CN106629394A - Camera external parameter calibration system and method applied to rail-mounted gantry crane hanger pose detection - Google Patents
Camera external parameter calibration system and method applied to rail-mounted gantry crane hanger pose detection Download PDFInfo
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- CN106629394A CN106629394A CN201510713291.3A CN201510713291A CN106629394A CN 106629394 A CN106629394 A CN 106629394A CN 201510713291 A CN201510713291 A CN 201510713291A CN 106629394 A CN106629394 A CN 106629394A
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Abstract
The invention discloses a camera external parameter calibration system and method applied to rail-mounted gantry crane hanger pose detection. The system comprises a large vehicle, a small vehicle, a camera and a calibration device. The small vehicle is arranged on the large vehicle, the motion direction of the small vehicle is vertical to that of the large vehicle, the camera is arranged on the lower surface of the small vehicle, the calibration device is arranged on the ground, and the physical size of the calibration device is set in advance. The method includes the following steps that a coordinate system of the small vehicle is built; a coordinate system of the camera is built; a gray level image of the calibration device is obtained; coordinate values of feature points under the coordinate system of the camera are calculated according to the gray level image; coordinate values of the feature points under the coordinate system of the small vehicle are obtained; and a conversion relationship between the coordinate system of the small vehicle and the coordinate system of the camera is calculated. By means of the camera external parameter calibration system and method, calibration results can be more accurate, and the calibration process is simpler and more convenient.
Description
Technical field
The present invention relates to the calibration system and method for Camera extrinsic number, more particularly, it relates to a kind of should
For the Camera extrinsic number calibration system and method for the detection of rail container sling pose.
Background technology
Container is, with some strength, rigidity, specification, and to specialize in the large-scale loading that uses of transhipment and hold
Device, its transport process is the important step of cargo transport.Generally, there is substantial amounts of collection at each harbour
Vanning needs to unload, is transported to interim stockyard, then refills and is downloaded on various forms of means of transports,
Its cargo handling process needs to put into substantial amounts of time and cost of labor.Full-automatic harbour not only can be improved
Production efficiency, reduces cost of labor, additionally it is possible to improve the working environment of workman, reduces labour intensity,
The synthesized competitiveness at harbour is improved, so build full-automatic harbour has become lot of domestic and foreign container
The inexorable trend of harbour development.
Full-automatic pier facilities mainly include shore container crane (QC), track type container
The equipment such as gantry crane (RMG), automatic Guided Vehicle (AGV).Wherein, rail mounted packaging
Case gantry crane, is also called track crane (being referred to as track crane below), is to be specifically used to handling collection
A kind of crane of vanning, the operation in the Container Yard region of harbour.Track crane is to adopt cart
Position positioning is carried out with bogie encoder, suspender coarse positioning is made in targeted containers top.But,
In the operation process that suspender declines alignment target container, there is deformation, cart in crane spandrel girder
Curved in tracks causes crane location deflection, and encoder has the reasons such as position error will make suspender pose
There is not expected change, the risk of failure is aligned with targeted containers so as to increased suspender.Cause
This, the detection of suspender pose is a key technique for realizing that track crane is full-automatic, for the skill
Art link, the present invention proposes a kind of Camera extrinsic number for being applied to the detection of crane hanger pose and demarcates
System and method.
Machine vision is the field of a multi-crossed disciplines, and it combines optical engineering, at electronic signal
The multi-field knowledge such as reason, pattern-recognition, artificial intelligence, mechanical engineering and soft project.Machine vision
System is typically by light source, camera lens, picture pick-up device, image memory bank, monitor and computer system
Deng equipment composition.Light source provides enough illumination for vision system；Camera lens is by the target in tested scene
It is imaged onto on the imaging surface of vision sensor (i.e. picture pick-up device)；Image memory bank is responsible for electric signal
Be changed into digital picture, i.e., be gray-scale data the brightness transition of every pixel, and store a width or
Multiple image；Computer system is responsible for processing image, analyze, judge and recognizing, is finally given
Go out testing result.
Electronic total station is a kind of while angle (horizontal angle, vertical angle) measurement and distance can be carried out
(oblique distance is put down away from the discrepancy in elevation) measurement, by machinery, optics, the measuring instrument of electronic component combination
Device.As long as once disposing, instrument just can complete all of measurement work on the survey station, therefore be referred to as
" total powerstation ".It is widely used in the aspects such as control measurement, detailed survey, construction lofting, deformation observation
Measurement work.
The content of the invention
For Camera extrinsic number calibration process present in prior art is complicated and the low problem of accuracy,
It is an object of the invention to provide a kind of Camera extrinsic number for being applied to the detection of crane hanger pose demarcates system
System and method.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of Camera extrinsic number calibration system for being applied to the detection of crane hanger pose, including cart,
Dolly, camera, caliberating device.Dolly is arranged on cart, and the direction of motion of dolly is perpendicular to cart
The direction of motion, camera is arranged at the lower surface of dolly, and caliberating device is arranged at ground, and demarcates dress
The physical size put presets.
An embodiment of the invention, caliberating device includes scaling board, support, lifting mechanism.Mark
Fixed board is a horizontally disposed plane, and its outer making a circle is provided with rectangle mark, and the surface of scaling board sets
There is horizontal bubble.Support is arranged at the lower surface of scaling board, and support is provided with lifting mechanism, lifting
Mechanism can adjust scaling board to horizontality.
An embodiment of the invention, feature point selection is four outer dead centres of rectangle mark, or
All summits of rectangle mark.
An embodiment of the invention, the center of dolly lower surface is provided with the coordinate of dolly coordinate system
Origin, is provided with the origin of coordinates of camera coordinates system at the camera lens photocentre of camera.
An embodiment of the invention, camera obtains the coordinate position of characteristic point on caliberating device, and
Transformational relation between camera coordinates system and dolly coordinate system is calculated according to characteristic point.
For achieving the above object, the present invention is also adopted the following technical scheme that：
A kind of Camera extrinsic number scaling method for being applied to the detection of crane hanger pose, including following step
Suddenly：Set up dolly coordinate system；Set up camera coordinates system；Obtain the gray level image of caliberating device；According to
Gray level image calculates coordinate value of the characteristic point under camera coordinates system；Characteristic point is obtained in dolly coordinate system
Under coordinate value；Transformational relation between counting of carriers coordinate system and camera coordinates system.
An embodiment of the invention, present invention additionally comprises following steps：Lifting in adjusting bracket
Mechanism, makes caliberating device surface be in horizontality；Judged by the horizontal bubble on caliberating device surface
The horizontality of caliberating device.
In above-mentioned technical proposal, the Camera extrinsic for being applied to the detection of crane hanger pose of the present invention
Number calibration system and method can make calibration result more accurate, and calibration process is easier.
Description of the drawings
Fig. 1 is the system principle flow chart of the present invention；
Fig. 2 is heap field areas and coordinate system informations schematic diagram；
Fig. 3 a～3c is Camera extrinsic number caliberating device structural representation；
Fig. 4 is Camera extrinsic number calibration principle schematic diagram；
Fig. 5 is the algorithm flow chart that Camera extrinsic number is demarcated.
Specific embodiment
Technical scheme is further illustrated with reference to the accompanying drawings and examples.
The present invention is for one of key technology in the detection of track sling pose：Camera extrinsic number is demarcated,
Propose a kind of solution based on machine vision, and devise the caliberating device of present system,
Completion system function code is write.
Present system is applied to the detection of rail container sling pose, so as to be conducive to suspender position
Appearance information feeds back in real time track crane control unit, and then realizes track crane control unit to suspender
Closed-loop control, more accurately completes the task of suspender alignment target container position.
The system construction drawing of the present invention is as shown in Figure 1.One on track crane trolley platform
Industrial camera, by TCP/IP procotols, view data (comprising the mark) transmission for collecting
To industrial computer.The calibrating procedure run in industrial computer, by the process to view data
To obtain the outer parameter of camera.
The calibration system of the present invention mainly includes cart 10, dolly 20, caliberating device 30 and camera 40,
As shown in Figure 2, Figure 3 and Figure 4.Dolly 20 is arranged on cart 10, the direction of motion of dolly 20
Perpendicular to the direction of motion of cart 10, camera 40 is arranged at the lower surface of dolly 20.Caliberating device
30 are arranged at ground, and the physical size of caliberating device 30 presets.
Used as one embodiment of the present invention, camera can be that industrial camera, industrial camera etc. are each
Image acquisition equipment is planted, below by taking the most frequently used industrial camera 40 as an example, but the camera of the present invention is not
As limit.
Present system defines two coordinate systems in heap field areas, as shown in Figure 2 and Figure 4,
Dolly coordinate system is set up at the lower surface center 21 of dolly 20, is set up at the camera lens photocentre of camera 40
Camera coordinates system.Specifically, coordinate system OlXlYlZlFor track crane dolly coordinate system, wherein OlXlAxle
Point to the direction of advance of cart 10, OlYlAxle points to the direction of advance of dolly 20, OlZlAxle is true by the right-hand rule
It is fixed；Coordinate system OcXcYcZcFor industrial camera coordinate system, wherein OcXcAxle is the row side of camera imaging plane
To OcYcAxle for camera imaging plane column direction, OcZcAxle is determined by the right-hand rule.
The purpose of patent system of the present invention is to obtain camera coordinates system OcXcYcZcWith dolly coordinate system
OlXlYlZlBetween transformational relation Tc→l, and then by certain coordinate values of the point P under camera coordinates
(xcp,ycp,zcp) and transformational relation Tc→lCoordinate values of the point P under dolly coordinate system can just be calculated
(xlp,ylp,zlp)。
Leica comes the foundation of card (electronics) total station instrument coordinate system and is consistent with dolly coordinate system, its survey
Amount result is the coordinate value under dolly coordinate system.
Present system devises a kind of caliberating device 30, as shown in Fig. 3 a～3c.Caliberating device 30
Including horizontally disposed rectangle scaling board, support 34, lifting mechanism 33.Caliberating device 30 is arranged on
The heap field areas of container, as shown in Fig. 2 taking the operation area of a container.
Specifically, scaling board is a horizontally disposed plane, and its outer making a circle is provided with mark 31, i.e.,
The upper surface of caliberating device 30 has 31 (shadow regions) of mark, demarcates plate surface and is provided with horizontal bubble
32 to judge the horizontality of caliberating device 30.Support 34 is arranged at the lower surface of scaling board, i.e.,
The bottom of caliberating device 30 is provided with four supports 34.Support 34 is provided with lifting mechanism 33, lift
Rising mechanism 33 coordinates horizontal bubble 32 to adjust caliberating device 30 to horizontality.
Before operation starts, caliberating device 30 has the flow process of a horizontal adjustment, and concrete operations are：
Lifting mechanism 33 in adjusting bracket 34, makes the surface of caliberating device 30 in substantially horizontal；So
Judge the inclined degree of caliberating device 30, and then adjusting bracket 34 again by horizontal bubble 32 again afterwards；
With reference to the constantly regulate support 34 of horizontal bubble 32, till caliberating device 30 is in horizontality.
The Camera extrinsic number calibration principle schematic diagram of present system, as shown in Figure 4.The thing of mark 31
Reason size it is previously known, the system choose mark 31 four outer dead centres (1,2,3,4) conduct
Characteristic point.Track crane cart 10 and dolly 20 are moved to calibration position by present system first, are obtained
Caliberating device gray level image in industrial camera 40 is taken, 4 characteristic points is then calculated in camera coordinates system
Under coordinate value { (xci,yci,zci) (i=1,2,3,4), while record them (comes card coordinate in dolly coordinate system
System) under coordinate value { (xli,yli,zli) (i=1,2,3,4)；Utilize { (x afterwards againci,yci,zci) (i=1,2,3,4) and
{(xli,yli,zli) (i=1,2,3,4) calculate transformational relation T between camera coordinates system and dolly coordinate systemc→l,
Finally calibration result is stored in industrial computer, is calculated for later suspender posture information.Phase
The flow process of machine external parameters calibration algorithm is as shown in figure 5, may be summarized to be following steps：
Set up dolly coordinate system；
Set up camera coordinates system；
Obtain the gray level image of caliberating device 30；
Coordinate value of the characteristic point under camera coordinates system is calculated according to gray level image；
Obtain coordinate value of the characteristic point under dolly coordinate system；
The transformational relation of counting of carriers coordinate system and camera coordinates system.
Above-mentioned technical proposal is further illustrated below by specific embodiment.
In order that the technological means and creation characteristic of the present invention can reached purpose and effect, be easy to again
Solution, with reference to being embodied as illustrating, is expanded on further.The present invention is applied to track crane and automated
Cheng Zhong, comprises the following steps：
The installation and debugging of Camera extrinsic number caliberating device 30.Caliberating device 30 is when dispatching from the factory, it is necessary to
The machining accuracy of strict guarantee mark 31.Caliberating device 30 is arranged on Container Yard area, takes one
Individual container installing zone, as shown in Figure 2.Lifting mechanism after installation, in adjusting bracket
33 so that caliberating device 30 is in approximate horizontal.
Build the hardware system of the present invention.This illustration adopt resolution ratio for 656 × 494 industrial camera 40,
Select focal length to be the camera lens of 16mm, and optical filter is installed, eliminate interference.Adjustment lens parameters, protect
Card object is imaged on the central area of imaging plane, and being capable of blur-free imaging.Industrial camera 40 it is interior
Portion's parameter has learned that in a pre-installation.Industrial computer is arranged on track crane electrical house, program development fortune
Row environment is WinXP+Visual Studio2010, wherein it is also possible to use third party's image procossing storehouse
OpenCV2.20。
Camera extrinsic number is demarcated.Set up Lecia and come card coordinate system (dolly coordinate system), measurement mark
Coordinate value { (x of 31 characteristic points under dolly coordinate systemli,yli,zli) (i=1,2,3,4).Calibration algorithm is according to mark
Know 31 imagings in industrial camera, calculate seat of the characteristic point of mark 31 under camera coordinates system
Scale value { (xci,yci,zci) (i=1,2,3,4), then in conjunction with { (xli,yli,zli) (i=1,2,3,4) and { (xci,yci,zci)}
(i=1,2,3,4) the transformational relation T between dolly coordinate system and camera coordinates system is calculatedc→l, finally mark
Determine result Tc→lIn being stored in industrial computer.
Those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to
The bright present invention, and be not used as limitation of the invention, as long as in the spirit of the present invention
Interior, the change, modification to embodiment described above all will fall in the range of claims of the present invention.
Claims (7)
1. a kind of to be applied to the Camera extrinsic number calibration system that crane hanger pose is detected, its feature exists
In：
The calibration system includes：Cart, dolly, camera, caliberating device；
The dolly is arranged on the cart, the direction of motion of the direction of motion of dolly perpendicular to cart；
The camera is arranged at the lower surface of the dolly；
The caliberating device is arranged at ground, and the physical size of the caliberating device presets.
2. the Camera extrinsic number for being applied to the detection of crane hanger pose as claimed in claim 1 is demarcated
System, it is characterised in that：
The caliberating device includes：Scaling board, support, lifting mechanism；
The scaling board is a horizontally disposed plane, and its outer making a circle is provided with mark, and scaling board
Surface is provided with horizontal bubble；
The support is arranged at the lower surface of the scaling board, and support is provided with lifting mechanism, support
The scaling board can be adjusted to level by the lifting mechanism.
3. the Camera extrinsic number for being applied to the detection of crane hanger pose as claimed in claim 1 is demarcated
System, it is characterised in that：
The center of dolly lower surface is provided with the origin of coordinates of dolly coordinate system, at the camera lens photocentre of camera
It is provided with the origin of coordinates of camera coordinates system.
4. the Camera extrinsic number for being applied to the detection of crane hanger pose as claimed in claim 3 is demarcated
System, it is characterised in that：
The camera obtains the coordinate position of characteristic point on the caliberating device, and according to the characteristic point
The transformational relation being calculated between camera coordinates system and dolly coordinate system.
5. a kind of to be applied to the Camera extrinsic number scaling method that crane hanger pose is detected, its feature exists
In comprising the following steps：
Set up dolly coordinate system；
Set up camera coordinates system；
Obtain the gray level image of caliberating device；
Coordinate value of the characteristic point under camera coordinates system is calculated according to gray level image；
Obtain coordinate value of the characteristic point under dolly coordinate system；
The transformational relation of counting of carriers coordinate system and camera coordinates system.
6. the Camera extrinsic number for being applied to the detection of crane hanger pose as claimed in claim 5 is demarcated
Method, it is characterised in that：
The caliberating device includes horizontally disposed rectangle scaling board, makes a circle outside the scaling board and is provided with
Rectangle is identified；
The characteristic point is four outer dead centres of the mark or all summits.
7. the Camera extrinsic number for being applied to the detection of crane hanger pose as claimed in claim 5 is demarcated
Method, it is characterised in that further comprising the steps of：
Lifting mechanism in adjusting bracket, makes caliberating device surface be in horizontality；
The horizontality of caliberating device is judged by the horizontal bubble on caliberating device surface.
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| CN201510713291.3A CN106629394B (en) | 2015-10-28 | 2015-10-28 | Camera extrinsic number calibration system and method applied to the detection of track sling pose |
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| CN201510713291.3A CN106629394B (en) | 2015-10-28 | 2015-10-28 | Camera extrinsic number calibration system and method applied to the detection of track sling pose |
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Cited By (2)
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| CN109835815A (en) * | 2019-03-15 | 2019-06-04 | 上海振华重工(集团)股份有限公司 | Container crane automatic calibration method and system |
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| CN106629394B (en) | 2018-01-16 |
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