CN106809730A - The container automatic butt tackling system and hoisting method of a kind of view-based access control model - Google Patents
The container automatic butt tackling system and hoisting method of a kind of view-based access control model Download PDFInfo
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- CN106809730A CN106809730A CN201710033758.9A CN201710033758A CN106809730A CN 106809730 A CN106809730 A CN 106809730A CN 201710033758 A CN201710033758 A CN 201710033758A CN 106809730 A CN106809730 A CN 106809730A
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- docking
- hoisting platform
- hoisting
- video camera
- container
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses the container automatic butt tackling system and hoisting method of a kind of view-based access control model.Image capture device is arranged at the drift angle at the top of hoisting platform, and the docking corner fittings to being installed on container carries out IMAQ；Image processing system carries out location recognition to the docking corner fittings in image, according to docking corner fittings and the position relationship of target docking location, resolves the kinematic parameter for making the docking site of hoisting platform be moved to docking location, and send control system to；Control system controls the motion of hoisting platform according to the kinematic parameter for being received, so as to adjust position and the angle of hoisting platform, until the docking site of hoisting platform is docked with the corner fittings that docks of container, finally realizes container hoisting.The present invention can be overcome when hoisting platform and container dock corner fittings and docked, and the docking man-hour produced by conventional method is long, the low defect of efficiency.
Description
Technical field
The invention belongs to handling equipment field, be related to a kind of container automatic butt tackling system of view-based access control model and
During hoisting method, more particularly to a kind of container hoisting, realize container docking corner fittings automatic identification and position, Jin Ershi
The scheme of existing container automatic butt lifting.
Background technology
With the development of domestic economy, container cargo distribution transport increases quick, and container crane tool is transported in modern thing
Stream, national product play extremely important effect in each field.During existing container hoisting, method often
It is artificial operation, it is necessary to several workmans cooperate.There is workman to be observed container docking site on container periphery,
And inform that fellow worker operates to hoisting platform, and then realize docking for hoisting platform and container.This docking hoisting method
Time-consuming, and efficiency is low, and required workman is more, causes labor waste.
The content of the invention
In view of this, the invention provides the container automatic butt tackling system and hoisting method of a kind of view-based access control model,
Can overcome when hoisting platform and container dock corner fittings and docked, the docking man-hour produced by conventional method is long, efficiency
Low defect；Can raise labour productivity, lift intelligent manufacturing level.
In order to solve the above-mentioned technical problem, the present invention is realized in：
First, the container automatic butt tackling system of the view-based access control model that the present invention is provided, including：Vision system, lifting
Platform, control system and the docking corner fittings installed in container；Vision system is by image capture device and image processing system group
Into；Wherein,
Hoisting platform is four-degree-of-freedom platform, can carry out tri- translational motions in direction of X, Y, Z in rectangular coordinate system, with
And rotary motion about the z axis；
Image capture device is at least 2, at the drift angle at the top of hoisting platform, the figure for gathering docking corner fittings
Picture simultaneously sends image processing system to；
Image processing system, for carrying out location recognition to the docking corner fittings in received image, according to docking corner fittings with
The position relationship of target docking location, resolving makes the kinematic parameter that the docking site of hoisting platform is moved to docking location, and passes
Give control system；
Control system, the motion for controlling hoisting platform according to the kinematic parameter for being received, so as to adjust hoisting platform
Position and angle, until docking site and the container of hoisting platform dock corner fittings docking, finally realize container hoisting.
Preferably, described image collecting device includes three ccd video cameras, and its of hoisting platform is arranged on by support frame
In 3 drift angles；Three ccd video cameras are defined as video camera A, video camera B and video camera C；Video camera A, video camera B are located at lifting
The two ends of platform top surface a line, video camera B and video camera C are located at the two ends of the another a line of hoisting platform top surface；Video camera A,
The axis of the docking site on the optical axis and place hoisting platform Angle Position of video camera B is in the same plane；Video camera C's
The axis of the docking site on optical axis and place hoisting platform Angle Position is in the same plane；The optical axis of video camera B and video camera C
It is parallel.
Preferably, the top surface of docking corner fittings offers docking hole；Described image processing system is to docking corner fittings top surface
Docking hole carries out location recognition, obtains the changing coordinates of docking hole center；According to the changing coordinates with it is known
Target docking location coordinate is compared, and resolving makes the kinematic parameter that the docking site of hoisting platform is moved to docking corner fittings.
Preferably, the process of described image processing system resolving acquisition kinematic parameter is：
When for the first time using this tackling system, manual control hoisting platform is accurately docked, and obtains each during accurate docking
The center position coordinates of the corresponding docking corner fittings top docking hole that image capture device is collected, sit as target docking location
Mark；Wherein, the image of any two image capture device M and N collections is sat through the respective objects docking location that image recognition is obtained
Mark is respectively M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and with the coordinate system of image capture device M as world coordinate system；
When using this tackling system afterwards, according to the mutually reply that image capture device M and N acquired image are obtained in real time
Meet hole center position coordinates respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Resolve hoisting platform rotation parameter θ and three the translation parameters Δ X in direction, Δ Y, Δ Z be：
Δ X=XM2-XM1
Δ Y=YM2-YM1
Δ Z=ZM2-ZM1。
Preferably, the process of the motion of the control system control hoisting platform is as follows：
(1) control hoisting platform rotates；
Rotation parameter θ control hoisting platform of the control system first according to hoisting platform rotates, until target pair
Meet position coordinates M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorThe center arrived of direction and real-time detection
Point position coordinates M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) composition vectorDirection it is consistent；
(2) control hoisting platform does translational motion in horizontal direction；
Control system controls hoisting platform to do horizontal direction translation fortune according to the translation parameters (Δ X, Δ Y) of hoisting platform
It is dynamic, until target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) sat with the center position that real-time detection is arrived
Mark M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component overlap；
(3) control hoisting platform does translational motion on vertical direction
Control system controls hoisting platform to do the translational motion of vertical direction according to the translation parameters Δ Z of hoisting platform, directly
Achieved a butt joint with corresponding docking corner fittings to the docking site of hoisting platform, complete the docking operation of hoisting platform and container.
The container automatic butt hoisting method of the view-based access control model of this offer, comprises the following steps：
Step one：The boom hoisting with four-degree-of-freedom hoisting platform is built, hoisting platform can carry out rectangular coordinate system
Tri- translational motions in direction of middle X, Y, Z, and rotary motion about the z axis；Docking corner fittings is installed on container；Hoisting platform top
At least 2 image capture devices are installed at the drift angle in portion；
Step 2：When first time is using boom hoisting, manual control hoisting platform is accurately docked, and obtains accurate right
The center position coordinates of the corresponding docking corner fittings top docking hole that each image capture device is collected when connecing, dock as target
Position coordinates；Wherein, the image of any two image capture device M and N collections is docked through the respective objects that image recognition is obtained
Position coordinates is respectively M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and sat by the world of the coordinate system of image capture device M
Mark system；
Step 3：Image capture device M and N Real-time Collection dock the image information of corner fittings, and by image recognition, it is right to obtain
The docking hole center position coordinates respectively M2 (X for answeringM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Step 4：Resolve hoisting platform rotation parameter θ and three the translation parameters Δ X in direction, Δ Y, Δ Z be：
Δ X=XM2-XM1
Δ Y=YM2-YM1
Δ Z=ZM2-ZM1
Step 5：Control system is docked according to rotation parameter and translation parameters, the realization of control hoisting platform with container.
Preferably, the step 5 is specially：
Step 51：Control hoisting platform rotates；
Rotation parameter θ control hoisting platform of the control system first according to hoisting platform rotates, until target pair
Meet position coordinates M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorThe center arrived of direction and real-time detection
Point position coordinates M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) composition vectorDirection it is consistent；
Step 52：Control hoisting platform does translational motion in horizontal direction；
Control system controls hoisting platform to do level side according to the translation parameters (Δ X, Δ Y) in the direction of hoisting platform level two
To translational motion, until target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) center arrived with real-time detection
Point position coordinates M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component overlap；
Step 53：Control hoisting platform does translational motion on vertical direction；
Control system controls hoisting platform to do the translation of vertical direction according to the translation parameters Δ Z of hoisting platform vertical direction
Motion, until the docking site of hoisting platform achieves a butt joint with corresponding docking corner fittings, completion hoisting platform is docked with container
Process.
Preferably, the step 3 is：Using maximum between-cluster variance OSTU adaptive thresholds extracting method to gather figure
As information carries out binary conversion treatment and carries out gaussian filtering, then silhouettes detection is carried out, area is carried out about to gained profile information
Beam, obtains docking the position of hole on container docking corner fittings, and then obtain docking hole center point coordinate.
Preferably, step one installs CCD shootings when boom hoisting is built, at three drift angles at the top of hoisting platform
Machine；Three ccd video cameras are defined as video camera A, video camera B and video camera C；Video camera A, video camera B are located at hoisting platform top
The two ends of face a line, video camera B and video camera C are located at the two ends of the another a line of hoisting platform top surface；Video camera A, video camera B
Optical axis and place hoisting platform Angle Position on docking site axis in the same plane；The optical axis of video camera C with
The axis of the docking site on the hoisting platform Angle Position of place is in the same plane；Video camera B is parallel with the optical axis of video camera C.
Beneficial effect：
(1) compared with prior art, container automatic butt tackling system of the present invention carry out container hoisting platform with
When container is docked, using the hole above container docking corner fittings, container docking corner fittings is obtained automatically by vision system
Positional information, the kinematic parameter required for calculating hoisting platform passes to control system, so as to be controlled to adjust by control system
The attitude of whole hoisting platform makes container realize that automatic butt is lifted by crane with hoisting platform, and intelligent and high-efficiency can be quickly and accurately real
Now dock lifting process, it is to avoid the workload in traditional docking lifting produced by artificial observation docking, reduce workman's work strong
Degree, improves labor productivity.
(2) this container automatic butt tackling system, principle is simple, and robustness is good.Understand only to need two in theory by foregoing
The information of individual ccd video camera collection can complete docking lifting process.The use of three purposes of ccd video camera one is to ensure
Complex work environment or in particular cases cause it is a certain shooting machine testing mistake when automatic butt tackling system still be able to normally
Work, two is, in order to increase by one group of constraints, to strengthen the robustness of target detection, high precision, good reliability.
(3) three ccd video cameras are carried out with the parallel installation limitation of coplanar, optical axis, is easy to camera chain to be demarcated.
Brief description of the drawings
Fig. 1 is container schematic diagram；
Fig. 2 is container docking site schematic diagram；
Fig. 3 is equipped with three hoisting platform schematic diagrames of ccd video camera；
Fig. 4 is hoisting platform left view schematic diagram；
Fig. 5 is hoisting platform top view schematic diagram；
Fig. 6 is the container automatic butt tackling system schematic diagram of view-based access control model system；
In figure, 1- containers；2nd, 3,4,5- docking corner fittings；6- round rectangle holes；7th, 8- circular openings；9- liftings are flat
Platform；10- video cameras A；11- video cameras B；12- video cameras C；13- portal frames；14- terminal boxes；15- control cabinets；16- image procossings
System；17- control systems；18- rack platforms.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, and the present invention will be described in detail.
The invention provides a kind of container automatic butt tackling system of view-based access control model, as shown in figure 3, the system includes
Vision system, hoisting platform 9, control system 17 and the docking corner fittings 2,3,4,5 installed in container corner.
As shown in figure 1, container 1 be rectangular structure, be respectively fixed with four angles of top surface docking corner fittings 2,3,4,
5, it is mainly used in being achieved a butt joint with hoisting platform 9.It is illustrated in figure 2 the enlarged diagram of docking corner fittings in the present embodiment, docking
Docking hole is offered on the top surface of corner fittings 2,3,4,5, is here round rectangle hole, certainly can also be other shapes.It is right
Connect corner fittings and open up circular opening 7,8 for fastening hoisting platform docking site.Hole, its aspect ratio are docked using round rectangle
It is more apparent, distinguished with circular opening, its profile information can easily be extracted by image processing algorithm, it is right so as to detect
Connect positional information.
As shown in figure 3, hoisting platform 9 is installed on portal frame 13, hoisting platform 9 has four frees degree, by controlling system
The control of system 17, it is possible to achieve tri- translational motions in direction of X, Y, Z in rectangular coordinate system XYZ, and rotation fortune about the z axis
It is dynamic.Be provided with four angles of hoisting platform 9 be consistent with docking corner fittings shape, the corresponding docking site in position, docking site
End has engaging support mechanism, can fasten on docking corner fittings.
Vision system is made up of image capture device and image processing system 16.Wherein,
Image capture device is at least 2, and at the drift angle at the top of hoisting platform, a drift angle installs one, uses
The image of corner fittings is docked in collection and send image processing system 16 to.In the present embodiment, image capture device includes three CCD
Video camera, respectively ccd video camera A 10, ccd video camera B 11 and ccd video camera C 12, are fixed by support frame pacify respectively
At wherein three drift angles loaded on hoisting platform 9, in figure, three ccd video cameras are separately mounted at docking corner fittings 2,3,4,
It is used to gather the image information of docking corner fittings 2,3,4.As shown in Figure 4 and Figure 5, video camera A, video camera B are located at hoisting platform top
The two ends of face a line, video camera B and video camera C are located at the two ends of the another a line of hoisting platform top surface；Video camera A, video camera B
Optical axis and place hoisting platform Angle Position on docking site axis in the same plane；The optical axis of video camera C with
The axis of the docking site on the hoisting platform Angle Position of place is in the same plane；Video camera B is parallel with the optical axis of video camera C.
So installing is easy to camera chain to be demarcated.
Image processing system 16, carries out location recognition, according to butt joint corner for the docking corner fittings in received image
Part and the position relationship of target docking location, resolve the kinematic parameter for making the docking site of hoisting platform be moved to docking location,
And send control system to.The parsing of its kinematic parameter relies primarily on image procossing, using the docking hole for docking corner fittings top surface
Location recognition is carried out, the changing coordinates of docking hole center are obtained；According to the changing coordinates and known target pair that obtain
Connect position coordinates to compare, resolving makes the kinematic parameter that the docking site of hoisting platform is moved to docking corner fittings.
As shown in figure 4, the control system 17 is made up of controller, driver and other peripheral circuit plates, control is placed on
The inside of case processed 15, is mainly used to receive the kinematic parameter that image processing system 16 is transmitted, and completes the anti-solution computing of hoisting platform 9,
By adjusting position and the angle of hoisting platform, until docking site and the container of hoisting platform dock corner fittings round rectangle
Aligned, and then control system control hoisting platform docks corner fittings circular opening buckle with container so as to achieve a butt joint, and enters
And control motion to realize container hoisting.
In connection, terminal box 14 is installed on the bottom of portal frame 13, the one end of terminal box 14 by netting twine and ccd video camera A,
B, C are connected, and are connected with hoisting platform 9 by cable, and the other end of terminal box 14 is connected by cable with control system 17, are led to
Cross netting twine to be connected with image processing system 16, control system 17 is placed on the inside of control cabinet 15, control system 17 by netting twine with
Image processing system 16 is connected, and control cabinet 15 is positioned on rack platform 18 with image processing system 16.
The container automatic butt tackling system structural representation of view-based access control model is illustrated in figure 4, specific works method is such as
Under：
Step one：This automatic butt tackling system is built according to Fig. 3.
Step 2：Docking coordinate of ground point is obtained using video camera ABC.
First, system calibrating is carried out to video camera ABC, the position coordinates relation between three video cameras is obtained.This mark
It is each butt joint corner that the video camera ABC for using below is collected in order to unify the coordinate system between several video cameras to determine process
Part center point coordinate is that unification arrives a certain camera coordinate system such as A as the seat under world coordinate system after the completion of camera calibration
Mark, kinematic parameter is solved with this coordinate.
When first time is using the tackling system, manual control hoisting platform 9 is accurately docked, and is realized accurately with obtaining
Its correspondence container docking corner fittings top docking hole center position coordinates that video camera ABC is collected respectively during docking, as
Target's center's position coordinates.Video camera ABC collection image after image recognition, the docking hole center position coordinates of acquisition,
That is target's center's position coordinates is respectively A1(XA1,YA1,ZA1)、B1(XB1,YB1,ZB1)、C1(XC1,YC1,ZC1)。
It is in fact with two therein although the present embodiment is provided with three video cameras.In the present embodiment, with video camera
As a example by A and video camera B, and with the coordinate system of video camera A as world coordinate system.
Step 3：It is follow-up when being lifted by crane again, vision system real-time information collection and treatment.
Collection：Three ccd video camera ABC carry out image to the container top comprising container docking corner fittings image information
Obtain, dock the digital figure information of corner fittings 2,3,4 comprising container to collect.
Treatment：The image information of the vision system collection first to being made up of three ccd video camera ABC is pre-processed,
Binary conversion treatment is carried out to image using maximum between-cluster variance (OSTU) adaptive threshold extracting method, gained image is entered afterwards
Row gaussian filtering, leaching after noise obtains clearly image carries out silhouettes detection, gained profile information is carried out area-constrained
The position that container docks corner fittings 2,3,4 is can obtain, and further respectively obtains the top docking hole 6 of docking corner fittings 2,3,4
Position, and then obtain docking hole center point coordinate.The corresponding docking that image according to ccd video camera ABC Real-time Collections is obtained
Hole center point coordinate is respectively A2(XA2,YA2,ZA2)、B2(XB2,YB2,ZB2)、C2(XC2,YC2,ZC2).In the present embodiment, use
The data A of video camera A and B2(XA2,YA2,ZA2)、B2(XB2,YB2,ZB2), the data of video camera C are used as backup.
Step 4：Calculate the kinematic parameter of hoisting platform.
Motion platform 9 only has four frees degree：Rotation parameter θ and three translation parameters Δ X, Δ Y, the Δ Z in direction.
If target's center point position coordinates A1(XA1,YA1,ZA1) and B1(XB1,YB1,ZB1) constitute vector beIn real time
The center position coordinate A for detecting2(XA2,YA2,ZA2) and B2(XB2,YB2,ZB2) constitute vectorThen become by vector
The rotation parameter θ and three translation parameters Δ X, Δ Y, the Δ Z in direction for obtaining hoisting platform 9 are changed, method is as follows：
(1) the rotation parameter θ of hoisting platform 9 is obtained
Container hoisting platform 9 will be realized accurately docking with container 1, and its rotation parameter θ can use target's center's point position
Put coordinate A1(XA1,YA1,ZA1) and B1(XB1,YB1,ZB1) constitute vectorThe docking hole that corresponding real-time detection is arrived
Center position coordinate A2(XA2,YA2,ZA2)、B2(XB2,YB2,ZB2) constitute vectorBetween parameter transformation obtain, i.e.,
Under world coordinate system：
VectorIt is represented by：
VectorIt is represented by：
Because container docking corner fittings 2,3,4,5 is in same level, thereforeVectorIt is represented by：
Similarly, vectorIt is represented by：
Thus the rotation parameter of hoisting platform 9 can be tried to achieve
(2) translation parameters of hoisting platform 9 is calculated
Because position is fixed between the docking site of hoisting platform 9, four docking corner fittings 2,3,4,5 positions of container 1 are consolidated
Fixed, so container 1 will be realized accurately docking with hoisting platform 9, its translation parameters (Δ X, Δ Y) demand obtains one of mesh
Mark hole 6 center position coordinate A1(XA1,YA1,ZA1) the center position coordinate A of hole 6 that arrives of corresponding real-time detection2
(XA2,YA2,ZA2) between relative position relation, i.e., under world coordinate system：
The translation parameters of hoisting platform 9 can be tried to achieve：
Through above-mentioned steps be obtained docking required for hoisting platform 9 rotation parameter θ and translation parameters (Δ X, Δ Y,
Δ Z), it is sent to control system 17.
Step 5：Control system 17 is realized according to rotation parameter θ and translation parameters Δ X, Δ Y, Δ Z, control hoisting platform 9
With docking for container 1.Specifically control process is：
Step 51：Control hoisting platform 9 rotates.
Image processing system 16 sends the resulting rotation parameter θ of hoisting platform 9 to control system 17, control system 17
Hoisting platform 9 is controlled to rotate according to rotation parameter θ first, until vectorWith vectorDirection it is consistent, this
When hoisting platform 9 it is just right with container 1, only need to carry out translational motion by achieve a butt joint.
Step 52：Control hoisting platform 9 does translational motion in horizontal direction.
Image processing system 16 sends the resulting translation parameters of hoisting platform 9 (Δ X, Δ Y) to control system 17, control
System processed 17 is according to the translation parameters (Δ X, Δ Y) in the direction of hoisting platform level two, and it is flat that control hoisting platform 16 does horizontal direction
Shifting movement, until the center point coordinate A of real-time detection hole 62、B2The corresponding center point coordinate A of target hole 61、B1X, Y
Component is consistent, and now the interfaced corresponding round rectangle hole 6 in docking site is in same center line in z-direction
On, achieved a butt joint by need to only carrying out the translational motion in vertical direction.
Step 53：Control hoisting platform 9 does translational motion on vertical direction
After the completion of step 52, hoisting platform 9 will achieve a butt joint with container 1 and need to only carry out translation on vertical direction and transport
Dynamic, image processing system 16 sends translation parameters Δ Z to control systems 17, and control system 17 controls hoisting platform 9 according to Δ Z
The translational motion on vertical direction is done, corresponding docking hole 6 achieves a butt joint until docking site, that is, complete hoisting platform
9 with the docking operation of container 1.
In sum, the invention aims to overcome when container and hoisting platform dock lifting, tradition
Docking man-hour produced by method is long, the low defect of efficiency, to raise labour productivity, lifts intelligent manufacturing level, proposes
The container automatic butt tackling system and its method of work of a kind of view-based access control model.The container automatic butt of the view-based access control model
Tackling system can automatically obtain the positional information of container and hoisting platform docking site by vision system, calculate lifting
Kinematic parameter required for platform, passes to control system, so as to make collection by the attitude of control system control adjustment hoisting platform
Vanning realizes that automatic butt is lifted by crane with hoisting platform, intelligent and high-efficiency, and can quickly and accurately achieve a butt joint lifting process, it is to avoid
Workload in traditional docking lifting produced by artificial observation docking, reduces labor strength, improves labor productivity；
The container automatic butt tackling system of the view-based access control model, principle is simple, understands only to need two CCD to image in theory by foregoing
The information of machine collection can complete docking lifting process, the use of three purposes of ccd video camera one be to ensure in complicated work
Automatic butt tackling system still is able to normal work when making environment or in particular cases causing a certain shooting machine testing mistake, and two are
In order to increase by one group of constraints, strengthen the robustness of target detection, high precision, good reliability；Three ccd video cameras are using same
The coplanar mounting means in side, this mounting means is easy to camera chain to be demarcated.
In sum, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in of the invention
Within protection domain.
Claims (9)
1. the container automatic butt tackling system of a kind of view-based access control model, it is characterised in that including：Vision system, hoisting platform
(9), control system (17) and the docking corner fittings (2,3,4,5) installed in container；Vision system is by image capture device and figure
As processing system (16) composition；Wherein,
Hoisting platform is four-degree-of-freedom platform, can carry out tri- translational motions in direction of X, Y, Z in rectangular coordinate system, and around
The rotary motion of Z axis；
Image capture device is at least 2, at the drift angle at the top of hoisting platform, the image of corner fittings is docked for gathering simultaneously
Send image processing system to；
Image processing system, for carrying out location recognition to the docking corner fittings in received image, according to docking corner fittings and target
The position relationship of docking location, resolving makes the kinematic parameter that the docking site of hoisting platform is moved to docking location, and sends to
Control system；
Control system, the motion for controlling hoisting platform according to the kinematic parameter for being received, so as to adjust the position of hoisting platform
Put and angle, until the docking site of hoisting platform is docked with the corner fittings that docks of container, finally realize container hoisting.
2. the container automatic butt tackling system of view-based access control model as claimed in claim 1, it is characterised in that described image is adopted
Collection equipment includes three ccd video cameras, and wherein 3 drift angles of hoisting platform are arranged on by support frame；Three ccd video cameras are determined
Justice is video camera A (10), video camera B (11) and video camera C (12)；Video camera A, video camera B are located at hoisting platform top surface one
The two ends on side, video camera B and video camera C are located at the two ends of the another a line of hoisting platform top surface；The optical axis of video camera A, video camera B
With the axis of the docking site on the hoisting platform Angle Position of place in the same plane；The optical axis of video camera C rises with place
Hang the axis of docking site on platform Angle Position in the same plane；Video camera B is parallel with the optical axis of video camera C.
3. the container automatic butt tackling system of view-based access control model as claimed in claim 1, it is characterised in that docking corner fittings
The top surface of (2,3,4,5) offers docking hole (6)；Docking hole (6) of the described image processing system to docking corner fittings top surface
Location recognition is carried out, the changing coordinates of docking hole center are obtained；Docked with known target according to the changing coordinates
Position coordinates is compared, and resolving makes the kinematic parameter that the docking site of hoisting platform is moved to docking corner fittings.
4. the container automatic butt tackling system of view-based access control model as claimed in claim 3, it is characterised in that at described image
Reason system resolve obtain kinematic parameter process be：
When for the first time using this tackling system, manual control hoisting platform is accurately docked, each image when obtaining accurate docking
The center position coordinates of the corresponding docking corner fittings top docking hole that collecting device is collected, as target docking location coordinate；
Wherein, the respective objects docking location coordinate point that the image of any two image capture device M and N collections is obtained through image recognition
Wei not M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and with the coordinate system of image capture device M as world coordinate system；
When using this tackling system afterwards, according to the corresponding butt hole that image capture device M and N acquired image are obtained in real time
Hole center position coordinates are respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Resolve hoisting platform rotation parameter θ and three the translation parameters Δ X in direction, Δ Y, Δ Z be：
Δ X=XM2-XM1
Δ Y=YM2-YM1
Δ Z=ZM2-ZM1。
5. the container automatic butt tackling system of view-based access control model as claimed in claim 1, it is characterised in that the control system
The process of the motion of system control hoisting platform is as follows：
(1) control hoisting platform rotates；
Rotation parameter θ control hoisting platform of the control system first according to hoisting platform rotates, until target docks position
Put coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorThe central point position arrived of direction and real-time detection
Put coordinate M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) composition vectorDirection it is consistent；
(2) control hoisting platform does translational motion in horizontal direction；
Control system controls hoisting platform to do horizontal direction translational motion according to the translation parameters (Δ X, Δ Y) of hoisting platform, directly
To target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) the center position coordinate M2 that arrives with real-time detection
(XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component overlap；
(3) control hoisting platform does translational motion on vertical direction
Control system controls hoisting platform to do the translational motion of vertical direction, Zhi Daoqi according to the translation parameters Δ Z of hoisting platform
The docking site for hanging platform achieves a butt joint with corresponding docking corner fittings, completes the docking operation of hoisting platform and container.
6. the container automatic butt hoisting method of a kind of view-based access control model, it is characterised in that the method comprises the following steps：
Step one：Build the boom hoisting with four-degree-of-freedom hoisting platform, hoisting platform can carry out X in rectangular coordinate system,
Tri- translational motions in direction of Y, Z, and rotary motion about the z axis；Docking corner fittings is installed on container；At the top of hoisting platform
At least 2 image capture devices are installed at drift angle；
Step 2：When first time is using boom hoisting, manual control hoisting platform is accurately docked, when obtaining accurate docking
The center position coordinates of the corresponding docking corner fittings top docking hole that each image capture device is collected, as target docking location
Coordinate；Wherein, the respective objects docking location that the image of any two image capture device M and N collections is obtained through image recognition
Coordinate is respectively M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and with the coordinate system of image capture device M as world coordinate system；
Step 3：Image capture device M and N Real-time Collection dock the image information of corner fittings, by image recognition, obtain corresponding
Docking hole center position coordinates are respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Step 4：Resolve hoisting platform rotation parameter θ and three the translation parameters Δ X in direction, Δ Y, Δ Z be：
Δ X=XM2-XM1
Δ Y=YM2-YM1
Δ Z=ZM2-ZM1
Step 5：Control system is docked according to rotation parameter and translation parameters, the realization of control hoisting platform with container.
7. the container automatic butt hoisting method of view-based access control model as claimed in claim 6, it is characterised in that the step 5
Specially：
Step 51：Control hoisting platform rotates
Rotation parameter θ control hoisting platform of the control system first according to hoisting platform rotates, until target docks position
Put coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorThe central point position arrived of direction and real-time detection
Put coordinate M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) composition vectorDirection it is consistent；
Step 52：Control hoisting platform does translational motion in horizontal direction
It is flat that control system controls hoisting platform to do horizontal direction according to the translation parameters (Δ X, Δ Y) in the direction of hoisting platform level two
Shifting movement, until target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) the central point position arrived with real-time detection
Put coordinate M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component overlap；
Step 53：Control hoisting platform does translational motion on vertical direction
Control system controls hoisting platform to do the translation fortune of vertical direction according to the translation parameters Δ Z of hoisting platform vertical direction
It is dynamic, until the docking site of hoisting platform achieves a butt joint with corresponding docking corner fittings, hoisting platform is completed with container to taking over
Journey.
8. the container automatic butt hoisting method of view-based access control model as claimed in claim 6, it is characterised in that the step 3
For：
Binary conversion treatment is carried out using maximum between-cluster variance OSTU adaptive thresholds extracting method to the image information for gathering to go forward side by side
Row gaussian filtering, then carry out silhouettes detection, carries out area-constrained to gained profile information, obtains right on container docking corner fittings
The position of hole is connect, and then obtains docking hole center point coordinate.
9. the container automatic butt hoisting method of view-based access control model as claimed in claim 6, it is characterised in that step one is being taken
When building up device for hoisting, ccd video camera is installed at three drift angles at the top of hoisting platform；Three ccd video cameras are defined as shooting
Machine A (10), video camera B (11) and video camera C (12)；Video camera A, video camera B are located at the two ends of hoisting platform top surface a line,
Video camera B and video camera C is located at the two ends of the another a line of hoisting platform top surface；Video camera A, the optical axis of video camera B and place are risen
Hang the axis of docking site on platform Angle Position in the same plane；The optical axis of video camera C and place hoisting platform angle
The axis of the docking site on position is in the same plane；Video camera B is parallel with the optical axis of video camera C.
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