CN106809730B - A kind of the container automatic butt tackling system and hoisting method of view-based access control model - Google Patents
A kind of the container automatic butt tackling system and hoisting method of view-based access control model Download PDFInfo
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- CN106809730B CN106809730B CN201710033758.9A CN201710033758A CN106809730B CN 106809730 B CN106809730 B CN 106809730B CN 201710033758 A CN201710033758 A CN 201710033758A CN 106809730 B CN106809730 B CN 106809730B
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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
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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
- B66C13/16—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 systems and hoisting method of a kind of view-based access control model.Image capture device is mounted on the vertex at the top of hoisting platform, carries out Image Acquisition to the docking corner fittings installed on container；Image processing system carries out position identification to the docking corner fittings in image, according to the positional relationship of docking corner fittings and target docking location, resolves the kinematic parameter for enabling the docking site of hoisting platform move to docking location, and send control system to；Control system according to the movement of received kinematic parameter control hoisting platform until docking site and the container of hoisting platform dock corner fittings docking, finally realize container hoisting to adjust position and the angle of hoisting platform.The present invention can overcome when hoisting platform docks corner fittings with container and docks, and docking working hour caused by conventional method is long, the defect of low efficiency.
Description
Technical field
The invention belongs to handling equipment field, be related to a kind of view-based access control model container automatic butt tackling system and
During hoisting method more particularly to a kind of container hoisting, realizes container docking corner fittings automatic identification and position, Jin Ershi
The scheme of existing container automatic butt lifting.
Background technique
With the development of domestic economy, container cargo distribution transport increases quickly, and container crane tool is transported in modern object
Stream, national product play extremely important effect in each field.During existing container hoisting, method often
It is manual operation, several workers is needed to cooperate.There is worker to observe on container periphery container docking site,
And inform that fellow worker operates hoisting platform, and then realize docking for hoisting platform and container.This docking hoisting method
Time-consuming, low efficiency, and required worker is more, causes labor waste.
Summary of the invention
In view of this, the present invention provides the container automatic butt tackling system and hoisting method of a kind of view-based access control model,
It can overcome when hoisting platform docks corner fittings with container and docked, docking working hour caused by conventional method is long, efficiency
Low defect；It can be improved labor productivity, it is horizontal to promote intelligent manufacturing.
In order to solve the above-mentioned technical problem, the present invention is implemented as follows:
Firstly, the container automatic butt tackling system of view-based access control model provided by the invention, comprising: vision system, lifting
Platform, control system and the docking corner fittings for being mounted on container；Vision system is by image capture device and image processing system group
At；Wherein,
Hoisting platform is four-degree-of-freedom platform, can carry out the translational motion in tri- directions X, Y, Z in rectangular coordinate system, with
And rotary motion about the z axis；
Image capture device is 2, including video camera A (10) and video camera B (11), and it is flat to be mounted on lifting by support frame
2 vertex at the top of platform, and the both ends of hoisting platform top surface a line are located at, for acquiring the image of docking corner fittings simultaneously
Send image processing system to；The axis of video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
Line is in the same plane；The axis of video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
There is equal angular α between line；
Image processing system, for in received image docking corner fittings carry out position identification, according to docking corner fittings with
The positional relationship of target docking location resolves the kinematic parameter for enabling the docking site of hoisting platform move to docking location, and passes
Give control system；The kinematic parameter include the rotation parameter θ and the translation parameters Δ X in three directions of hoisting platform, Δ Y,
ΔZ；
Control system, for according to received kinematic parameter control hoisting platform movement, to adjust hoisting platform
Position and angle finally realize container hoisting until docking site and the container of hoisting platform dock corner fittings docking.
Preferably, described image acquisition equipment further comprises that another apex angle of hoisting platform is mounted on by support frame
Video camera C (12)；Video camera B and video camera C is located at the both ends of the another a line in hoisting platform top surface；The optical axis of video camera C with
The axis of 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；
Angle between the optical axis of video camera C and the axis of the docking site on the hoisting platform Angle Position of place is also α.
Preferably, the top surface for docking corner fittings offers docking hole；Described image processing system is to docking corner fittings top surface
It docks hole and carries out position identification, obtain the changing coordinates of docking hole center；According to the changing coordinates with it is known
Target docking location coordinate is compared, and resolves the kinematic parameter for enabling the docking site of hoisting platform move to docking corner fittings.
Preferably, described image processing system resolves the process for obtaining kinematic parameter are as follows:
When using this tackling system for the first time, the artificial hoisting platform that controls accurately is docked, and is obtained each when accurate docking
The center position coordinates of docking hole, sit as target docking location above the collected corresponding docking corner fittings of image capture device
Mark；Wherein, the respective objects docking location coordinate point that the image of two image capture devices M and N acquisition is obtained through image recognition
It Wei not M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and using the coordinate system of image capture device M as world coordinate system；
When using this tackling system later, the mutually reply that is obtained in real time according to image capture device M and N acquired image
Connecing hole center position coordinates is respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Resolve the rotation parameter θ of hoisting platform and translation parameters Δ X, Δ Y, the Δ Z in three directions are as follows:
Δ X=XM2-XM1
Δ Y=YM2-YM1
Δ Z=ZM2-ZM1。
Preferably, the process of the movement of the control system control hoisting platform is as follows:
(1) control hoisting platform makes rotating motion；
Control system controls hoisting platform according to the rotation parameter θ of hoisting platform first and makes rotating motion, until target pair
Meet position coordinates M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorDirection and real-time detection to dock
Hole center 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 according to the translation parameters (Δ X, Δ Y) of hoisting platform and does horizontal direction translation fortune
It is dynamic, until target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) with real-time detection to dock hole center
Position coordinates M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component be overlapped；
(3) control hoisting platform does translational motion on vertical direction
Control system controls the translational motion that hoisting platform does vertical direction according to the translation parameters Δ Z of hoisting platform, directly
It realizes and docks 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, includes the following steps:
Step 1: building the boom hoisting with four-degree-of-freedom hoisting platform, and hoisting platform can carry out rectangular coordinate system
The translational motion in middle tri- directions X, Y, Z, and rotary motion about the z axis；Installation docking corner fittings on container；Hoisting platform top
The vertex in portion installs 2 image capture devices, including video camera A (10) and video camera B (11), has been mounted on by support frame
2 vertex of table top are hung, and are located at the both ends of hoisting platform top surface a line, for acquiring the figure of docking corner fittings
Picture simultaneously sends image processing system to；Video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
Axis in the same plane；Video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
Axis between have equal angular α；
Step 2: when first time using boom hoisting, the artificial hoisting platform that controls accurately is docked, and it is accurate right to obtain
The center position coordinates for docking hole when connecing above each collected corresponding docking corner fittings of image capture device, are docked as target
Position coordinates；Wherein, the respective objects docking location that the image of two image capture devices M and N acquisition is obtained through image recognition
Coordinate is respectively M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and using the coordinate system of image capture device M as world coordinate system；
Step 3: image capture device M and N acquire the image information of docking corner fittings in real time, pass through image recognition, acquisition pair
The docking hole center position coordinates answered are respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Step 4: the rotation parameter θ of hoisting platform and translation parameters Δ X, Δ Y, the Δ Z in three directions are resolved are as follows:
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 specifically:
Step 51: control hoisting platform makes rotating motion；
Control system controls hoisting platform according to the rotation parameter θ of hoisting platform first and makes rotating motion, until target pair
Meet position coordinates M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorDirection and real-time detection to dock
Hole center 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 according to the translation parameters (Δ X, Δ Y) in two direction of hoisting platform level and does level side
To translational motion, until target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) with real-time detection to dock
Hole center position coordinates M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component be overlapped；
Step 53: control hoisting platform does translational motion on vertical direction；
Control system controls the translation that hoisting platform does vertical direction according to the translation parameters Δ Z of hoisting platform vertical direction
Movement realizes with corresponding docking corner fittings until the docking site of hoisting platform and docks that completion hoisting platform is docked with container
Process.
Preferably, the step 3 are as follows: using maximum between-cluster variance OSTU adaptive threshold extracting method to the figure of acquisition
As information progress binary conversion treatment and gaussian filtering is carried out, then carries out silhouettes detection, area is carried out about to gained profile information
Beam obtains docking the position of hole on container docking corner fittings, and then obtains docking hole center position coordinates.
Preferably, step 1 when building boom hoisting, further pacify by another vertex at the top of hoisting platform
It fills video camera C (12)；Video camera B and video camera C is located at the both ends of the another a line in hoisting platform top surface；The optical axis of video camera C with
The axis of 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；
Angle between the optical axis of video camera C and the axis of the docking site on the hoisting platform Angle Position of place is also α.
The utility model has the advantages that
(1) compared with prior art, container automatic butt tackling system of the present invention carry out container hoisting platform with
When container docks, using the hole above container docking corner fittings, container docking corner fittings is obtained automatically by vision system
Location information, calculate kinematic parameter required for hoisting platform, pass to control system, thus by control system control adjust
The posture of whole hoisting platform makes container and hoisting platform realize automatic butt lifting, and intelligent and high-efficiency can be quickly and accurately real
Lifting process is now docked, workload caused by artificial observation docking in tradition docking lifting is avoided, it is strong to reduce worker's labour
Degree improves labor productivity.
(2) this container automatic butt tackling system, principle is simple, and robustness is good.Two are theoretically only needed known to aforementioned
Docking lifting process can be completed in the information of a CCD camera acquisition.Using the purpose of three CCD cameras first is that in order to guarantee
Automatic butt tackling system when a certain camera shooting machine testing mistake is caused still to be able to normally in complex work environment or in special circumstances
Work, second is that enhancing the robustness of target detection, precision is high, good reliability to increase by one group of constraint condition.
(3) installation coplanar, that optical axis is parallel is carried out to three CCD cameras to limit, demarcated convenient for camera chain.
Detailed description of the invention
Fig. 1 is container schematic diagram；
Fig. 2 is container docking site schematic diagram；
Fig. 3 is that there are three the hoisting platform schematic diagrames of CCD camera for dress；
Fig. 4 is hoisting platform left view schematic diagram；
Fig. 5 is hoisting platform top view illustration；
Fig. 6 is the container automatic butt tackling system schematic diagram of view-based access control model system；
In figure, 1- container；2,3,4,5- docking corner fittings；6- round rectangle hole；7,8- circular hole；9- lifting is flat
Platform；10- video camera A；11- video camera B；12- video camera C；13- portal frame；14- terminal box；15- control cabinet；16- image procossing
System；17- control system；18- rack platform.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of container automatic butt tackling systems 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 for being mounted on container quadrangle.
As shown in Figure 1, container 1 is rectangular parallelepiped structure, be respectively fixed on four angles of top surface docking corner fittings 2,3,4,
5, it is mainly used for realizing with hoisting platform 9 and docks.It is illustrated in figure 2 the enlarged diagram that corner fittings is docked 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
It connects corner fittings and opens up circular hole 7,8 for fastening hoisting platform docking site.Hole, aspect ratio are docked using round rectangle
It is more apparent, it is distinguished with circular hole, extraction its profile information that can be convenient by image processing algorithm, to detect pair
Connect location information.
As shown in figure 3, hoisting platform 9 is installed on portal frame 13, there are four freedom degrees for hoisting platform 9, are by control
The control of system 17, may be implemented the translational motion in tri- directions X, Y, Z in rectangular coordinate system XYZ, and rotation fortune about the z axis
It is dynamic.Be equipped on 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 of image capture device and image processing system 16.Wherein,
Image capture device is at least 2, the vertex being mounted at the top of hoisting platform, and an apex angle installs one, uses
The image of corner fittings is docked in acquisition and sends image processing system 16 to.In the present embodiment, image capture device includes three CCD
Video camera, respectively CCD camera A 10, CCD camera B 11 and CCD camera C 12 pacify by the way that support frame is fixed respectively
In figure, three CCD cameras are separately mounted at docking corner fittings 2,3,4 for wherein three vertex loaded on hoisting platform 9,
To acquire 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 both ends of face a line, video camera B and video camera C are located at the both ends of the another a line in 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 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.
Installation is demarcated in this way convenient for camera chain.
Image processing system 16, for carrying out position identification according to the docking corner fittings in received image, according to butt joint corner
The positional relationship of part and target docking location resolves the kinematic parameter for enabling the docking site of hoisting platform move to docking location,
And send control system to.The parsing of its kinematic parameter relies primarily on image procossing, utilizes the docking hole of docking corner fittings top surface
Position identification is carried out, the changing coordinates of docking hole center are obtained；According to the changing coordinates of acquisition and known target pair
It connects position coordinates to be compared, resolves the kinematic parameter for enabling the docking site of hoisting platform move to docking corner fittings.
As shown in figure 4, the control system 17 is by controller, driver and other peripheral circuit board groups at being placed on control
15 the inside of case processed, is mainly used to receive the kinematic parameter that image processing system 16 transmits, completes the anti-solution operation 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 hole with container and buckles to realize docking, into
And it controls movement mechanism and realizes container hoisting.
In connection, terminal box 14 is installed on 13 bottom of portal frame, 14 one end of terminal box by cable and CCD camera A,
B, C connection is connect by cable with hoisting platform 9, and 14 other end of terminal box is connect by cable with control system 17, is led to
Cable is crossed to connect with image processing system 16, control system 17 is placed on the inside of control cabinet 15, control system 17 by cable with
Image processing system 16 connects, and control cabinet 15 and image processing system 16 are placed on rack platform 18.
It is illustrated in figure 4 the container automatic butt tackling system structural schematic diagram of view-based access control model, specific works method is such as
Under:
Step 1: this automatic butt tackling system is built according to Fig. 3.
Step 2: docking coordinate of ground point is obtained using video camera ABC.
Firstly, carrying out system calibrating to video camera ABC, the position coordinates relationship between three video cameras is obtained.This mark
Determining process is for the coordinate system between unified several video cameras, the collected each butt joint corner of the video camera ABC used below
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 solves kinematic parameter with this coordinate.
When first time using the tackling system, the artificial hoisting platform 9 that controls accurately is docked, and is realized with acquisition accurate
Collected its of video camera ABC difference corresponds to and docks hole center position coordinates above container docking corner fittings when docking, as
Target's center's position coordinates.The image of video camera ABC acquisition is after image recognition, the docking hole center position coordinates of acquisition,
I.e. target's center's position coordinates are respectively A1(XA1,YA1,ZA1)、B1(XB1,YB1,ZB1)、C1(XC1,YC1,ZC1)。
Although the present embodiment is provided with three video cameras, in fact only with two therein.In the present embodiment, with video camera
For A and video camera B, and using the coordinate system of video camera A as world coordinate system.
Step 3: subsequent when being lifted by crane again, vision system real-time information collection and processing.
Acquisition: three CCD camera ABC carry out image to the container top comprising container docking corner fittings image information
It obtains, to collect the digital figure information for including container docking corner fittings 2,3,4.
Processing: first pre-processing the image information for the vision system acquisition being made of three CCD camera ABC,
Using maximum between-cluster variance (OSTU) adaptive threshold extracting method to image carry out binary conversion treatment, later to gained image into
Row gaussian filtering filters out after noise obtains clearly image and carries out silhouettes detection, carries out to gained profile information area-constrained
The position of container docking corner fittings 2,3,4 can be obtained, and further respectively obtain 2,3,4 top docking hole 6 of docking corner fittings
Position, and then obtain docking hole center point coordinate.The corresponding docking obtained according to the image that CCD camera ABC is acquired in real time
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: the kinematic parameter of hoisting platform is calculated.
There are four freedom degrees for motion platform 9: translation parameters Δ X, Δ Y, the Δ Z of rotation parameter θ and three directions.
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 detected2(XA2,YA2,ZA2) and B2(XB2,YB2,ZB2) constitute vectorThen become by vector
Change translation parameters Δ X, Δ Y, the Δ Z of the rotation parameter θ and three directions that obtain hoisting platform 9, the method is as follows:
(1) the rotation parameter θ of hoisting platform 9 is obtained
Container hoisting platform 9 to be realized with container 1 it is accurate dock, rotation parameter θ can use target's center's point
Set coordinate A1(XA1,YA1,ZA1) and B1(XB1,YB1,ZB1) constitute vectorThe butt hole that corresponding real-time detection arrives
Hole center position coordinate A2(XA2,YA2,ZA2)、B2(XB2,YB2,ZB2) constitute vectorBetween parameter transformation obtain, i.e.,
Under world coordinate system:
VectorIt may be expressed as:
VectorIt may be expressed as:
Since container docking corner fittings 2,3,4,5 is in same level, thereforeVectorIt may be expressed as:
Similarly, vectorIt may be expressed as:
Thus the rotation parameter of hoisting platform 9 can be acquired
(2) translation parameters of hoisting platform 9 is calculated
Since position is fixed between 9 docking site of hoisting platform, four 2,3,4,5 positions of docking corner fittings of container 1 are solid
It is fixed, so container 1 to be realized with hoisting platform 9 it is accurate dock, translation parameters (Δ X, Δ Y) demand obtains one of mesh
Mark 6 center position coordinate A of hole1(XA1,YA1,ZA1) the 6 center position coordinate A of hole that arrives of corresponding real-time detection2
(XA2,YA2,ZA2) between relative positional relationship, i.e., under world coordinate system:
The translation parameters of hoisting platform 9 can be acquired:
Through above-mentioned steps be obtained dock 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 controls hoisting platform 9 and realizes according to rotation parameter θ and translation parameters Δ X, Δ Y, Δ Z
With docking for container 1.Specific control process are as follows:
Step 51: control hoisting platform 9 makes rotating motion.
Image processing system 16 sends obtained 9 rotation parameter θ of hoisting platform to control system 17, control system 17
It controls hoisting platform 9 according to rotation parameter θ first to make rotating motion, until vectorWith vectorDirection it is consistent, this
When hoisting platform 9 and 1 face of container, only need to carry out translational motion can be realized docking.
Step 52: control hoisting platform 9 does translational motion in horizontal direction.
Obtained 9 translation parameters of hoisting platform (Δ X, Δ Y) is sent to control system 17 by image processing system 16, control
For system 17 processed according to the translation parameters (Δ X, Δ Y) in two direction of hoisting platform level, it is flat that control hoisting platform 16 does horizontal direction
Shifting movement, until 6 center point coordinate A of real-time detection hole2、B2Corresponding 6 center point coordinate A of target hole1、B1X, Y
Component is consistent, and the interfaced corresponding round rectangle hole 6 in docking site is in same center line in z-direction at this time
On, docking can be realized in the translational motion that need to only carry out 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 realize that the translation docked and need to only carried out on vertical direction is transported with container 1
Dynamic, image processing system 16 sends translation parameters Δ Z to control system 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 realizes docking, i.e. completion hoisting platform until docking site
9 with the docking operation of container 1.
In conclusion the purpose of the invention is to overcome when container carries out docking lifting with hoisting platform, tradition
Docking working hour caused by method is long, the defect of low efficiency, to raise labour productivity, promotes intelligent manufacturing level, proposes
A kind of the container automatic butt tackling system and its working method of view-based access control model.The container automatic butt of the view-based access control model
Tackling system can obtain automatically the location information of container and hoisting platform docking site by vision system, calculate lifting
Kinematic parameter required for platform, passes to control system, to make to collect by the posture that control system controls adjustment hoisting platform
Vanning realizes automatic butt lifting with hoisting platform, and intelligent and high-efficiency can quickly and accurately realize docking lifting process, avoid
In traditional docking lifting artificial observation dock caused by workload, reduce labor intensity of workers, improve labor productivity；
The container automatic butt tackling system of the view-based access control model, principle is simple, and two CCD camera shootings are theoretically only needed known to aforementioned
Docking lifting process can be completed in the information of machine acquisition, using the purpose of three CCD cameras first is that in order to guarantee in complicated work
Make environment or automatic butt tackling system when a certain camera shooting machine testing mistake is caused still to be able to work normally in special circumstances, second is that
In order to increase by one group of constraint condition, enhance the robustness of target detection, precision is high, good reliability；Three CCD cameras are using same
The coplanar mounting means in side, this mounting means are demarcated convenient for camera chain.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (9)
1. a kind of container automatic butt tackling system of view-based access control model characterized by comprising vision system, hoisting platform
(9), control system (17) and it is mounted on the docking corner fittings (2,3,4,5) of container；Vision system is by image capture device and figure
As processing system (16) form；Wherein,
Hoisting platform is four-degree-of-freedom platform, can carry out the translational motion in tri- directions X, Y, Z in rectangular coordinate system, and around
The rotary motion of Z axis；
Image capture device is 2, including video camera A (10) and video camera B (11), is mounted on hoisting platform top by support frame
2 vertex in portion, and the both ends of hoisting platform top surface a line are located at, for acquiring image and the transmission of docking corner fittings
To image processing system；The axis four of video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
Person is in the same plane；Video camera A, video camera B optical axis and place hoisting platform Angle Position on docking site axis it
Between have equal angular α；
Image processing system, for carrying out position identification to the docking corner fittings in received image, according to docking corner fittings and target
The positional relationship of docking location resolves the kinematic parameter for enabling the docking site of hoisting platform move to docking location, and sends to
Control system；The kinematic parameter includes the rotation parameter θ of hoisting platform and translation parameters △ X, △ Y, the △ Z in three directions；
Control system, for according to received kinematic parameter control hoisting platform movement, to adjust the position of hoisting platform
It sets and angle, until docking site and the container of hoisting platform dock corner fittings docking, finally realizes container hoisting.
2. the container automatic butt tackling system of view-based access control model as described in claim 1, which is characterized in that described image is adopted
Collecting equipment further comprises the video camera C (12) that another apex angle of hoisting platform is mounted on by support frame；It video camera B and takes the photograph
Camera C is located at the both ends of the another a line in hoisting platform top surface；The optical axis of video camera C and docking on the hoisting platform Angle Position of place
The axis at position is in the same plane；Video camera B is parallel with the optical axis of video camera C；The optical axis and place hoisting platform of video camera C
Angle between the axis of docking site on Angle Position is also α.
3. the container automatic butt tackling system of view-based access control model as described in claim 1, which is characterized 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
Position identification is carried out, the changing coordinates of docking hole center are obtained；It is docked according to the changing coordinates with known target
Position coordinates are compared, and resolve the kinematic parameter for enabling the docking site of hoisting platform move to docking corner fittings.
4. the container automatic butt tackling system of view-based access control model as claimed in claim 3, which is characterized in that at described image
Reason system resolves the process for obtaining kinematic parameter are as follows:
When using this tackling system for the first time, the artificial hoisting platform that controls accurately is docked, and obtains each image when accurate docking
The center position coordinates for acquiring docking hole above the collected corresponding docking corner fittings of equipment, as target docking location coordinate；
Wherein, the respective objects docking location coordinate that obtains through image recognition of image of two image capture devices M and N acquisition is respectively
M1(XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and using the coordinate system of image capture device M as world coordinate system；
When using this tackling system later, the corresponding butt hole that is obtained in real time according to image capture device M and N acquired image
Hole center position coordinates are respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Resolve the rotation parameter θ of hoisting platform and translation parameters △ X, △ Y, the △ Z in three directions are as follows:
△ X=XM2-XM1
△ Y=YM2-YM1
△ Z=ZM2-ZM1。
5. the container automatic butt tackling system of view-based access control model as claimed in claim 4, which is characterized in that the control system
The process of the movement of system control hoisting platform is as follows:
(1) control hoisting platform makes rotating motion；
Control system controls hoisting platform according to the rotation parameter θ of hoisting platform first and makes rotating motion, until target docks position
Set coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorDirection and real-time detection to dock hole
Center 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 according to the translation parameters (△ X, △ Y) of hoisting platform and does horizontal direction translational motion, directly
To target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) with real-time detection to dock hole center
Coordinate M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component be overlapped；
(3) control hoisting platform does translational motion on vertical direction
Control system controls the translational motion that hoisting platform does vertical direction, Zhi Daoqi according to the translation parameters △ Z of hoisting platform
The docking site for hanging platform is realized with corresponding docking corner fittings docks, and completes the docking operation of hoisting platform and container.
6. a kind of container automatic butt hoisting method of view-based access control model, which is characterized in that this method comprises the following steps:
Step 1: building the boom hoisting with four-degree-of-freedom hoisting platform, hoisting platform can carry out X in rectangular coordinate system,
Y, the translational motion in tri- directions Z, and rotary motion about the z axis；Installation docking corner fittings on container；At the top of hoisting platform
Vertex installs 2 image capture devices, including video camera A (10) and video camera B (11), and it is flat to be mounted on lifting by support frame
2 vertex at the top of platform, and the both ends of hoisting platform top surface a line are located at, for acquiring the image of docking corner fittings simultaneously
Send image processing system to；The axis of video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
Line is in the same plane；The axis of video camera A, the optical axis of video camera B and the docking site on place hoisting platform Angle Position
There is equal angular α between line；
Step 2: when first time using boom hoisting, the artificial hoisting platform that controls accurately is docked, when obtaining accurate docking
The center position coordinates of docking hole above each collected corresponding docking corner fittings of image capture device, as target docking location
Coordinate；Wherein, the respective objects docking location coordinate that the image of two image capture devices M and N acquisition is obtained through image recognition
Respectively M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1), and using the coordinate system of image capture device M as world coordinate system；
Step 3: image capture device M and N acquire the image information of docking corner fittings in real time, by image recognition, obtain corresponding
Docking hole center position coordinates is respectively M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2)；
Step 4: the rotation parameter θ of hoisting platform and translation parameters △ X, △ Y, the △ Z in three directions are resolved are as follows:
△ X=XM2-XM1
△ Y=YM2-YM1
△ 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, which is characterized in that the step 5
Specifically:
Step 51: control hoisting platform makes rotating motion
Control system controls hoisting platform according to the rotation parameter θ of hoisting platform first and makes rotating motion, until target docks position
Set coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) composition vectorDirection and real-time detection to dock hole
Center 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 is done horizontal direction according to the translation parameters (△ X, △ Y) in two direction of hoisting platform level control hoisting platform and is put down
Shifting movement, until target docking location coordinate M1 (XM1,YM1,ZM1) and N1 (XN1,YN1,ZN1) with real-time detection to dock hole
Center position coordinates M2 (XM2,YM2,ZM2) and N2 (XN2,YN2,ZN2) X, Y-component be overlapped；
Step 53: control hoisting platform does translational motion on vertical direction
Control system controls the translation fortune that hoisting platform does vertical direction according to the translation parameters △ Z of hoisting platform vertical direction
It is dynamic, until docking site and the realization docking of corresponding docking corner fittings of hoisting platform, completion hoisting platform and container to taking over
Journey.
8. the container automatic butt hoisting method of view-based access control model as claimed in claim 6, which is characterized in that the step 3
Are as follows:
Binary conversion treatment is carried out using image information of the maximum between-cluster variance OSTU adaptive threshold extracting method to acquisition to go forward side by side
Row gaussian filtering, then silhouettes detection is carried out, area-constrained to the progress of gained profile information, it is right on container docking corner fittings to obtain
The position of hole is connect, and then obtains docking hole center position coordinates.
9. the container automatic butt hoisting method of view-based access control model as claimed in claim 6, which is characterized in that step 1 is being taken
When building up device for hoisting, further another vertex at the top of hoisting platform installs video camera C (12)；It video camera B and takes the photograph
Camera C is located at the both ends of the another a line in hoisting platform top surface；The optical axis of video camera C and docking on the hoisting platform Angle Position of place
The axis at position is in the same plane；Video camera B is parallel with the optical axis of video camera C；The optical axis and place hoisting platform of video camera C
Angle between the axis of docking site on Angle Position is also α.
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