordinate system of equipment to uncalibrated image.Outside
Join standard of the marker as calibration, its own size and position relationship are specific, its standard can be obtained by Lycra rangefinder
True location information, it is different according to the range of application scenarios, marker spacing can be carried out to different definition.
S4：The detection of object of reference.
The image of calibrated reference is acquired respectively using two image acquisition equipments and is transmitted to processing equipment, processing equipment
Obtain the three-dimensional coordinate information of calibrated reference.
Specifically, two video cameras acquire the image of object of reference respectively, and are transferred to industrial personal computer image processing module, then
By two video cameras container representation in collected shellfish position be respectively processed.Industrial personal computer is first by original cromogram
As being converted to 8 gray level images, image binaryzation processing is carried out according to the method for OTSU adaptive thresholds.After obtaining binaryzation
After image, seeks gradient and with morphology to carrying out Connected area disposal$ according to the feature of object of reference, then seek connected domain
Edge contour information.Then, the contour area that targeted containers are extracted according to Boundary extracting algorithm, to extract targeted containers
Reference control point location information, and mark its focus point.Binocular ranging is finally carried out, the three-dimensional of the reference control point is obtained
Coordinate information.
S5：Repeat S4 steps.
S6：With reference to Fig. 4, industrial personal computer extracts container profile information from the image collected, calculates container position number
According to the coordinate of the container handled in the picture and world coordinates coordinate transformation relation.
Specifically, the operation processing units such as industrial personal computer or embedded operation mainboard are to the video photography in above-mentioned steps
It is handled in real time, the image coordinate of container object of reference is converted into world coordinates in real time, and calculate current location information
Under, the image positional relationship of the center line of bridge crane cart, for being compared with container centerline.
S7：Obtained deviation signal is carried out bridge crane and is guided from shellfish is moved by motion control PLC.
PLC calculates container real time position relationship according to the relationship of two coordinates, and shows in the picture, with figure
Reference data position alignment prompted in as in reaches the operation that control bridge crane changes shellfish guiding.
In conclusion present invention incorporates image recognition and using with reference to body examination away from the advantages of, integrated use container
Information of the body in binocular image.Information based on the system and method for the present invention is the image information on three dimensions, i.e.,
A location information is extracted from left images information, therefore, it can overcome various interference signals, be stablized
And reliable measurement result.
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 all be fallen within the scope of claims of the present invention.
Claims (10)
1. a kind of gantry crane cart based on image recognition guides system, which is characterized in that including：
Image acquisition equipment, calibrated reference, outer ginseng marker, cart, processing equipment；
It is described it is outer ginseng marker to demarcate described image obtain equipment world coordinate system and image coordinate system；
The image of calibrated reference is acquired respectively using two image acquisition equipments and is transmitted to the processing equipment, the processing
Equipment obtains the three-dimensional coordinate information of the calibrated reference；
The processing equipment extracts container profile information from the image collected, calculates the position data of container, and obtain
To coordinate transformation relation of the container in image coordinate system and world coordinate system；
Processing equipment calculates the real time position of container according to the relationship of two coordinate systems, and is controlled according to the real time position
Cart carries out changing shellfish guiding.
2. the gantry crane cart based on image recognition guides system as described in claim 1, which is characterized in that the outer ginseng mark
Object is circle, and a diameter of 30cm, both horizontally and vertically the circle center distance of two neighboring outer ginseng marker is 2m, and multiple outer
Join marker in the row arrangement of 3 rows 2.
3. gantry crane cart based on image recognition guides system as described in claim 1, which is characterized in that the cart includes
Extra large side and land side, the calibrated reference are installed on the ground of cart sea side direction, and the calibrated reference is in image
Obtain the image center location of equipment.
4. the gantry crane cart based on image recognition guides system as claimed in claim 3, which is characterized in that described image obtains
There are two equipment, is separately fixed at the left and right crossbeam both sides of cart sea side direction.
5. the gantry crane cart based on image recognition guides system as described in claim 1, which is characterized in that the processing equipment
The coloured image of image acquisition equipment is converted into gray level image, the later figure of binaryzation is obtained according to the method for adaptive threshold
Picture, according to Boundary extracting algorithm extract targeted containers contour area, to extract container reference control point position
Information, and its focus point is marked, binocular ranging is then carried out, the three-dimensional coordinate letter of the reference control point of the container is obtained
Breath.
6. the gantry crane cart based on image recognition guides system as described in claim 1, which is characterized in that the processing equipment
Image in image acquisition equipment is handled in real time, the image coordinate of container is converted into world coordinates in real time, and count
It calculates under current location information, the image positional relationship of the center line of bridge crane cart, for being compared with container centerline.
7. a kind of gantry crane cart bootstrap technique based on image recognition, which is characterized in that include the following steps：
In cart and its periphery setting image acquisition equipment and calibrated reference；
The world coordinate system and image coordinate system of equipment are obtained using outer ginseng marker calibration described image；
The image for acquiring calibrated reference respectively using two image acquisition equipments, obtains the three-dimensional coordinate of the calibrated reference
Information；
Container profile information is extracted from the image collected, calculates the position data of container, and obtain container and scheming
As the coordinate transformation relation in coordinate system and world coordinate system；
The real time position of container is calculated according to the relationship of two coordinate systems, and cart is controlled according to the real time position and is carried out
Change shellfish guiding.
8. the gantry crane cart bootstrap technique based on image recognition as claimed in claim 7, which is characterized in that further include following step
Suddenly：
The coloured image of image acquisition equipment is converted into gray level image, after obtaining binaryzation according to the method for adaptive threshold
Image, the contour area of targeted containers is extracted according to Boundary extracting algorithm, to extract the reference control point of container
Location information, and its focus point is marked, binocular ranging is then carried out, the three-dimensional coordinate of the reference control point of the container is obtained
Information.
9. the gantry crane cart bootstrap technique based on image recognition as claimed in claim 7, which is characterized in that further include following step
Suddenly：
Image in image acquisition equipment is handled in real time, the image coordinate of container is converted into world coordinates in real time,
And calculate under current location information, the image positional relationship of the center line of bridge crane cart, for being compared with container centerline
It is right.
10. the gantry crane cart bootstrap technique based on image recognition as claimed in claim 7, which is characterized in that the calibration ginseng
The image center location of image acquisition equipment is according to object.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019347A (en) * | 2018-10-18 | 2018-12-18 | 东北大学 | A kind of bridge crane automatic control system |
| CN110255380A (en) * | 2019-06-25 | 2019-09-20 | 广州供电局有限公司 | Crane operation method and apparatus |
| CN110411530A (en) * | 2019-03-21 | 2019-11-05 | 重庆大学 | An intelligent identification method for the remaining volume of the container |
| CN110790136A (en) * | 2019-11-13 | 2020-02-14 | 广西飞熊科技有限公司 | Anti-shaking system based on image recognition and double-pulse control |
| CN111784627A (en) * | 2020-04-10 | 2020-10-16 | 福建电子口岸股份有限公司 | Container alignment method for vehicle |
| CN112194011A (en) * | 2020-08-31 | 2021-01-08 | 南京理工大学 | An automatic loading method of tower crane based on binocular vision |
| CN113900439A (en) * | 2021-12-10 | 2022-01-07 | 山东理工职业学院 | Method and system for unmanned ship to automatically enter and leave wharf and control terminal |
| CN114955579A (en) * | 2022-04-12 | 2022-08-30 | 三一海洋重工有限公司 | Shell position calibration method, device, equipment and system for container yard |
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| ES2954312A1 (en) * | 2022-04-11 | 2023-11-21 | Sibre Brakes Spain S L | SYSTEM TO ASSIST A CRANE IN THE MOVEMENT OF A COVER AND CRANE WHICH INCLUDES SAID SYSTEM (Machine-translation by Google Translate, not legally binding) |
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| CN110790136A (en) * | 2019-11-13 | 2020-02-14 | 广西飞熊科技有限公司 | Anti-shaking system based on image recognition and double-pulse control |
| CN111784627A (en) * | 2020-04-10 | 2020-10-16 | 福建电子口岸股份有限公司 | Container alignment method for vehicle |
| CN112194011A (en) * | 2020-08-31 | 2021-01-08 | 南京理工大学 | An automatic loading method of tower crane based on binocular vision |
| CN113900439A (en) * | 2021-12-10 | 2022-01-07 | 山东理工职业学院 | Method and system for unmanned ship to automatically enter and leave wharf and control terminal |
| ES2954312A1 (en) * | 2022-04-11 | 2023-11-21 | Sibre Brakes Spain S L | SYSTEM TO ASSIST A CRANE IN THE MOVEMENT OF A COVER AND CRANE WHICH INCLUDES SAID SYSTEM (Machine-translation by Google Translate, not legally binding) |
| CN114955579A (en) * | 2022-04-12 | 2022-08-30 | 三一海洋重工有限公司 | Shell position calibration method, device, equipment and system for container yard |
| CN115385244A (en) * | 2022-07-28 | 2022-11-25 | 广州起重机械有限公司 | Automatic crane control system based on 5G network and method thereof |
| CN119009802A (en) * | 2024-10-23 | 2024-11-22 | 中建二局第二建筑工程有限公司 | Cable bridge installation management system and method |
| CN119009802B (en) * | 2024-10-23 | 2025-01-03 | 中建二局第二建筑工程有限公司 | A cable tray installation management system and method |
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