CN103336282B - A kind of cabin locating device and localization method thereof automatically - Google Patents
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Abstract
本发明公开了一种自动船舱定位装置及其定位方法,定位装置安装在岸壁移机式装船机上。定位方法包括:步骤1、装船机悬臂收缩并升起,升至与地面呈70度角,将大车运行至船舶船头一侧,大车以给定速度从船舶船头运行至船舶船尾;步骤2、运行自动船舱定位装置,对船舶进行扫描,得到船舶的二维坐标信息;步骤3、工控机进行预处理,得到船舶的自适应灰度图像值;步骤4、工控机提取船舶的二维灰度图像特征,得到船舶靠海侧的边缘;步骤5、工控机对船舶的二维灰度图像进行二值化处理,得到船舶的船舱位置。本发明不受环境、温度的影响,能有效、准确地检测船舱的位置及相关信息,并对整个过程进行实时监控,装置结构简单,操作简单,成本低廉。
The invention discloses an automatic cabin locating device and a locating method thereof. The locating device is installed on a quay wall shifting ship loader. The positioning method includes: Step 1. The cantilever of the ship loader is retracted and raised to an angle of 70 degrees with the ground, and the cart is moved to the side of the bow of the ship, and the cart runs from the bow of the ship to the stern of the ship at a given speed Step 2, run the automatic cabin positioning device, scan the ship to obtain the two-dimensional coordinate information of the ship; Step 3, the industrial computer performs preprocessing to obtain the adaptive grayscale image value of the ship; Step 4, the industrial computer extracts the ship's The feature of the two-dimensional grayscale image is to obtain the edge of the ship near the sea; step 5, the industrial computer performs binarization processing on the two-dimensional grayscale image of the ship to obtain the position of the ship's cabin. The invention is not affected by the environment and temperature, can effectively and accurately detect the position of the cabin and related information, and monitor the whole process in real time. The device has simple structure, simple operation and low cost.
Description
技术领域 technical field
本发明涉及一种船舱定位装置及方法,具体涉及一种自动船舱定位装置及其定位方法。 The invention relates to a cabin positioning device and method, in particular to an automatic cabin positioning device and a positioning method thereof.
背景技术 Background technique
如今,越来越多的港口正在从人工机械化港口转向无人智能化港口。随着国际航运以及散货物流的持续发展,散货码头的自动化改造也将是必然趋势。现有技术中采用数码摄像头作为图像传感器,需要将一个标准化的标记图像事先固定在控制目标上。通过标记的辅助,可以运用视觉系统计算出目标的三维坐标。数码摄像头的方法适用于机器本身。但是,对于散货码头机械的自动控制而言,这种方法受限制。干散货和散货船安装标准标记图像十分困难,并且散货码头环境十分恶劣,采用数码摄像头和标准标记图像会降低数字视频摄像机视觉系统的可靠性。 Today, more and more ports are shifting from artificial mechanized ports to unmanned intelligent ports. With the continuous development of international shipping and bulk cargo logistics, the automation of bulk cargo terminals will also be an inevitable trend. In the prior art, a digital camera is used as an image sensor, and a standardized marker image needs to be fixed on the control target in advance. With the aid of markers, the vision system can be used to calculate the three-dimensional coordinates of the target. The digital camera method applies to the machine itself. However, this approach is limited for automatic control of bulk terminal machinery. It is very difficult to install standard marking images on dry bulk cargo and bulk carriers, and the environment of bulk cargo terminals is very harsh. Using digital cameras and standard marking images will reduce the reliability of digital video camera vision systems.
发明内容 Contents of the invention
本发明的目的在于提供一种自动船舱定位装置及其定位方法,不受环境、温度的影响,能有效、准确地检测船舱的位置及相关信息,并对整个过程进行实时监控,装置结构简单,操作简单,成本低廉。 The purpose of the present invention is to provide an automatic cabin positioning device and its positioning method, which can effectively and accurately detect the position and related information of the cabin without being affected by the environment and temperature, and monitor the whole process in real time. The device structure is simple, Simple operation and low cost.
为了达到上述目的,本发明通过以下技术方案实现:一种自动船舱定位装置,安装在岸壁移机式装船机上,其特点是,包含:二维激光雷达及工控机; In order to achieve the above object, the present invention is achieved through the following technical solutions: an automatic cabin positioning device installed on a shore wall shifting ship loader, which is characterized in that it includes: a two-dimensional laser radar and an industrial computer;
上述的二维激光雷达安装在装船机的溜桶方形维修平台上; The above two-dimensional laser radar is installed on the square maintenance platform of the ship loader;
上述的二维激光雷达与工控机之间通过光纤和屏蔽双绞线传递数据; The data is transmitted between the above-mentioned two-dimensional laser radar and the industrial computer through optical fiber and shielded twisted pair;
上述的二维激光雷达作为视觉传感器,将扫描图像数据传输给工控机; The above-mentioned two-dimensional laser radar is used as a visual sensor to transmit the scanned image data to the industrial computer;
上述的工控机对扫描图像进行处理分析; The aforementioned industrial computer processes and analyzes the scanned image;
上述的工控机还连接有能够实时显示当前扫描画面的显示器。 The aforementioned industrial computer is also connected with a display capable of displaying the current scanning picture in real time.
一种用于上述自动船舱定位装置的定位方法, A positioning method for the above-mentioned automatic cabin positioning device,
上述的定位方法包括: The positioning methods mentioned above include:
步骤1、装船机悬臂收缩并升起,升至与地面呈70度角,将大车运行至船舶船头一侧,大车以给定速度从船舶船头运行至船舶船尾; Step 1. The cantilever of the ship loader retracts and rises to an angle of 70 degrees to the ground, and the cart runs to the bow side of the ship, and the cart runs from the bow to the stern of the ship at a given speed;
步骤2、运行自动船舱定位装置,二维激光雷达开始工作,对船舶进行扫描,得到船舶的二维坐标信息; Step 2, run the automatic cabin positioning device, the two-dimensional laser radar starts to work, scans the ship, and obtains the two-dimensional coordinate information of the ship;
步骤3、工控机进行预处理,得到船舶的自适应灰度图像值; Step 3, the industrial computer performs preprocessing to obtain the adaptive grayscale image value of the ship;
步骤4、工控机提取船舶的二维灰度图像特征,得到船舶靠海侧的边缘; Step 4, the industrial computer extracts the two-dimensional grayscale image features of the ship, and obtains the edge of the ship near the sea;
步骤5、工控机对船舶的二维灰度图像进行二值化处理,得到船舶的船舱位置。 Step 5. The industrial computer performs binarization processing on the two-dimensional grayscale image of the ship to obtain the position of the ship's cabin.
上述的步骤2还包含以下步骤: The above step 2 also includes the following steps:
步骤2.1、上述的二维激光雷达每隔 20ms对船舶做一次海岸侧方向扫描,每一个截面对应于大车位置编码器的一个值; Step 2.1, the above two-dimensional laser radar scans the ship in the direction of the coast every 20ms, and each section corresponds to a value of the position encoder of the cart;
步骤2.2、建立二维直角坐标系; Step 2.2, establishing a two-dimensional Cartesian coordinate system;
步骤2.3、工控机获取二维激光雷达到船舶扫描点的直线距离构成的点云数据; Step 2.3, the industrial computer obtains the point cloud data formed by the straight-line distance from the two-dimensional laser radar to the scanning point of the ship;
步骤2.4、工控机将点云数据换算成与所在截面相对应的二维坐标信息。 In step 2.4, the industrial computer converts the point cloud data into two-dimensional coordinate information corresponding to the section.
上述的步骤2.2中的二维直角坐标系是以二维激光雷达所在位置为坐标原点,竖直向下为Y轴正方向,海岸侧为X轴正方向建立。 The two-dimensional Cartesian coordinate system in the above step 2.2 is established with the position of the two-dimensional laser radar as the coordinate origin, the positive direction of the Y axis vertically downward, and the positive direction of the X axis on the coast side.
上述的步骤3还包含以下步骤: The above step 3 also includes the following steps:
步骤3.1、工控机根据船舶轮廓数据点到二维激光雷达的距离得到自适应灰度像素值; Step 3.1, the industrial computer obtains the adaptive grayscale pixel value according to the distance from the ship outline data point to the two-dimensional laser radar;
步骤3.2、工控机根据大车的运行速度信息得到相邻扫描截面的距离; Step 3.2, the industrial computer obtains the distance between adjacent scanning sections according to the running speed information of the cart;
步骤3.3、工控机将二维激光雷达扫描所有的截面数据进行空间重组,每隔10cm对截面做插值,去除多余的截面数据; Step 3.3, the industrial computer spatially reorganizes all the cross-sectional data scanned by the two-dimensional laser radar, interpolates the cross-section every 10cm, and removes redundant cross-sectional data;
步骤3.4、工控机重建船舶的二维灰度图像,并且对二维灰度图像进行滤波去噪处理。 Step 3.4, the industrial computer reconstructs the two-dimensional grayscale image of the ship, and performs filtering and denoising processing on the two-dimensional grayscale image.
上述的步骤3.1中船舶轮廓数据点通过下列方法得到; In the above-mentioned step 3.1, the ship outline data points are obtained by the following methods;
工控机自定义灰度像素阈值k,当y>k时,表示此时扫到的点为船舶船舱内部或者水面,此时定义该点像素为0;当y<=k时,表示该点为船舶轮廓数据点。 The industrial computer customizes the grayscale pixel threshold k. When y>k, it means that the point scanned at this time is the interior of the ship cabin or the water surface. At this time, the pixel of this point is defined as 0; when y<=k, it means that the point is Ship outline data points.
上述的步骤4还包含以下步骤: The above step 4 also includes the following steps:
步骤4.1、船舶靠岸时,工控机对海岸侧进行标定; Step 4.1, when the ship docks, the industrial computer calibrates the coast side;
步骤4.2、工控机自定义重建的图像矩阵为 ,其中i,j分别对应二维灰度图像矩阵的行和列; Step 4.2, the image matrix of the custom reconstruction of the industrial computer is , where i, j correspond to the rows and columns of the two-dimensional grayscale image matrix, respectively;
步骤4.3、工控机自定义一个扫描矩阵P,矩阵P的行根据现场实际情况和要求取值,矩阵P的列取为j; Step 4.3, the industrial computer defines a scanning matrix P, the rows of the matrix P take values according to the actual situation and requirements on site, and the columns of the matrix P are taken as j;
步骤4.4、扫描矩阵P在图像矩阵H中由上向下扫描,得到船舶的轮廓; Step 4.4, the scanning matrix P scans from top to bottom in the image matrix H to obtain the outline of the ship;
步骤4.4、工控机根据船舶的轮廓计算船舶的灰色像素点分布密度ρ; Step 4.4, the industrial computer calculates the gray pixel point distribution density ρ of the ship according to the outline of the ship;
步骤4.5、工控机根据ρ值的变化,得到船舶靠海侧的边缘。 Step 4.5, the industrial computer obtains the edge of the seaside of the ship according to the change of the value of ρ.
上述的步骤4.4中的船舶的灰色像素点分布密度ρ通过下列方法得到: The gray pixel point distribution density ρ of the ship in the above step 4.4 is obtained by the following method:
扫描矩阵P中的每个元素对应于图像矩阵H当前扫描位置中的像素点,元素时表示该点为黑色,说明该点不是船舶轮廓;ρ为当前扫描区域中黑色点元素的个数占扫描矩阵P中所有元素的比例。 Each element in the scanning matrix P corresponds to a pixel in the current scanning position of the image matrix H, and the element When , it means that the point is black, indicating that the point is not the outline of the ship; ρ is the ratio of the number of black point elements in the current scanning area to all elements in the scanning matrix P.
上述的步骤5包含: Step 5 above includes:
步骤5.1、工控机自定义一个方形扫描矩阵T; Step 5.1, the industrial computer customizes a square scanning matrix T;
步骤5.2、扫描矩阵T从图像矩阵H左上角开始以1或2个像素的间隔按照从左到右,从上到下的顺序遍历图像矩阵H,直到当前T内的ρ小于给定值时,扫描结束,得到邻近的船舶船舱的四条边缘; Step 5.2. Scanning matrix T starts from the upper left corner of image matrix H and traverses image matrix H at intervals of 1 or 2 pixels from left to right and from top to bottom until ρ in current T is less than a given value. After the scan is over, the four edges of the adjacent ship's cabin are obtained;
步骤5.3、工控机根据船舶的四条边缘计算出船舶船舱的位置和大小; Step 5.3, the industrial computer calculates the position and size of the ship's cabin according to the four edges of the ship;
步骤5.4、工控机将船舶船舱的位置与大车位置编码器的值相对应; Step 5.4, the industrial computer corresponds the position of the ship's cabin to the value of the cart position encoder;
步骤5.5、将大车移动到指定的船舶船舱。 Step 5.5, move the cart to the designated ship cabin.
上述的步骤5.2中扫描结束时,扫描矩阵T的中点坐标在船舶船舱内,由此引出两条假象的水平和竖直方向的直线,在各自第一次出现非零像素点时,得到邻近的船舶船舱的四条边缘。 At the end of the scan in the above step 5.2, the coordinates of the midpoint of the scan matrix T are in the cabin of the ship, thus leading to two imaginary straight lines in the horizontal and vertical directions. When non-zero pixels appear for the first time respectively, the adjacent The four edges of the ship's cabin.
本发明一种自动船舱定位装置及其定位方法与现有技术相比具有以下优点:由于设有二维激光雷达,能够实时扫描船舶的二维图像;由于设有扫描矩阵P,能够方便快捷的找到船舶靠海侧的边缘;由于设有方形扫描矩阵T,能够快速定位船舱位置。 Compared with the prior art, an automatic cabin positioning device and its positioning method of the present invention have the following advantages: because a two-dimensional laser radar is provided, the two-dimensional image of the ship can be scanned in real time; Find the edge of the seaside of the ship; due to the square scanning matrix T, the position of the cabin can be quickly located.
附图说明 Description of drawings
图1为本发明自动船舱定位装置示意图。 Fig. 1 is a schematic diagram of the automatic cabin positioning device of the present invention.
图2为本发明自动船舱定位方法流程图。 Fig. 2 is a flow chart of the automatic cabin positioning method of the present invention.
图3为本发明自动船舱定位装置船舱二维图像重建及特征提取示意图。 Fig. 3 is a schematic diagram of two-dimensional image reconstruction and feature extraction of the automatic cabin positioning device of the present invention.
具体实施方式 Detailed ways
以下结合附图,通过详细说明一个较佳的具体实施例,对本发明做进一步阐述。 The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.
如图1所示,一种自动船舱定位装置,安装在岸壁移机式装船机上,包含:二维激光雷达1及工控机;二维激光雷达1安装在装船机的溜桶方形维修平台上,被用作船舶3船舱定位的视觉传感器部分,获取船舶3货舱的轮廓数据并传给工控机,二维激光雷达1区域扫描覆盖面广,扫描角度达到270度;工控机与二维激光雷达1之间通过光纤和屏蔽双绞线传递数据,工控机带有显示器,能实时显示当前扫描画面。 As shown in Figure 1, an automatic cabin positioning device is installed on the shore wall shifting ship loader, including: two-dimensional laser radar 1 and industrial computer; two-dimensional laser radar 1 is installed on the bucket square maintenance platform of the ship loader In the above, it is used as the visual sensor part for the positioning of the ship’s third cabin, which obtains the outline data of the ship’s third cargo hold and transmits it to the industrial computer. The two-dimensional laser radar 1 has a wide scanning coverage and a scanning angle of 270 degrees; the industrial computer and the two-dimensional laser radar 1 to transmit data through optical fiber and shielded twisted pair, and the industrial computer has a display, which can display the current scanning screen in real time.
如图2、图3所示,一种用于上述自动船舱定位装置的定位方法的流程图,定位方法包括: As shown in Figure 2 and Figure 3, a flow chart of a positioning method for the above-mentioned automatic cabin positioning device, the positioning method includes:
步骤1、装船机悬臂收缩并升起,升至与地面呈70度角,将大车2运行至船舶3船头一侧,大车2以给定速度从船舶3船头运行至船舶3船尾。 Step 1. The cantilever of the ship loader shrinks and rises to an angle of 70 degrees with the ground, and the cart 2 runs to the bow side of the ship 3, and the cart 2 runs from the bow of the ship 3 to the ship 3 at a given speed stern.
步骤2、运行自动船舱定位装置,二维激光雷达1开始工作,对船舶3进行扫描,得到船舶3的二维坐标信息; Step 2, run the automatic cabin positioning device, the two-dimensional laser radar 1 starts to work, scans the ship 3, and obtains the two-dimensional coordinate information of the ship 3;
步骤2.1、二维激光雷达1每隔 20ms对船舶3做一次海岸侧4方向扫描,每一个截面对应于大车2位置编码器的一个值; Step 2.1, the two-dimensional laser radar 1 scans the ship 3 in 4 directions on the coast every 20ms, and each section corresponds to a value of the position encoder of the cart 2;
步骤2.2、以二维激光雷达1所在位置为坐标原点,竖直向下为Y轴正方向,海岸侧4为X轴正方向建立二维直角坐标系,; Step 2.2, take the location of the two-dimensional laser radar 1 as the coordinate origin, vertically downward as the positive direction of the Y axis, and the coast side 4 as the positive direction of the X axis to establish a two-dimensional rectangular coordinate system;
步骤2.3、工控机获取二维激光雷达1到船舶3扫描点的直线距离构成的点云数据; Step 2.3, the industrial computer obtains the point cloud data formed by the linear distance from the two-dimensional laser radar 1 to the scanning point of the ship 3;
步骤2.4、工控机将点云数据换算成与所在截面相对应的二维坐标信息。 In step 2.4, the industrial computer converts the point cloud data into two-dimensional coordinate information corresponding to the section.
步骤3、工控机进行预处理,得到船舶3的自适应灰度图像值; Step 3, the industrial computer performs preprocessing to obtain the adaptive grayscale image value of the ship 3;
步骤3.1、工控机根据船舶3轮廓数据点到二维激光雷达1的距离得到自适应灰度像素值,工控机自定义灰度像素阈值k,当y>k时,表示此时扫到的点为船舶3船舱内部或者水面,此时定义该点像素为0;当y<=k时,表示该点为船舶3轮廓数据点; Step 3.1. The industrial computer obtains the adaptive grayscale pixel value according to the distance from the ship 3 outline data point to the two-dimensional laser radar 1. The industrial computer defines the grayscale pixel threshold k. When y>k, it means the point scanned at this time It is the interior of the cabin of the ship 3 or the water surface. At this time, the pixel of this point is defined as 0; when y<=k, it means that the point is the outline data point of the ship 3;
步骤3.2、工控机根据大车2的运行速度信息得到相邻扫描截面的距离; Step 3.2, the industrial computer obtains the distance between adjacent scanning sections according to the running speed information of the cart 2;
步骤3.3、工控机将二维激光雷达1扫描所有的截面数据进行空间重组,每隔10cm对截面做插值,去除多余的截面数据; Step 3.3, the industrial computer spatially reorganizes all the cross-sectional data scanned by the two-dimensional laser radar 1, interpolates the cross-section every 10cm, and removes redundant cross-sectional data;
步骤3.4、工控机重建船舶3的二维灰度图像,并且对二维灰度图像进行滤波去噪处理。 Step 3.4, the industrial computer reconstructs the two-dimensional grayscale image of the ship 3, and performs filtering and denoising processing on the two-dimensional grayscale image.
如图3所示,步骤4、工控机提取船舶3的二维灰度图像特征,得到船舶3靠海侧的边缘; As shown in Figure 3, in step 4, the industrial computer extracts the two-dimensional grayscale image features of the ship 3 to obtain the edge of the ship 3 near the sea;
步骤4.1、船舶3靠岸时,工控机对海岸侧4进行标定; Step 4.1, when the ship 3 docks, the industrial computer calibrates the coast side 4;
步骤4.2、工控机自定义重建的图像矩阵为,其中i,j分别对应二维灰度图像矩阵的行和列; Step 4.2, the image matrix of the custom reconstruction of the industrial computer is , where i, j correspond to the rows and columns of the two-dimensional grayscale image matrix, respectively;
步骤4.3、工控机自定义一个扫描矩阵P,矩阵P的行根据现场实际情况和要求取值,矩阵P的列取为j; Step 4.3, the industrial computer defines a scanning matrix P, the rows of the matrix P take values according to the actual situation and requirements on site, and the columns of the matrix P are taken as j;
步骤4.4、扫描矩阵P在图像矩阵H中由上向下扫描,得到船舶3的轮廓,扫描矩阵P中的每个元素对应于图像矩阵H当前扫描位置中的像素点,元素 时表示该点为黑色,说明该点不是船舶3轮廓;ρ为当前扫描区域中黑色点元素的个数占扫描矩阵P中所有元素的比例。; Step 4.4, the scan matrix P is scanned from top to bottom in the image matrix H to obtain the outline of the ship 3, each element in the scan matrix P corresponds to a pixel in the current scan position of the image matrix H, and the element ρ means that the point is black, indicating that the point is not the outline of the ship 3; ρ is the ratio of the number of black point elements in the current scanning area to all elements in the scanning matrix P. ;
步骤4.4、工控机根据船舶3的轮廓计算船舶3的灰色像素点分布密度ρ; Step 4.4, the industrial computer calculates the gray pixel point distribution density ρ of the ship 3 according to the outline of the ship 3;
步骤4.5、工控机根据ρ值的变化,得到船舶3靠海侧的边缘。 Step 4.5, the industrial computer obtains the seaside edge of the ship 3 according to the change of the value of ρ.
步骤5、工控机对船舶3的二维灰度图像进行二值化处理,得到船舶3的船舱位置; Step 5, the industrial computer performs binarization processing on the two-dimensional grayscale image of the ship 3 to obtain the position of the cabin of the ship 3;
步骤5.1、工控机自定义一个方形扫描矩阵T; Step 5.1, the industrial computer customizes a square scanning matrix T;
步骤5.2、扫描矩阵T从图像矩阵H左上角开始以1或2个像素的间隔按照从左到右,从上到下的顺序遍历图像矩阵H,直到当前T内的ρ小于给定值时,扫描结束,得到邻近的船舶3船舱的四条边缘扫描结束时,扫描矩阵T的中点坐标在船舶3船舱内,由此引出两条假象的水平和竖直方向的直线,在各自第一次出现非零像素点时,得到邻近的船舶3船舱的四条边缘; Step 5.2. Scanning matrix T starts from the upper left corner of image matrix H and traverses image matrix H at intervals of 1 or 2 pixels from left to right and from top to bottom until ρ in current T is less than a given value. At the end of the scan, the four edges of the neighboring ship's cabin 3 are obtained. At the end of the scan, the coordinates of the midpoint of the scanning matrix T are in the ship's cabin 3, thus leading to two false horizontal and vertical straight lines, which appear for the first time in each When the pixel is non-zero, the four edges of the adjacent ship 3 cabins are obtained;
步骤5.3、工控机根据船舶的四条边缘计算出船舶3船舱的位置和大小; Step 5.3, the industrial computer calculates the position and size of the 3 cabins of the ship according to the four edges of the ship;
步骤5.4、工控机将船舶3船舱的位置与大车2位置编码器的值相对应; Step 5.4, the industrial computer corresponds the position of the 3rd cabin of the ship to the value of the position encoder of the cart 2;
步骤5.5、将大车2移动到指定的船舶3船舱。 Step 5.5, move the cart 2 to the designated cabin of the ship 3 .
尽管本发明的内容已经通过上述优选实施例作了详细介绍,但应当认识到上述的描述不应被认为是对本发明的限制。在本领域技术人员阅读了上述内容后,对于本发明的多种修改和替代都将是显而易见的。因此,本发明的保护范围应由所附的权利要求来限定。 Although the content of the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as limiting the present invention. Various modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the above disclosure. Therefore, the protection scope of the present invention should be defined by the appended claims.
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