CN106629394B - Camera extrinsic number calibration system and method applied to the detection of track sling pose - Google Patents
Camera extrinsic number calibration system and method applied to the detection of track sling pose Download PDFInfo
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- CN106629394B CN106629394B CN201510713291.3A CN201510713291A CN106629394B CN 106629394 B CN106629394 B CN 106629394B CN 201510713291 A CN201510713291 A CN 201510713291A CN 106629394 B CN106629394 B CN 106629394B
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Abstract
The invention discloses a kind of Camera extrinsic number calibration system and method applied to the detection of crane hanger pose.The system includes cart, dolly, camera, caliberating device.Dolly is arranged on cart, and the direction of motion of dolly is perpendicular to the direction of motion of cart, and camera is arranged at the lower surface of dolly, and caliberating device is arranged at ground, and the physical size of caliberating device is preset.This method comprises the following steps：Establish dolly coordinate system；Establish 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.The present invention can make calibration result more accurate, and calibration process is easier.
Description
Technical field
The present invention relates to the calibration system of Camera extrinsic number and method, is applied to container more specifically to one kind
The Camera extrinsic number calibration system and method for track sling pose detection.
Background technology
Container is with some strength, rigidity, specification, and specializes in the large-scale goods container that uses of transhipment, and it was transported
Journey is the important step of cargo transport.Generally, there is substantial amounts of container to need to unload at each harbour, be transported to temporary heap
, then refill and be downloaded on various forms of means of transports, its cargo handling process needs to put into substantial amounts of time and cost of labor.Entirely
Automatic dock can not only improve production efficiency, reduce cost of labor, additionally it is possible to improve the working environment of worker, reduce work
Intensity, improves the synthesized competitiveness at harbour, develops so building full-automatic harbour and having turned into lot of domestic and foreign container terminal
Inexorable trend.
Full-automatic pier facilities mainly include shore container crane (QC), rail-mounted gantry container crane
(RMG), the equipment such as automatic Guided Vehicle (AGV).Wherein, rail-mounted gantry container crane, also known as track crane are (below all
Referred to as track crane), it is a kind of crane for being specifically used to loading and unloading container, the operation in the Container Yard region of harbour.Rail
It is to carry out position positioning using cart and bogie encoder that road, which is hung, makes suspender coarse positioning above targeted containers.But
In the operation process that suspender declines alignment target container, there is deformation in crane spandrel girder, cart curved in tracks has caused
Heavy-duty machine position deflection, encoder, which has the reasons such as position error, will make suspender pose that not expected change occur, so as to increase
Suspender and the risk of targeted containers contraposition failure.Therefore, the detection of suspender pose is realize track crane full-automation one
Key technique, for the sport technique segment, the present invention is proposed outside a kind of camera applied to the detection of crane hanger pose
Parameter calibration system and method.
Machine vision is the field of a multi-crossed disciplines, and it combines optical engineering, electronic signal process, pattern knowledge
Not, the multi-field knowledge such as artificial intelligence, mechanical engineering and soft project.NI Vision Builder for Automated Inspection is typically by light source, camera lens, image pick-up device
The equipment such as part, image memory bank, monitor and computer system form.Light source provides enough illumination for vision system；Mirror
Head is by the imaging surface of the target imaging in tested scene to vision sensor (i.e. picture pick-up device)；Image memory bank is responsible for electricity
Signal is changed into digital picture, i.e., is gray-scale data the brightness transition of every pixel, and store one or more image；Meter
Calculation machine system is responsible to be handled image, analyzed, judged and is identified, finally provides testing result.
Electronic total station be it is a kind of and meanwhile can carry out angle (horizontal angle, vertical angle) measurement and distance (oblique distance, put down away from,
The discrepancy in elevation) measurement, by machinery, optics, the measuring instrument that electronic component combination forms.As long as once disposing, instrument can be with completion
All measurement work on the survey station, therefore it is referred to as " total powerstation ".Control measurement is widely used in, detailed survey, construction lofting, is become
The measurement work of shape observation etc..
The content of the invention
The problem of for the complexity of Camera extrinsic number calibration process present in prior art and low accuracy, mesh of the invention
Be to provide it is a kind of applied to crane hanger pose detection Camera extrinsic number calibration system and method.
To achieve the above object, the present invention adopts the following technical scheme that：
It is a kind of applied to crane hanger pose detection Camera extrinsic number calibration system, including cart, dolly, camera,
Caliberating device.Dolly is arranged on cart, and perpendicular to the direction of motion of cart, camera is arranged at dolly for the direction of motion of dolly
Lower surface, caliberating device is arranged at ground, and the physical size of caliberating device is preset.
According to one embodiment of the invention, caliberating device includes scaling board, support, lifting mechanism.Scaling board is one horizontal
The plane of setting, its outer makes a circle identifies provided with rectangle, and the surface of scaling board is provided with horizontal bubble.Support is arranged at scaling board
Lower surface, and support is provided with lifting mechanism, and lifting mechanism can adjust scaling board to horizontality.
Four outer dead centres identified according to one embodiment of the invention, feature point selection for rectangle, or rectangle mark
All summits.
According to one embodiment of the invention, the origin of coordinates of dolly coordinate system, camera are provided with the center of dolly lower surface
Camera lens photocentre at be provided with camera coordinates system the origin of coordinates.
According to one embodiment of the invention, camera obtains the coordinate position of characteristic point on caliberating device, and according to characteristic point
Calculate the transformational relation between camera coordinates system and dolly coordinate system.
To achieve the above object, the present invention also adopts the following technical scheme that：
A kind of Camera extrinsic number scaling method applied to the detection of crane hanger pose, comprise the following steps：Establish small
Car coordinate system；Establish camera coordinates system；Obtain the gray level image of caliberating device；Characteristic point is calculated according to gray level image to sit in camera
Coordinate value under mark system；Obtain coordinate value of the characteristic point under dolly coordinate system；Counting of carriers coordinate system and camera coordinates system it
Between transformational relation.
According to one embodiment of the invention, present invention additionally comprises following steps：Lifting mechanism in adjusting bracket, makes demarcation
Apparatus surface is in horizontality；The horizontality of caliberating device is judged by the horizontal bubble on caliberating device surface.
In the above-mentioned technical solutions, the Camera extrinsic number calibration system for being applied to the detection of crane hanger pose of the invention
And method can make calibration result more accurate, and calibration process is easier.
Brief 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 are Camera extrinsic number caliberating device structural representations；
Fig. 4 is Camera extrinsic number calibration principle schematic diagram；
Fig. 5 is the algorithm flow chart of Camera extrinsic number demarcation.
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, it is proposed that one
Solution of the kind based on machine vision, and the caliberating device of present system is devised, complete systemic-function written in code.
Present system detects applied to rail container sling pose, so as to be advantageous to that suspender posture information is real-time
Ground feeds back to track crane control unit, and then realizes closed-loop control of the track crane control unit to suspender, more accurately completes to hang
Has the task of alignment target container position.
The system construction drawing of the present invention is as shown in Figure 1.An industrial camera on track crane trolley platform, lead to
TCP/IP procotols are crossed, the view data collected is transferred to industrial computer (comprising mark).In industrial computer
The calibrating procedure of operation, by obtaining the outer parameter of camera to the processing of view data.
The calibration system of the present invention mainly includes cart 10, dolly 20, caliberating device 30 and camera 40, such as Fig. 2, Fig. 3 and
Shown in Fig. 4.Dolly 20 is arranged on cart 10, and perpendicular to the direction of motion of cart 10, camera 40 sets for the direction of motion of dolly 20
It is placed in the lower surface of dolly 20.Caliberating device 30 is arranged at ground, and the physical size of caliberating device 30 is preset.
As one embodiment of the present invention, camera can be that the various images such as industrial camera, industrial camera obtain
Equipment, below by taking the most frequently used industrial camera 40 as an example, but the camera of the present invention is not limited thereto.
Present system defines two coordinate systems in heap field areas, as shown in Figure 2 and Figure 4, in the following table of dolly 20
Dolly coordinate system is established at face center 21, camera coordinates system is established at the camera lens photocentre of camera 40.Specifically, coordinate system
OlXlYlZlFor track crane dolly coordinate system, wherein OlXlAxle points to the direction of advance of cart 10, OlYlAxle points to the side of advance of dolly 20
To OlZlAxle is determined by the right-hand rule；Coordinate system OcXcYcZcFor industrial camera coordinate system, wherein OcXcAxle is camera imaging plane
Line direction, OcYcAxle be 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 turn
Change relation Tc→l, and then the coordinate value (x by certain point P under camera coordinatescp,ycp,zcp) and transformational relation Tc→lCan calculates
Go out coordinate value (xs of the point P under dolly coordinate systemlp,ylp,zlp)。
The foundation that Leica comes card (electronics) total station instrument coordinate system is consistent with dolly coordinate system, and its measurement result is
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 includes 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 accounting for
With the operation area of a container.
Specifically, scaling board is a horizontally disposed plane, it is outer to make a circle provided with mark 31, i.e. caliberating device 30
Upper surface has 31 (shadow regions) of mark, and demarcation plate surface is provided with horizontal bubble 32 to judge the horizontal journey of caliberating device 30
Degree.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, lifting mechanism 33 coordinate horizontal bubble 32 to adjust caliberating device 30 to horizontality.
Before operation starts, caliberating device 30 has the flow of a horizontal adjustment, and concrete operations are：In adjusting bracket 34
Lifting mechanism 33, make the surface of caliberating device 30 be in it is substantially horizontal；Then judge to demarcate by horizontal bubble 32 again
The inclined degree of device 30, and then adjusting bracket 34 again；With reference to the constantly regulate support 34 of horizontal bubble 32, until caliberating device 30
Untill horizontality.
The Camera extrinsic number calibration principle schematic diagram of present system, as shown in Figure 4.The physical size of mark 31 is advance
Know, four outer dead centres (1,2,3,4) that the system chooses mark 31 are used as characteristic point.Present system is first by track crane cart
10 and dolly 20 be moved to calibration position, obtain caliberating device gray level image in industrial camera 40, then calculate 4 characteristic points
Coordinate value { (x under camera coordinates systemci,yci,zci) (i=1,2,3,4), while record them and (come card in dolly coordinate system
Coordinate system) under coordinate value { (xli,yli,zli) (i=1,2,3,4)；Utilize { (x afterwards againci,yci,zci) (i=1,2,3,4)
{ (xli,yli,zli) (i=1,2,3,4) calculate transformational relation T between camera coordinates system and dolly coordinate systemc→l, last handle
Calibration result is stored in industrial computer, is calculated for later suspender posture information.The stream of Camera extrinsic number calibration algorithm
Journey is as shown in figure 5, may be summarized to be following steps：
Establish dolly coordinate system；
Establish 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 present invention technological means and creation characteristic can reached purpose and effect, be apparent to, tie below again
Close specific implementation to illustrate, be expanded on further.The present invention is applied in track crane automation process, 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 which strict guarantee identifies
31 machining accuracy.Caliberating device 30 is arranged on Container Yard area, takes a container installing zone, as shown in Figure 2.
After installation, the lifting mechanism 33 in adjusting bracket so that caliberating device 30 is in approximate horizontal.
Build the hardware system of the present invention.This illustration uses resolution ratio to select focal length for 656 × 494 industrial camera 40
For 16mm camera lens, and optical filter is installed, eliminates interference.Lens parameters are adjusted, ensure that object is imaged in imaging plane
Heart district domain, and being capable of blur-free imaging.The inner parameter of industrial camera 40 has learned that in a pre-installation.Industrial computer installation is in-orbit
Road hangs electrical house, and program development running environment is WinXP+Visual Studio2010, wherein also can be used at third party's image
Manage storehouse OpenCV2.20.
Camera extrinsic number is demarcated.Set up Lecia and come card coordinate system (dolly coordinate system), measurement 31 characteristic points of mark are in dolly
Coordinate value { (x under coordinate systemli,yli,zli) (i=1,2,3,4).Calibration algorithm according to mark 31 in industrial camera into
Picture, calculate coordinate value { (x of the characteristic point of mark 31 under camera coordinates systemci,yci,zci) (i=1,2,3,4), Ran Houjie
Close { (xli,yli,zli) (i=1,2,3,4) and { (xci,yci,zci) (i=1,2,3,4) calculate dolly coordinate system and camera
Transformational relation T between coordinate systemc→l, finally calibration result Tc→lIt is stored in industrial computer.
Those of ordinary skill in the art it should be appreciated that the embodiment of the above be intended merely to explanation the present invention,
And be not used as limitation of the invention, as long as in the spirit of the present invention, the change to embodiment described above
Change, modification will all fall in the range of claims of the present invention.
Claims (5)
- A kind of 1. Camera extrinsic number calibration system applied to the detection of crane hanger pose, it is characterised in that：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 is preset；The caliberating device includes：Scaling board, support, lifting mechanism；The scaling board is a horizontally disposed plane, and its outer makes a circle is provided with mark, and the surface of scaling board is provided with horizontal gas Bubble；The support is arranged at the lower surface of the scaling board, and support is provided with lifting mechanism, and support can pass through the lifting Mechanism adjusts the scaling board to level.
- 2. the Camera extrinsic number calibration system applied to the detection of crane hanger pose, its feature exist as claimed in claim 1 In：The origin of coordinates of dolly coordinate system is provided with the center of dolly lower surface, camera coordinates system is provided with the camera lens photocentre of camera The origin of coordinates.
- 3. the Camera extrinsic number calibration system applied to the detection of crane hanger pose, its feature exist as claimed in claim 2 In：The camera obtains the coordinate position of characteristic point on the caliberating device, and camera is calculated according to the characteristic point and sits Transformational relation between mark system and dolly coordinate system.
- 4. a kind of Camera extrinsic number scaling method applied to the detection of crane hanger pose, it is characterised in that including following step Suddenly：Establish dolly coordinate system；Establish 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；It is further comprising the steps of：Lifting mechanism in adjusting bracket, caliberating device surface is set to be in horizontality；The horizontality of caliberating device is judged by the horizontal bubble on caliberating device surface.
- 5. the Camera extrinsic number scaling method applied to the detection of crane hanger pose, its feature exist as claimed in claim 4 In：The caliberating device includes horizontally disposed rectangle scaling board, makes a circle outside the scaling board and is identified provided with rectangle；Four outer dead centres or all summit of the characteristic point for the mark.
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| CN109835815B (en) * | 2019-03-15 | 2020-08-21 | 上海振华重工(集团)股份有限公司 | Automatic calibration method and system for container crane |
| CN111186769B (en) * | 2019-12-05 | 2021-12-14 | 珠海市华兴软件信息服务有限公司 | Triangular support data search platform and method for balance |
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