CN103336282B - A kind of cabin locating device and localization method thereof automatically - Google Patents
A kind of cabin locating device and localization method thereof automatically Download PDFInfo
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- CN103336282B CN103336282B CN201310238403.5A CN201310238403A CN103336282B CN 103336282 B CN103336282 B CN 103336282B CN 201310238403 A CN201310238403 A CN 201310238403A CN 103336282 B CN103336282 B CN 103336282B
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Abstract
The invention discloses a kind of cabin locating device and localization method thereof automatically, locating device is arranged on bulkhead wall moving type ship loader.Localization method comprises: step 1, ship loader cantilever shrink and rise, and rising to ground is 70 degree of angles, and cart is moved to ship bow side, cart moves to boats and ships stern with given speed from ship bow; Step 2, run automatic cabin locating device, boats and ships are scanned, obtains the two-dimensional coordinate information of boats and ships; Step 3, industrial computer carry out pre-service, obtain the self-adaptation grayscale image values of boats and ships; Step 4, industrial computer extract the 2-D gray image feature of boats and ships, obtain the edge of side, ship sea; Step 5, industrial computer carry out binary conversion treatment to the 2-D gray image of boats and ships, obtain the cabin position of boats and ships.The present invention by the impact of environment, temperature, can not detect position and the relevant information of cabin efficiently and accurately, and monitor in real time whole process, and apparatus structure is simple, simple to operate, with low cost.
Description
Technical field
The present invention relates to a kind of cabin locating device and method, be specifically related to a kind of cabin locating device and localization method thereof automatically.
Background technology
Nowadays, increasing harbour is turning to unmanned intelligent harbour from artificial mechanism harbour.Along with the sustainable development of international carriage and bulk-chemical terminal, the automatic improving of bulk cargo terminals also will be inexorable trend.Adopt digital camera head as imageing sensor in prior art, need a standardized marking image to be fixed in advance on control objectives.Assisting by mark, can use vision system to calculate the three-dimensional coordinate of target.The method of digital camera head is applicable to machine itself.But for the automatic control of bulk cargo terminals machinery, this method is restricted.Dry bulk cargo and bulk freighter installation code marking image very difficult, and bulk cargo terminals environment is very severe, adopts digital camera head and standard marking image can reduce the reliability of digital video camcorder vision system.
Summary of the invention
The object of the present invention is to provide a kind of cabin locating device and localization method thereof automatically, not by the impact of environment, temperature, position and the relevant information of cabin can be detected efficiently and accurately, and whole process is monitored in real time, apparatus structure is simple, simple to operate, with low cost.
In order to achieve the above object, the present invention is achieved through the following technical solutions: a kind of cabin locating device automatically, is arranged on bulkhead wall moving type ship loader, is characterized in, comprises: two-dimensional laser radar and industrial computer;
What above-mentioned two-dimensional laser radar was arranged on ship loader slips on the square maintenance platform of bucket;
Data are transmitted by optical fiber and Shielded Twisted Pair between above-mentioned two-dimensional laser radar and industrial computer;
Scan image data, as vision sensor, is transferred to industrial computer by above-mentioned two-dimensional laser radar;
Above-mentioned industrial computer carries out Treatment Analysis to scan image;
Above-mentioned industrial computer is also connected with the display that can show Current Scan picture in real time.
For a localization method for above-mentioned automatic cabin locating device,
Above-mentioned localization method comprises:
Step 1, ship loader cantilever shrink and rise, and rising to ground is 70 degree of angles, and cart is moved to ship bow side, cart moves to boats and ships stern with given speed from ship bow;
Step 2, run automatic cabin locating device, two-dimensional laser radar is started working, and scans boats and ships, obtains the two-dimensional coordinate information of boats and ships;
Step 3, industrial computer carry out pre-service, obtain the self-adaptation grayscale image values of boats and ships;
Step 4, industrial computer extract the 2-D gray image feature of boats and ships, obtain the edge of side, ship sea;
Step 5, industrial computer carry out binary conversion treatment to the 2-D gray image of boats and ships, obtain the cabin position of boats and ships.
Above-mentioned step 2 also comprises following steps:
Step 2.1, above-mentioned two-dimensional laser radar do a seashore side scanning direction every 20ms to boats and ships, and each cross section corresponds to a value of cart position coder;
Step 2.2, set up two-dimensional direct angle coordinate system;
Step 2.3, industrial computer obtain the cloud data that two-dimensional laser radar is formed to the air line distance of boats and ships analyzing spot;
Cloud data is converted into the two-dimensional coordinate information corresponding with cross section, place by step 2.4, industrial computer.
Two-dimensional direct angle coordinate system in above-mentioned step 2.2 is set to true origin so that two-dimensional laser radar is in place, is Y-axis positive dirction straight down, and seashore side is that X-axis positive dirction is set up.
Above-mentioned step 3 also comprises following steps:
Step 3.1, industrial computer obtain self-adaptation gray-scale pixel values according to boats and ships number of contours strong point to the distance of two-dimensional laser radar;
Step 3.2, industrial computer obtain the distance of adjacent scanning cross-section according to the travelling speed information of cart;
Cross-section datas all for two-dimensional laser radar scanning is carried out spatial recomposition by step 3.3, industrial computer, does interpolation every 10cm pair cross-section, removes unnecessary cross-section data;
Step 3.4, industrial computer rebuild the 2-D gray image of boats and ships, and carry out filtering and noise reduction process to 2-D gray image.
In above-mentioned step 3.1, boats and ships number of contours strong point is obtained by following method;
The self-defined gray-scale pixels threshold value k of industrial computer, as y>k, represent that the point now swept to is boats and ships cabin inside or the water surface, now defining this pixel is 0; As y<=k, represent that this point is boats and ships number of contours strong point.
Above-mentioned step 4 also comprises following steps:
When step 4.1, boats and ships pull in shore, industrial computer is demarcated seashore side;
The image array of the self-defined reconstruction of step 4.2, industrial computer is
, the wherein row and column of the corresponding 2-D gray image matrix of i, j difference;
The row of step 4.3, industrial computer self-defined a scan matrix P, matrix P is according to on-site actual situations and require value, and the row of matrix P are taken as j;
Step 4.4, scan matrix P scan from top to bottom in image array H, obtain the profile of boats and ships;
Step 4.4, industrial computer are according to the gray pixels point distribution density ρ of the profile Ship ' of boats and ships;
Step 4.5, industrial computer, according to the change of ρ value, obtain the edge of side, ship sea.
The gray pixels point distribution density ρ of the boats and ships in above-mentioned step 4.4 is obtained by following method:
Each element in scan matrix P corresponds to the pixel in image array H present scanning position, element
time represent that this point is black, illustrate that this point is not boats and ships profile; ρ is the ratio that the number of black color dots element in Current Scan region accounts for all elements in scan matrix P.
Above-mentioned step 5 comprises:
The self-defined square scan matrix T of step 5.1, industrial computer;
Step 5.2, scan matrix T from the image array H upper left corner with the interval of 1 or 2 pixel according to from left to right, order traversal image array H from top to bottom, until when the ρ in current T is less than set-point, the end of scan, obtains the four edges edge of contiguous boats and ships cabin;
Step 5.3, industrial computer calculate position and the size of boats and ships cabin according to the four edges edge of boats and ships;
Step 5.4, industrial computer are corresponding with the value of cart position coder by the position of boats and ships cabin;
Step 5.5, cart is moved to the boats and ships cabin of specifying.
In above-mentioned step 5.2 during the end of scan, the middle point coordinate of scan matrix T, in boats and ships cabin, draws the level of two illusions and the straight line of vertical direction thus, when non-zero pixels point appears in first time separately, obtains the four edges edge of contiguous boats and ships cabin.
The present invention a kind of cabin locating device and localization method thereof automatically compared with prior art have the following advantages: owing to being provided with two-dimensional laser radar, can the two dimensional image of real time scan boats and ships; Owing to being provided with scan matrix P, the edge of side, ship sea conveniently can be found; Owing to being provided with square scan matrix T, can quick position cabin position.
Accompanying drawing explanation
Fig. 1 is the present invention's automatic cabin locating device schematic diagram.
Fig. 2 is the present invention's automatic cabin localization method process flow diagram.
Fig. 3 is the present invention's automatic cabin locating device cabin two-dimension image rebuild and feature extraction schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As shown in Figure 1, a kind of cabin locating device automatically, is arranged on bulkhead wall moving type ship loader, comprises: two-dimensional laser radar 1 and industrial computer; What two-dimensional laser radar 1 was arranged on ship loader slips on the square maintenance platform of bucket, be used as the vision sensor part of boats and ships 3 cabin location, obtain the outline data of boats and ships 3 cargo hold and pass to industrial computer, two-dimensional laser radar 1 sector scanning broad covered area, scanning angle reaches 270 degree; Transmit data by optical fiber and Shielded Twisted Pair between industrial computer and two-dimensional laser radar 1, industrial computer, with display, can show Current Scan picture in real time.
As shown in Figure 2 and Figure 3, a kind of process flow diagram of the localization method for above-mentioned automatic cabin locating device, localization method comprises:
Step 1, ship loader cantilever shrink and rise, and rising to ground is 70 degree of angles, cart 2 is moved to boats and ships 3 fore side, and cart 2 moves to boats and ships 3 stern with given speed from boats and ships 3 fore.
Step 2, run automatic cabin locating device, two-dimensional laser radar 1 is started working, and scans boats and ships 3, obtains the two-dimensional coordinate information of boats and ships 3;
Step 2.1, two-dimensional laser radar 1 do seashore side 4 scanning direction every 20ms to boats and ships 3, and each cross section corresponds to a value of cart 2 position coder;
Step 2.2, with two-dimensional laser radar 1 position for true origin, be Y-axis positive dirction straight down, two-dimensional direct angle coordinate system is set up for X-axis positive dirction in seashore side 4;
Step 2.3, industrial computer obtain the cloud data that two-dimensional laser radar 1 is formed to the air line distance of boats and ships 3 analyzing spot;
Cloud data is converted into the two-dimensional coordinate information corresponding with cross section, place by step 2.4, industrial computer.
Step 3, industrial computer carry out pre-service, obtain the self-adaptation grayscale image values of boats and ships 3;
Step 3.1, industrial computer obtain self-adaptation gray-scale pixel values according to boats and ships 3 number of contours strong point to the distance of two-dimensional laser radar 1, the self-defined gray-scale pixels threshold value k of industrial computer, as y>k, represent that the point now swept to is boats and ships 3 cabin inside or the water surface, now defining this pixel is 0; As y<=k, represent that this point is boats and ships 3 number of contours strong point;
Step 3.2, industrial computer obtain the distance of adjacent scanning cross-section according to the travelling speed information of cart 2;
Two-dimensional laser radar 1 is scanned all cross-section datas and carries out spatial recomposition by step 3.3, industrial computer, does interpolation, remove unnecessary cross-section data every 10cm pair cross-section;
Step 3.4, industrial computer rebuild the 2-D gray image of boats and ships 3, and carry out filtering and noise reduction process to 2-D gray image.
As shown in Figure 3, step 4, industrial computer extract the 2-D gray image feature of boats and ships 3, obtain the edge of boats and ships 3 by extra large side;
When step 4.1, boats and ships 3 pull in shore, industrial computer is demarcated seashore side 4;
The image array of the self-defined reconstruction of step 4.2, industrial computer is
, the wherein row and column of the corresponding 2-D gray image matrix of i, j difference;
The row of step 4.3, industrial computer self-defined a scan matrix P, matrix P is according to on-site actual situations and require value, and the row of matrix P are taken as j;
Step 4.4, scan matrix P scan from top to bottom in image array H, obtain the profile of boats and ships 3, and each element in scan matrix P corresponds to the pixel in image array H present scanning position, element
time represent that this point is black, illustrate that this point is not boats and ships 3 profiles; ρ is the ratio that the number of black color dots element in Current Scan region accounts for all elements in scan matrix P.；
Step 4.4, industrial computer are according to the gray pixels point distribution density ρ of the profile Ship ' 3 of boats and ships 3;
Step 4.5, industrial computer, according to the change of ρ value, obtain the edge of boats and ships 3 by extra large side.
Step 5, industrial computer carry out binary conversion treatment to the 2-D gray image of boats and ships 3, obtain the cabin position of boats and ships 3;
The self-defined square scan matrix T of step 5.1, industrial computer;
Step 5.2, scan matrix T from the image array H upper left corner with the interval of 1 or 2 pixel according to from left to right, order traversal image array H from top to bottom, until when the ρ in current T is less than set-point, the end of scan, when obtaining the four edges edge end of scan of contiguous boats and ships 3 cabin, the middle point coordinate of scan matrix T is in boats and ships 3 cabin, draw the level of two illusions and the straight line of vertical direction thus, when non-zero pixels point appears in first time separately, obtain the four edges edge of contiguous boats and ships 3 cabin;
Step 5.3, industrial computer calculate position and the size of boats and ships 3 cabin according to the four edges edge of boats and ships;
Step 5.4, industrial computer are corresponding with the value of cart 2 position coder by the position of boats and ships 3 cabin;
Step 5.5, cart 2 is moved to boats and ships 3 cabin of specifying.
Although content of the present invention has done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (8)
1. a localization method for automatic cabin locating device, comprises automatic cabin locating device, and this automatic cabin locating device is arranged on bulkhead wall moving type ship loader, and this device comprises two-dimensional laser radar (1) and industrial computer; What described two-dimensional laser radar (1) was arranged on ship loader slips on the square maintenance platform of bucket; Data are transmitted by optical fiber and Shielded Twisted Pair between described two-dimensional laser radar (1) and industrial computer; Scan image data, as vision sensor, is transferred to industrial computer by described two-dimensional laser radar (1); Described industrial computer carries out Treatment Analysis to scan image; Described industrial computer is also connected with the display that can show Current Scan picture in real time, it is characterized in that, described localization method comprises:
Step 1, ship loader cantilever shrink and rise, rising to ground is 70 degree of angles, cart (2) is moved to boats and ships (3) fore side, and cart (2) moves to boats and ships (3) stern with given speed from boats and ships (3) fore;
Step 2, run automatic cabin locating device, two-dimensional laser radar (1) is started working, and scans boats and ships (3), obtains the two-dimensional coordinate information of boats and ships (3);
Step 3, industrial computer carry out pre-service, obtain the self-adaptation grayscale image values of boats and ships (3);
Step 4, industrial computer extract the 2-D gray image feature of boats and ships (3), obtain the edge of boats and ships (3) by extra large side;
Step 5, the industrial computer 2-D gray image to boats and ships (3) carries out binary conversion treatment, and obtain the cabin position of boats and ships (3), wherein said step 5 comprises:
The self-defined square scan matrix T of step 5.1, industrial computer;
Step 5.2, scan matrix T from the image array H upper left corner with the interval of 1 or 2 pixel according to from left to right, order traversal image array H from top to bottom, until when the ρ in current T is less than set-point, the end of scan, obtains the four edges edge of contiguous boats and ships (3) cabin;
Step 5.3, industrial computer calculate position and the size of boats and ships (3) cabin according to the four edges edge of boats and ships;
Step 5.4, industrial computer are corresponding with the value of cart (2) position coder by the position of boats and ships (3) cabin;
Step 5.5, cart (2) is moved to boats and ships (3) cabin of specifying.
2. cabin localization method automatically as claimed in claim 1, it is characterized in that, described step 2 also comprises following steps:
Step 2.1, described two-dimensional laser radar (1) do seashore side (4) scanning direction every 20ms to boats and ships (3), and each cross section corresponds to a value of cart (2) position coder;
Step 2.2, set up two-dimensional direct angle coordinate system;
Step 2.3, industrial computer obtain the cloud data that two-dimensional laser radar (1) is formed to the air line distance of boats and ships (3) analyzing spot;
Cloud data is converted into the two-dimensional coordinate information corresponding with cross section, place by step 2.4, industrial computer.
3. cabin localization method automatically as claimed in claim 2, it is characterized in that, two-dimensional direct angle coordinate system in described step 2.2 is for true origin with two-dimensional laser radar (1) position, be Y-axis positive dirction straight down, seashore side (4) are the foundation of X-axis positive dirction.
4. cabin localization method automatically as claimed in claim 1, it is characterized in that, described step 3 also comprises following steps:
Step 3.1, industrial computer obtain self-adaptation gray-scale pixel values according to boats and ships (3) number of contours strong point to the distance of two-dimensional laser radar (1);
Step 3.2, industrial computer obtain the distance of adjacent scanning cross-section according to the travelling speed information of cart (2);
Two-dimensional laser radar (1) is scanned all cross-section datas and carries out spatial recomposition by step 3.3, industrial computer, does interpolation, remove unnecessary cross-section data every 10cm pair cross-section;
Step 3.4, industrial computer rebuild the 2-D gray image of boats and ships (3), and carry out filtering and noise reduction process to 2-D gray image.
5. cabin localization method automatically as claimed in claim 4, it is characterized in that, in described step 3.1, boats and ships (3) number of contours strong point is obtained by following method;
The self-defined gray-scale pixels threshold value k of industrial computer, as y>k, represent that the point now swept to is boats and ships (3) cabin inside or the water surface, now defining this pixel is 0; As y<=k, represent that this point is boats and ships (3) number of contours strong point.
6. cabin localization method automatically as claimed in claim 1, it is characterized in that, described step 4 also comprises following steps:
When step 4.1, boats and ships (3) pull in shore, industrial computer is demarcated seashore side (4);
The image array of the self-defined reconstruction of step 4.2, industrial computer is
The wherein row and column of the corresponding 2-D gray image matrix of i, j difference;
The row of step 4.3, industrial computer self-defined a scan matrix P, matrix P is according to on-site actual situations and require value, and the row of matrix P are taken as j;
Step 4.4, scan matrix P scan from top to bottom in image array H, obtain the profile of boats and ships (3);
Step 4.4, industrial computer are according to the gray pixels point distribution density ρ of the profile Ship ' (3) of boats and ships (3);
Step 4.5, industrial computer, according to the change of ρ value, obtain the edge of boats and ships (3) by extra large side.
7. cabin localization method automatically as claimed in claim 6, it is characterized in that, the gray pixels point distribution density ρ of the boats and ships (3) in described step 4.4 is obtained by following method:
Each element in scan matrix P corresponds to the pixel in image array H present scanning position, element P
xyrepresent when=0 that this point is black, illustrate that this point is not boats and ships (3) profile; ρ is the ratio that the number of black color dots element in Current Scan region accounts for all elements in scan matrix P.
8. cabin localization method automatically as claimed in claim 1, it is characterized in that, in described step 5.2 during the end of scan, the middle point coordinate of scan matrix T is in boats and ships (3) cabin, draw the level of two illusions and the straight line of vertical direction thus, when non-zero pixels point appears in first time separately, obtain the four edges edge of contiguous boats and ships (3) cabin.
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| CN103696711B (en) * | 2013-12-25 | 2016-04-06 | 青岛杰瑞工控技术有限公司 | A kind of drilling rod manipulation robot |
| CN106933232A (en) * | 2017-04-27 | 2017-07-07 | 上海大学 | A kind of context aware systems and method based on collaboration unmanned boat group |
| CN107309619B (en) * | 2017-06-23 | 2018-12-28 | 福建宝中海洋工程股份有限公司 | A kind of ship installation point is to position detecting system |
| CN107514167A (en) * | 2017-07-18 | 2017-12-26 | 武汉智象机器人有限公司 | Vehicle identification system and storage method based on fixed radar and movable radar |
| CN110329907A (en) * | 2019-06-14 | 2019-10-15 | 上海驭矩信息科技有限公司 | The design of telescopic rod about a adjustable in length |
| CN112113506A (en) * | 2020-08-31 | 2020-12-22 | 天津蓝鳍海洋工程有限公司 | Underwater moving object measuring device and method based on deep learning |
| CN112529958B (en) * | 2020-12-10 | 2022-08-26 | 神华天津煤炭码头有限责任公司 | Single laser radar bulk cargo ship hatch position identification method |
| CN112859087A (en) * | 2020-12-31 | 2021-05-28 | 上海外高桥造船海洋工程有限公司 | Positioning method for ship floating state |
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| CN201004172Y (en) * | 2007-01-11 | 2008-01-09 | 上海港机重工有限公司 | Three-dimension material position detection device for harbor loading automated job |
| CN202886922U (en) * | 2012-09-21 | 2013-04-17 | 天津港中煤华能煤码头有限公司 | A bucket wheel material taking system capable of automatically controlling material taking flow |
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| US9014415B2 (en) * | 2010-04-22 | 2015-04-21 | The University Of North Carolina At Charlotte | Spatially integrated aerial photography for bridge, structure, and environmental monitoring |
| US8976340B2 (en) * | 2011-04-15 | 2015-03-10 | Advanced Scientific Concepts, Inc. | Ladar sensor for landing, docking and approach |
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| CN201004172Y (en) * | 2007-01-11 | 2008-01-09 | 上海港机重工有限公司 | Three-dimension material position detection device for harbor loading automated job |
| CN202886922U (en) * | 2012-09-21 | 2013-04-17 | 天津港中煤华能煤码头有限公司 | A bucket wheel material taking system capable of automatically controlling material taking flow |
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