CN206389462U - Container truck is anti-to sling system - Google Patents
Container truck is anti-to sling system Download PDFInfo
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- CN206389462U CN206389462U CN201621097934.2U CN201621097934U CN206389462U CN 206389462 U CN206389462 U CN 206389462U CN 201621097934 U CN201621097934 U CN 201621097934U CN 206389462 U CN206389462 U CN 206389462U
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Abstract
The anti-system of slinging of container truck that the utility model embodiment is provided includes image capture device, host computer and laser range finder.Host computer is arranged at crane, and host computer is electrically connected with image capture device and laser range finder respectively.Laser range finder gathers the camera distance of container truck and image capture device, and the distance is sent into host computer.Host computer is controlled according to above-mentioned distance to image capture device, to reduce the focal adjustment time of described image collecting device.Host computer receives the first image of its collection after the completion of image capture device focusing, rim detection is carried out to image, and the marginal information detected and the second image for prestoring are contrasted to judge whether container truck is lifted.Compared with prior art, the container truck that the utility model embodiment is provided prevents that the system of slinging can reduce the risk of erroneous judgement, improves the accuracy of judgement.
Description
Technical field
The utility model is related to crane control field, and system is sling in particular to a kind of container truck is anti-.
Background technology
During crane unloads casing working to container truck progress, because the lock pin of container truck is not solved completely
Container is sling or partly sling by lock, crane in the lump together with container truck, commonly referred to as hangs truck accident.The accident may
The damage of container truck and container can be caused.
In order to avoid the generation of the accident, existing method is to install monitoring camera in loading and unloading area, and camera is used for
Container and container truck are shot during container is sling, and the view data photographed is transferred to
Remote operation room.Operator carries out remote observation by display screen in remote operation room to whole process, but method relies on people
Eye is judged, easily causes people's kopiopia, causes erroneous judgement.
Utility model content
In view of this, the utility model embodiment provides a kind of container truck and prevents slinging system, existing to improve
Technology judged by human eye, the problem of easily causing erroneous judgement.
To achieve the above object, the utility model embodiment provides a kind of container truck and prevents slinging system, the system
System includes：Image capture device, host computer and laser range finder, the host computer respectively with described image collecting device and
Laser range finder is electrically connected, and the host computer is arranged at crane, and described image collecting device includes at least one camera, institute
Stating at least one camera is used to shoot container truck；The distance and described image of the laser range finder and container truck
Collecting device is identical with the distance of the container truck.
Preferably, in above-mentioned system, described image collecting device is arranged at the door leg of the crane.
Image capture device is arranged at the door leg position of crane, and the camera of image capture device can be towards packaging
Case truck, to photograph the tire of container truck and the following edge of container.
Preferably, in above-mentioned system, at least one described camera includes two cameras, and described two cameras are equal
The door leg of the crane is arranged at, and described two cameras are located at same level.
Image capture device can specifically include two cameras, and two cameras are located at same level, while to collection
Vanning truck is shot so that shooting effect is more accurate.
Preferably, in above-mentioned system, at least one described camera is included in two cameras, described two cameras
One be used to shoot in the first side of the container truck, described two cameras another be used to shoot the collection
The second side of vanning truck.
Two cameras of image capture device can be also used for shooting the not ipsilateral of container truck.For example, image
Another in one in two cameras of the collecting device vehicle body side that is used to shoot container truck, two cameras
Tailstock side for shooting container truck.Two cameras shoot the not ipsilateral of container truck so that container card
The state of car is more clearly shown, is more beneficial for judging whether container truck is lifted.
Preferably, in above-mentioned system, the system also includes programmable logic controller (PLC), the Programmable logical controller
Device and the upper mechatronics.
Host computer obtains after the result of determination whether container truck is lifted by calculation process, can send control
System instruction is to programmable logic controller (PLC), so that programmable logic controller (PLC) is handled accordingly.If for example, host computer is obtained
After the result of determination that container truck is lifted, the first control instruction is sent to programmable logic controller (PLC), so that programmable patrol
Controller is collected to send alarm signal and control the suspender of crane out of service.
Preferably, in above-mentioned system, the system also includes alarm, the alarm and the FPGA control
Device electrical connection processed.
Programmable logic controller (PLC) can control alarm so that alarm sends report after the first control instruction is received
Alert signal.
Preferably, in above-mentioned system, the host computer includes image receiving unit, edge detection unit, marginal information
Comparing unit and alarm control unit, described image receiving unit are connected with described image collecting device, the edge inspection
Survey unit with described image receiving unit to be connected, the marginal information comparing unit is connected with the edge detection unit,
The alarm control unit is connected with the marginal information comparing unit and programmable logic controller (PLC) respectively.
Image receiving unit can receive the first image that image capture device is collected.Wherein, described first image is
When container is sling, the image of the virtual condition of container truck.
The first image that edge detection unit is received to image receiving unit carries out rim detection, to obtain the first image
Marginal information.
The marginal information of second image of the marginal information comparing unit by the marginal information of the first image with prestoring is entered
Row compares, to judge whether container truck is lifted.Wherein, the second image is when container is sling, container truck is not
The image being lifted.
Alarm control unit can be lifted in the container truck, then perform scheduled operation, be controlled for example, sending first
System instruction is to programmable logic controller (PLC), so that programmable logic controller (PLC) sends alarm signal and controls the suspender of crane to stop
Only run.
Preferably, in above-mentioned system, the host computer also includes apart from collecting unit and focal adjustment unit, described
Be connected respectively with the laser range finder and focal adjustment unit apart from collecting unit, the focal adjustment unit also with institute
Image capture device is stated to be connected.
The shooting of container truck and described image collecting device that laser range finder is collected is received apart from collecting unit
The distance of head.
Focal adjustment unit is right according to the container truck gathered apart from collecting unit and the distance of the camera
Described image collecting device is controlled, to reduce the focal adjustment time of described image collecting device.
Preferably, in above-mentioned system, the host computer also includes distance transform unit, the distance transform unit and institute
State and be connected apart from collecting unit.
Distance transform unit obtains institute according to the distance and camera parameter of the container truck and the camera
State the actual range that the single pixel point in the first image is represented.
The utility model embodiment additionally provides a kind of container truck, and the container truck includes pallet, the support
The surface of disk is provided with four lock pins, and the pallet is connected by four angles of four lock pins and container.
The container truck that the utility model embodiment is provided is prevented slinging having the beneficial effect that for system：
Container truck that the utility model embodiment is provided is anti-sling system including image capture device, host computer and
Laser range finder.Host computer is arranged at crane, and host computer is electrically connected with image capture device and laser range finder respectively.
Laser range finder gathers the camera distance of container truck and image capture device, and the distance is sent into host computer.On
Position machine is controlled according to above-mentioned distance to image capture device, to reduce the focal adjustment time of described image collecting device.
Host computer receives the first image of its collection after the completion of image capture device focusing, and rim detection is carried out to image, and will inspection
The marginal information measured is contrasted to judge whether container truck is lifted with the second image prestored.With existing technology
Compare, the container truck that the utility model embodiment is provided prevents that the system of slinging can reduce the risk of erroneous judgement, improves judgement
Accuracy.
The container truck that the utility model embodiment is provided, which is applied to above-mentioned container truck, to be prevented slinging system.
Brief description of the drawings
, below will be to embodiment for clearer explanation the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the anti-block diagram for slinging system of container truck that the utility model embodiment is provided；
Fig. 2 is the anti-application scenarios overlooked under visual angle for slinging system of container truck that the utility model embodiment is provided
Schematic diagram；
Fig. 3 is a kind of bowing for the anti-embodiment for slinging system of container truck that the utility model embodiment is provided
Depending on the application scenarios schematic diagram under visual angle；
Fig. 4 is the anti-block diagram for slinging system of container truck that another embodiment of the utility model is provided；
Fig. 5 is the anti-block diagram for slinging system of container truck that the another embodiment of the utility model is provided；
Fig. 6 is a kind of schematic diagram for situation that the container truck that the utility model embodiment is provided is lifted；
Fig. 7 is the schematic diagram for another situation that the container truck that the utility model embodiment is provided is lifted；
Fig. 8 is the schematic diagram for another situation that the container truck that the utility model embodiment is provided is lifted；
Fig. 9 is the schematic diagram for another situation that the container truck that the utility model embodiment is provided is lifted；
Figure 10 is also a kind of schematic diagram of situation that the container truck that the utility model embodiment is provided is lifted；
Figure 11 is the schematic diagram when container truck that the utility model embodiment is provided is not lifted；
Figure 12 is the shooting schematic diagram of the camera for the image capture device that the utility model embodiment is provided.
Icon：10- container trucks are anti-to sling system；100- host computers；110- image receiving units；120- rim detections
Unit；130- marginal information comparing units；140- alarm control units；150- is apart from collecting unit；160- focal adjustment lists
Member；170- distance transform units；200- image capture devices；210- cameras；300- laser range finders；400- FPGAs
Controller；500- alarms；600- container trucks；610- pallets；620- lock pins；630- tires；640- containers；700-
Crane；800- suspenders.
Embodiment
Below in conjunction with accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out clear
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole realities
Apply example.The detailed description of the embodiment of the present utility model to providing in the accompanying drawings is not intended to limit claimed sheet below
The scope of utility model, but it is merely representative of selected embodiment of the present utility model.Based on embodiment of the present utility model, ability
The every other embodiment that field technique personnel are obtained on the premise of creative work is not made, belongs to the utility model
The scope of protection.
As shown in figure 1, being that the anti-square frame for slinging system 10 of container truck that the utility model preferred embodiment is provided shows
It is intended to.The system includes host computer 100, laser range finder 300 and image capture device 200.Host computer 100 respectively with image
Collecting device 200 and laser range finder 300 are connected.
Host computer 100 refers to directly to send the computer of manipulation order, and host computer 100 can be used for receiving input
Signal, and the input signal received is handled.Input signal can for image capture device 200 gather image and
The distance that laser range finder 300 is measured.
Image capture device 200 is used to carry out IMAQ, and image capture device 200 can be used for gathering container 640
When being lifted, the image of the virtual condition (details refer to Fig. 6 to Figure 11) of container truck 600, and by the image collected
Send to host computer 100.
Laser range finder 300 is the instrument that the range measurement to target is realized using the parameter for modulating laser.Laser ranging
Instrument 300 can be used for measuring the distance between camera 210 of container truck 600 and image capture device 200, and will collection
To distance send to host computer 100.
Laser range finder 300 can specifically be arranged at the surface of image capture device 200, and laser range finder 300 is away from collection
The distance of vanning truck 600 can be identical apart from the distance of container truck 600 with the camera 210 of image capture device 200,
Therefore laser range finder 300 can measure distance of the camera 210 away from container truck 600 of image capture device 200.
Image capture device 200 can specifically be arranged at the door leg position of crane 700.For example, crane 700 specifically may be used
Think gantry crane, gantry crane is called straddle truck, be mainly used in outdoor goods yard, stock ground goods, the handling operation of bulk goods.
The camera 210 of image capture device 200 can specifically include two cameras 210, and two cameras 210 are equal
The door leg of crane 700 can be arranged at, and distance of two cameras 210 apart from ground is identical.
Details refer to Fig. 2, and two cameras 210 of image capture device 200 can shoot container truck 600 jointly
Side, to cause shooting result more accurate.
Details refer to Fig. 3, and two cameras 210 of image capture device 200 can also be located at different positions, to collection
Truck 600 of casing carries out the shooting of multi-angle.One in two cameras 210 as shown in Figure 3 is used to shoot container card
Another in the first side (side i.e. where the long side of container truck 600) of car 600, two cameras 210 is used for
Shoot the second side (side i.e. where the tailstock of container truck 600) of container truck 600.
Details refer to Fig. 4, and the system also includes (the Programmable Logic of programmable logic controller (PLC) 400
Controller, PLC) and alarm 500.The programmable logic controller (PLC) 400 is electrically connected with the host computer 100, report
Alert device 500 is electrically connected with programmable logic controller (PLC) 400.Programmable logic controller (PLC) 400 can be believed according to the control of host computer 100
The suspender 800 of number control crane 700 is out of service, and controls alarm 500 to send alarm signal.
Host computer 100 can specifically include image receiving unit 110, edge detection unit 120, marginal information comparing unit
130th, alarm control unit 140, apart from collecting unit 150, focal adjustment unit 160 and distance transform unit 170, details please
Referring to Fig. 5.
Image receiving unit 110 is connected with edge detection unit 120 and image capture device 200 respectively.Examine at edge
Survey unit 120 to be connected with marginal information comparing unit 130, marginal information comparing unit 130 also connects with alarm control unit 140
Connect, alarm control unit 140 is also connected with programmable logic controller (PLC) 400.
Apart from collecting unit 150 respectively with focal adjustment unit 160, distance transform unit 170 and laser range finder
300 are connected, and focal adjustment unit 160 is also connected with image capture device 200.
Details refer to Fig. 6, and container truck 600 includes pallet 610, and the surface of pallet 610 is provided with four lock pins
620, four lock pins 620 refer to Fig. 2.Pallet 610 is connected by four lock pins 620 with four angles of container 640.
The container truck that the utility model embodiment is provided prevents that the operation principle for slinging system 10 is：
Laser range finder 300 gather the camera 210 of container truck 600 and described image collecting device 200 away from
From, and by the distance collected send into host computer 100 apart from collecting unit 150.Apart from collecting unit 150 by packaging
The distance of case truck 600 and camera 210 is sent to focal adjustment unit 160.
Focal adjustment unit 160 is according to the container truck 600 gathered apart from collecting unit 150 and the shooting
First 210 distance, is controlled to described image collecting device 200, to reduce the focal adjustment of described image collecting device 200
Time.
Image capture device 200 can be continuously shot after the completion of focusing to container truck 600, and bat
The first image for taking the photograph acquisition is sent to image receiving unit 110.Image receiving unit 110 can send out the first image received
Deliver to edge detection unit 120.Wherein, the first image is the virtual condition of container truck 600 when container 640 is sling
Image.
The first image that edge detection unit 120 is received to image receiving unit 110 carries out rim detection, to obtain the
The marginal information of one image, and marginal information is sent to marginal information comparing unit 130.Marginal information can specifically include wheel
Tyre bead edge, container edge and tray edge.Edge detection unit 120 can specifically pass through Robert operators, Sobel operators
Or Prewitt operators carry out rim detection to the first image, naturally it is also possible to carry out edge to the first image by other means
Detection, for example, extract the edge of container 640 according to color change during image objects, and rim detection is carried out to the first image
Edge detection algorithm to should not be construed be to limitation of the present utility model.
Marginal information comparing unit 130 is by the marginal information of the first image and the marginal information of the second image prestored
It is compared, to judge whether container truck 600 is lifted.Wherein, the second image is packaging when container 640 is sling
The image that case truck 600 is not lifted.
By the marginal information of the first image such as tyre rim, container edge and tray edge with the second image
Corresponding marginal information is compared, it can be determined that whether container truck 600 is lifted.
If for example, the tyre rim and ground of the distance between the tyre rim of the first image and ground and the second image it
Between distance it is different when, then judge that container truck 600 is lifted.If between the tyre rim of described first image and ground
Distance and the tyre rim of the second image are identical with the distance between ground, and the container edge and pallet of described first image
When the container edge of the distance between edge and the second image is different from the distance between tray edge, then the packaging is judged
Case truck 600 is not lifted.
Alarm control unit 140 can be lifted in the container truck 600, then perform scheduled operation, for example, sending
First control instruction is to programmable logic controller (PLC) 400, so that programmable logic controller (PLC) 400 sends alarm signal and controlled
The suspender 800 of heavy-duty machine 700 is out of service.
Alarm signal can specifically be sent by the alarm 500 being connected with programmable logic controller (PLC) 400.
Distance transform unit 170 then can according to the distance of the container truck 600 and the camera 210 and
Camera parameter, obtains the actual range that the single pixel point in described first image is represented.
Camera parameter can include camera 210 width of finding a view, find a view height and camera 210 can shooting angle
Degree.According to width of finding a view, height of finding a view, camera 210 can shooting angle and container truck 600 and the camera
210 distance, obtains the actual range that the single pixel point in the first image is represented.
Details refer to Figure 12, and the height of finding a view of camera 210 can be 800 pixels, and the longitudinal direction of camera 210 can
Shooting angle is 106 degree, and container truck 600 is 3 meters apart from l with camera 210.Can then be calculated according to trigonometric function as
M shown in Figure 12 is 4 meters, then height of finding a view is that 800 pixel correspondence physical lengths are 2m, i.e., 8 meters.So 800 pictures
8 meters of vegetarian refreshments correspondence, 0.01 meter of single pixel point correspondence.
Fig. 6 to Figure 11 shows the schematic diagram that container truck 600 is together lifted together with container 640.
When second image is that container 640 is sling, the image that container truck 600 is not lifted, so the first image
Between the tyre rim of the tire 630 of the distance between the tyre rim of tire 630 and ground and the second image and ground away from
From difference, and the distance between container edge and the tray edge of pallet 610 of the container 640 of described first image and the
The container edge of the container 640 of two images is identical with the distance between the tray edge of pallet 610, that is, means container
Truck 600 is together sling together with container 640 by suspender 800, as shown in Figure 6.In four lock pins 620 as shown in Figure 2, extremely
Few three lock pins 620 are not switched on or two lock pins 620 corresponding with the diagonal positions of container 640 be not switched on causing as
Situation shown in Fig. 6.
Details refer to Fig. 7, when container truck 600 is sling with container 640 with the state shown in Fig. 7 by suspender 800
When, then illustrate in four lock pins 620, one or two lock pin 620 of the headstock away from container truck 600 is not switched on.
Details refer to Fig. 8, when container truck 600 is sling with container 640 with the state shown in Fig. 8 by suspender 800
When, then illustrate in four lock pins 620, one or two lock pin 620 close to the headstock of container truck 600 is not switched on.
Details refer to Fig. 9, when container truck 600 is sling with container 640 with the state shown in Fig. 9 by suspender 800
When, then illustrate in four lock pins 620, one or two lock pin 620 in left side as shown in Figure 9 is not switched on.
Details refer to Figure 10, when container truck 600 is hung with container 640 with the state shown in Figure 10 by suspender 800
When rising, then illustrate in four lock pins 620, one or two lock pin 620 on right side as shown in Figure 10 is not switched on.
Details refer to Figure 11, when container 640 is sling by suspender 800, and tire 630 tyre rim and ground it
Between distance illustrate that four lock pins 620 are opened when not changing, then, container truck 600 is not lifted.
Host computer 100 be able to can also specifically pass through by the signal of wire transmission 0/1 to programmable logic controller (PLC) 400
Ethernet is transmitted, and host computer 100 specifically can be by above two transmission means by sentencing that container truck 600 is lifted
Disconnected result is sent to programmable logic controller (PLC) 400.Programmable logic controller (PLC) 400 can be transmitted to above two transmission means
Judged result be compared, if the judged result of above two transmission means transmission is consistent, illustrate that judged result is accurate；If
The judged result of above two transmission means transmission is inconsistent, then explanation has erroneous judgement, can be by operator to judging
As a result manual confirmation is carried out.
Container truck that the utility model embodiment is provided is anti-, which to sling system 10, includes image capture device 200, upper
Machine 100 and laser range finder 300.Host computer 100 is arranged at crane 700, and host computer 100 respectively with image capture device
200 and laser range finder 300 electrically connect.Laser range finder 300 gathers container truck 600 and image capture device 200
The distance of camera 210, and the distance is sent to host computer 100.Host computer 100 is according to above-mentioned distance to image capture device
200 are controlled, to reduce the focal adjustment time of described image collecting device 200.Host computer 100 is in image capture device
200 focusing after the completion of, receive its collection the first image, to image carry out rim detection, and by the marginal information detected with
The second image prestored is contrasted to judge whether container truck 600 is lifted.Compared with prior art, this practicality is new
The container truck that type embodiment is provided prevents that the risk of erroneous judgement can be reduced by slinging system 10, improve the accuracy of judgement.
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, above in conjunction with the utility model
Accompanying drawing in embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Generally here described in accompanying drawing and
The component of the utility model embodiment shown can be arranged and designed with a variety of configurations.
Therefore, the detailed description of of the present utility model embodiment of the above to providing in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
, it is necessary to which explanation, the orientation of instruction or the term of position relationship are based on attached in description of the present utility model
Orientation or position relationship shown in figure, or the orientation usually put when using of the utility model product or position relationship, only
It is to be described for the ease of description the utility model with simplified, rather than indicates or imply that the device or element of meaning must be with spies
Fixed orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in utility model.
Claims (9)
1. a kind of container truck is anti-to sling system, it is characterised in that the system include image capture device, host computer and
Laser range finder, the host computer is electrically connected with described image collecting device and laser range finder respectively, and the host computer is set
It is placed in crane,
Described image collecting device includes at least one camera, and at least one described camera is used to shoot container truck；
The distance and described image collecting device of the laser range finder and container truck and the distance of the container truck
It is identical.
2. system according to claim 1, it is characterised in that described image collecting device is arranged at the door of the crane
Leg.
3. system according to claim 2, it is characterised in that at least one described camera includes two cameras, institute
The door leg that two cameras may be contained within the crane is stated, and described two cameras are located at same level.
4. system according to claim 1, it is characterised in that at least one described camera includes two cameras, institute
State another in one in the two cameras first side for being used to shoot the container truck, described two cameras
Second side for shooting the container truck.
5. system according to claim 1, it is characterised in that the system also includes programmable logic controller (PLC), described
Programmable logic controller (PLC) and the upper mechatronics.
6. system according to claim 5, it is characterised in that the system also includes alarm, the alarm and institute
State programmable logic controller (PLC) electrical connection.
7. system according to claim 5, it is characterised in that the host computer includes image receiving unit, rim detection
Unit, marginal information comparing unit and alarm control unit, described image receiving unit are connected with described image collecting device
Connect, the edge detection unit is connected with described image receiving unit, the marginal information comparing unit is examined with the edge
Survey unit be connected, the alarm control unit respectively with the marginal information comparing unit and programmable logic controller (PLC) phase
Connection.
8. system according to claim 7, it is characterised in that the host computer also includes apart from collecting unit and focusing
Adjustment unit, described to be connected respectively with the laser range finder and focal adjustment unit apart from collecting unit, the focusing
Adjustment unit is also connected with described image collecting device.
9. system according to claim 8, it is characterised in that the host computer also includes distance transform unit, it is described away from
From scaling unit with it is described with a distance from collecting unit be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621097934.2U CN206389462U (en) | 2016-09-30 | 2016-09-30 | Container truck is anti-to sling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621097934.2U CN206389462U (en) | 2016-09-30 | 2016-09-30 | Container truck is anti-to sling system |
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| Publication Number | Publication Date |
|---|---|
| CN206389462U true CN206389462U (en) | 2017-08-08 |
Family
ID=59485821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201621097934.2U Active CN206389462U (en) | 2016-09-30 | 2016-09-30 | Container truck is anti-to sling system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107527347A (en) * | 2017-10-11 | 2017-12-29 | 南京大学 | Harbour container based on computer visual image processing lifts by crane safety monitoring method |
| CN109534177A (en) * | 2019-01-10 | 2019-03-29 | 上海海事大学 | A kind of anti-hoisting device of truck based on machine vision and truck are prevented slinging method |
-
2016
- 2016-09-30 CN CN201621097934.2U patent/CN206389462U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107527347A (en) * | 2017-10-11 | 2017-12-29 | 南京大学 | Harbour container based on computer visual image processing lifts by crane safety monitoring method |
| CN107527347B (en) * | 2017-10-11 | 2020-01-14 | 南京大学 | Port container lifting safety monitoring method based on computer vision image processing |
| CN109534177A (en) * | 2019-01-10 | 2019-03-29 | 上海海事大学 | A kind of anti-hoisting device of truck based on machine vision and truck are prevented slinging method |
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