CN107150954A - Crane direction Precise Position System and method based on machine vision - Google Patents
Crane direction Precise Position System and method based on machine vision Download PDFInfo
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- CN107150954A CN107150954A CN201610115989.XA CN201610115989A CN107150954A CN 107150954 A CN107150954 A CN 107150954A CN 201610115989 A CN201610115989 A CN 201610115989A CN 107150954 A CN107150954 A CN 107150954A
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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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- 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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The present invention discloses the crane direction Precise Position System based on machine vision, include main control computer, main control computer is connected with the PLC signal of picture pick-up device and crane system, picture pick-up device is installed on crane, picture pick-up device is used for the live real-time pictures for shooting object in groups, and transmit it on main control computer, object includes the object A being arranged on the operation field and object B being arranged on crane in groups, main control computer obtains object A and object B real time position using image recognition software respectively, draw the coordinate difference between object A and object B, cart walking mechanism or suspender transverse-moving mechanism are controlled along the corresponding distance of cart direction transverse shifting according to the coordinate difference by PLC again, complete being accurately positioned for crane direction.It the advantage is that：Equipment is simple, with low cost, easy to maintenance, can greatly improve crane direction location efficiency.
Description
Technical field
The present invention relates to the container crane field of locating technology of container terminal or stockyard, more particularly to crane direction Precise Position System and method based on machine vision.
Background technology
Machine vision is exactly to replace human eye with machine to measure and judge.NI Vision Builder for Automated InspectionRefer to that will be ingested target by machine vision product is converted into picture signal, sends to specialImage processing system, the shape information of target subject is obtained, according to the information such as pixel distribution and brightness, color, is transformed into digitized signal；Picture system carries out various computings to extract the feature of object to these signals, and then recognize measurement target article coordinate, according to its real-time coordinates and theoretical principle coordinate result of the comparison, carry out the action of control device corresponding mechanism, realize that equipment is accurately positioned, aligned automatically.
When container terminal or storage yard operation, container crane during realizing that cart is accurately positioned, driver be typically be sitting in drivers' cab it is curved waist, hang down head operation equipment；Equipment is rocked just than larger in itself during operation, adds croucs always, driver is easy to fatigue, and easily suffers from the occupational disease in terms of lumbar vertebrae or cervical spine injury.If the labor intensity being automatically positioned hoister is substantially reduced of equipment can be realized.
When on container crane suspender central point in cart direct of travel and the object that need to align（Treat box or wait to emplace as top container or truck sweep or ground tank bit identification line）Center when being completely superposed in earth absolute coordinate system, the accurate pick-and-place case of lifting function, the object now measured from camera coordinates system is theoretical principle coordinate value in the coordinate value of cart direct of travel, and the pinpoint target in container lifting cart direction is to realize that the measured value of object in groups that need to be aligned is consistent with theoretical principle value.
Typically by being installed on stockyard, positioning is followed closely with magnetic, magnetic stripe, Gray bus etc. realize also have and realized by DGPS technologies by way of coding for current gantry crane cart direction positioning.Gray bus, magnetic nail, magnetic stripe positioning linear precision can ensure that filling magnetic nail, magnetic stripe or the positional precision of Gray bus side can ensure.But these localization methods are inherently high due to magnetic stripe, magnetic nail, Gray bus and supporting read write line hardware cost, magnetic nail is added, magnetic stripe is pre-buried, Gray bus erection construction cost.Overall cost is very high.And these schemes also have positioning precision can not meet use requirement, the further positioning of other mechanisms auxiliary is needed.For example using magnetic stripe, Gray bus, crane can not be measured with truck lane departure detection angle, and RTG running deviation values are larger, angle is very big, this error can cause RTG in the operation of shellfish position, and the deviation of the central point fore-and-aft direction of crane hanger central point and the Bei Weishang each row casees to be hung exceedes the international standard (38mm) of heap case.For suspender for without crane of the cart direction without anti-swing mechanism and micromotion mechanism, the positioning of cart direction is inaccurate, in pick-and-place case, needs crawl cart to eliminate this deviations, and cart crawl, it is meant that to sacrifice efficiency.
Bridge crane direction there is no at present is automatically positioned solution, basic manually to be carried out by the experience of hoister, and positioning is often inaccurate, it is necessary to the manual crawl fine setting of driver, and then causes suspender to rock, and influences the efficiency of loading and unloading of whole piece ship.
The content of the invention
The technical problems to be solved by the invention are the present situations for prior art, crane direction Precise Position System and method based on machine vision are provided, it utilizes machine vision technique, positioning instruction is sent after being compared to the real time position of the difference crane that need to be aligned and one group of object of ground (or on deck), equipment is simple, it is with low cost, it is easy to maintenance, substantially increase the location efficiency in crane direction.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：
Crane direction Precise Position System based on machine vision, include main control computer, main control computer is connected with the PLC signal of picture pick-up device and crane system, picture pick-up device is installed on crane, picture pick-up device is used for the live real-time pictures for shooting the object in groups that need to be aligned, and transmit it on main control computer, object includes the object A being arranged on the operation field and object B being arranged on crane in groups, main control computer obtains object A and object B real time position using image recognition software respectively, draw the coordinate difference between object A and object B, cart walking mechanism or suspender transverse-moving mechanism are controlled along the corresponding distance of cart direction transverse shifting according to the coordinate difference by PLC again, complete being accurately positioned for crane direction.
The technical measures of optimization also include：
Above-mentioned picture pick-up device is monocular picture pick-up device or binocular camera shooting equipment, and binocular camera shooting equipment is the active picture pick-up device or paired single-lens active picture pick-up device of twin-lens.
Above-mentioned main control computer is connected with server signal, server is used to deposit the production operation instruction system containing shellfish position number and container number information, and shellfish that main control computer absorb according to the picture pick-up device number, container number are contrasted with the shellfish number of correct operation obtained from the server and container number.
Connected and coordinated by data I/O interfaces between above-mentioned main control computer and the server.
Above-mentioned object in groups:When object A is lays or establish the marking plate near cart runway, corresponding object B is the arrow aligning plate for being arranged at point identification plate on car frame or saddle beam；When object A is that operation row position piles up container or the setting-out of ground tank position at top, the container suspended in midair under corresponding object B sling upper racks, suspender or suspender.
Above-mentioned cart walking mechanism includes cart frequency converter, motor, decoder, shaft coupling, reduction box and cart wheel.
Above-mentioned suspender transverse-moving mechanism includes sling upper rack, cross sliding rail or pendency arm and push rod, and push rod is connected between the sling upper rack and suspender.
Above-mentioned picture pick-up device is to be provided with light compensating apparatus on industrial camera or monitoring camera, picture pick-up device；Main control computer is industrial computer or single-chip microcomputer.
The localization method of crane direction Precise Position System based on machine vision, comprises the following steps：
Step 1: crane is connected to job instruction, cart completes coarse positioning to the displacement of target shellfish is dynamic, object is entered in the coverage of picture pick-up device；
Step 2: picture pick-up device is actuated for captured in real-time, and the real-time pictures containing object are transmitted to main control computer；
Step 3: main control computer recognizes object A and object B real time position with image processing software respectively according to the target signature of object, extrapolate the real-time coordinates of object central point, and compared according to object A and object B central points real-time coordinates, coordinate difference of both central points in cart direct of travel is drawn, and the coordinate difference is transmitted to PLC；
Step 4: PLC controls cart walking mechanism or suspender transverse-moving mechanism to move respective distance along cart direct of travel according to the coordinate difference obtained, being accurately positioned for cart direction is completed.
As an improvement, the localization method of the crane direction Precise Position System based on machine vision, comprises the following steps：
Step 1: crane is connected to job instruction, cart completes coarse positioning to the displacement of target shellfish is dynamic, make in groups object enter in the coverage of picture pick-up device；
Step 2: picture pick-up device is actuated for captured in real-time, and the real-time pictures containing object in groups are transmitted to main control computer；
Step 3: main control computer is contrasted by correct shellfish position number in job instruction on the shellfish position number on object A in character recognition software identification picture or container number, with server or container number, faulty operation stops, and correctly operation continues；
Step 4: main control computer recognizes object A and object B real time position with image processing software respectively according to the target signature of object, extrapolate the real-time coordinates of object central point, and compared according to object A and object B central points real-time coordinates, coordinate difference of both central points in cart direct of travel is drawn, and the coordinate difference is transmitted to PLC；
Step 5: PLC controls cart walking mechanism or suspender transverse-moving mechanism to carry out position adjustment according to the coordinate difference obtained, repeat step four after adjustment obtains new coordinate difference；
Step 6: the error permissible value of the coordinate difference in step 5 and setting is compared, more than error permissible value then repeat step five, circulation is then stopped less than or equal to error permissible value, crane direction is completed and is accurately positioned.
The crane direction Precise Position System based on machine vision of the present invention, utilize machine vision technique, realtime graphic is shot by picture pick-up device and is transmitted to main control computer, the image recognition software installed in main control computer obtains the real time position of object in groups according to target signature, contrast object A with and object B real time position, the coordinate difference between object A and object B is drawn, PLC controls cart walking mechanism or suspender transverse-moving mechanism to complete to be accurately positioned according to coordinate difference；Its equipment is simple, with low cost, easy to maintenance, can substantially increase the location efficiency in crane direction.
In addition, shellfish position number on object, container number are identified the digital identification software installed in main control computer, it will recognize that obtained shellfish number, container number and the correct shellfish position number obtained from server, container number carry out contrast verification, subsequent operation is carried out again after confirming correctly；Pass through shellfish position number, the checking of container number, it is ensured that the correctness of operation.
Brief description of the drawings
Fig. 1 is the block schematic illustration of the present invention；
Fig. 2 is that the alignment system of the present invention completes the flow chart of crane direction positioning；
Fig. 3 is the device scheme of installation of the present invention；
Fig. 4 is the left view after the amplification of I portions in Fig. 3；
Fig. 5 is Fig. 3 top view.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
Reference therein is：Object A, object B, main control computer 1, picture pick-up device 2, light compensating apparatus 21, PLC 3, cart walking mechanism 4, container 5, Crane Beam 6, server 7, data I/O interfaces 71, suspender transverse-moving mechanism 8, sling upper rack 81, pendency arm 82, push rod 83, suspender 84.
Embodiment one, crane direction Precise Position System based on machine vision, include main control computer 1, main control computer 1 is connected with the signal of PLC 3 of picture pick-up device 2 and crane system, picture pick-up device 2 is installed on crane, picture pick-up device 2 is used for the live real-time pictures for shooting object in groups, and transmit it on main control computer 1, object includes the object A being arranged on the operation field and object B being arranged on crane in groups, main control computer 1 obtains object A and object B real time position using image recognition software respectively, draw the coordinate difference between object A and object B, cart walking mechanism 4 or suspender transverse-moving mechanism 8 are controlled along the corresponding distance of cart direction transverse shifting according to the coordinate difference by PLC 3 again, complete being accurately positioned for crane direction.
In embodiment, picture pick-up device 2 is monocular picture pick-up device or binocular camera shooting equipment, and binocular camera shooting equipment is the active picture pick-up device or paired single-lens active picture pick-up device of twin-lens.
Picture pick-up device 2 may be mounted on Crane Beam 6, on the saddle beam of crane, can also be arranged in car frame, as long as ensureing that picture pick-up device 2 can photograph object.
The localization method of crane direction Precise Position System based on machine vision, comprises the following steps：
Step 1: crane is connected to job instruction, cart completes coarse positioning to the displacement of target shellfish is dynamic, object is entered in the coverage of picture pick-up device 2；
Step 2: picture pick-up device 2 is actuated for captured in real-time, and the real-time pictures containing object are transmitted to main control computer 1；
Step 3: main control computer 1 recognizes object A and object B respectively with image processing software according to the target signature of object, and measurement obtains the real time position of the two, extrapolate the real-time coordinates of object central point, and compared according to object A and object B central points real-time coordinates, coordinate difference of both central points in cart direct of travel is drawn, and the coordinate difference is transmitted to PLC 3；
Step 4: PLC 3 controls cart walking mechanism 4 or suspender transverse-moving mechanism 8 to move respective distance along cart direct of travel according to the coordinate difference obtained, being accurately positioned for cart direction is completed.
In embodiment, cart walking mechanism 4 includes cart frequency converter, motor, decoder, shaft coupling, reduction box and cart wheel.
In embodiment, suspender transverse-moving mechanism 8 includes sling upper rack 81, cross sliding rail or pendency arm 82 and push rod 83, and push rod 83 is connected between the sling upper rack 81 and suspender 84.The arm 82 that dangles is connecting rod or chain sling, by the connection of cross sliding rail or the arm 82 that dangles, makes that transverse shifting can be completed between suspender 84 and sling upper rack 81, is completed when mobile by the effect of push rod 83.
Mobile due to cart can cause rocking for suspender, therefore when a small range is moved, suspender transverse-moving mechanism 8 is provided with such as crane, select suspender transverse-moving mechanism 8 to complete to be accurately positioned as far as possible.
This crane direction Precise Position System, its object occurs in groups, and being accurately positioned for crane direction is completed by contrasting object A and object B central points real-time coordinates.
Described object in groups:When object A is lays or establish the marking plate near cart runway, corresponding object B is the arrow aligning plate for being arranged at point identification plate on car frame or saddle beam；When object A is that operation row position piles up the container or ground tank position setting-out (non-stacking container on operation row position) at top, corresponding object B sling upper racks 81, the container of 84 times suspentions of suspender 84 or suspender.
Mark plate is rectangular configuration, and the mark plate of rectangle is made up of the shellfish position number of white background plate and black.
Marking plate can take other form, be such as made up of the white triangles shape and black triangle diagonally separated；Marking plate can also use the structure of square-outside and round-inside, and internal circle is inscribed within the square of outside, and internal circle is black, and outside square is white；Or exchange inside and outside black and white form and aspect；Marking plate can also use the square that inside is cut in outside round outside but spuare inside structure, outside circle, and outside circle is black, and internal square is white；Or exchange inside and outside black and white form and aspect；Marking plate can also use the pattern for being easy to carry out image recognition by the circle or quadrangle patterns at black and white interval, bar code and Quick Response Code etc. to constitute.
Marking plate is constituted using black and white segment, and contrast is obvious, it is easy to recognize, can improve the efficiency of the acquisition of picture pick-up device 2.As long as marking plate is easy to the identification of picture pick-up device 2, the composition of pattern can be with designed, designed, selection.
No matter with marking plate object as a comparison, or with operation row position object as a comparison, although object is different, but its principle is identical with localization method.
Because object is that (mark plate is artificially set standard size, and its dimensions can voluntarily be set；And the dimensions of container then has international standard；Suspender 84, the dimensions of sling upper rack 81 are also certain), so target signature and the central point distance of object have one-to-one relationship on object, measure target signature coordinate value, you can extrapolate the coordinate value at object center.
In specific implementation process, mark plate and operation row position can object as a comparison simultaneously, both mutually aid in, should demonstrate,proved.When using mark plate as main contrast's object, container or ground tank position setting-out on operation row position are auxiliary contrast object, conversely when the container on operation row position or ground tank position setting-out are main target thing, mark plate is auxiliary contrast object.
In embodiment, picture pick-up device 2 is to be provided with light compensating apparatus 21 on industrial camera or monitoring camera, picture pick-up device 2；Main control computer 1 is industrial computer or single-chip microcomputer.
Embodiment two, on the basis of above-mentioned crane Precise Position System, be improved and expand：
In embodiment, main control computer 1 is connected with the signal of server 7, server 7 is used to deposit the production operation instruction system containing shellfish position number and container number information, and shellfish that main control computer 1 absorb according to the picture pick-up device 2 number, container number are contrasted with the shellfish number of correct operation obtained from the server 7 and container number.
Connected and coordinated by data I/O interfaces 71 in embodiment, between main control computer 1 and the server 7.
Flow chart as shown in Figure 2, the localization method of the crane direction Precise Position System based on machine vision, comprises the following steps：
Step 1: crane is connected to job instruction, cart completes coarse positioning to the displacement of target shellfish is dynamic, object is entered in the coverage of picture pick-up device 2；
Step 2: picture pick-up device 2 is actuated for captured in real-time, and the real-time pictures containing object are transmitted to main control computer 1；
Step 3: main control computer 1 is contrasted by correct shellfish position number in job instruction on the shellfish position number on object A in character recognition software identification picture or container number, with server 7 or container number, faulty operation stops, and correctly operation continues；
Step 4: main control computer 1 recognizes object A and object B real time position with image processing software respectively according to the target signature of object, extrapolate the real-time coordinates of object central point, and compared according to object A and object B central points real-time coordinates, coordinate difference of both central points in cart direct of travel is drawn, and the coordinate difference is transmitted to PLC 3；
Step 5: PLC 3 controls cart walking mechanism 4 or suspender transverse-moving mechanism 8 to be adjusted according to the coordinate difference obtained, repeat step four after adjustment obtain new coordinate difference；
Step 6: the error permissible value of the coordinate difference in step 5 and setting is compared, more than error permissible value then repeat step five, circulation is then stopped less than or equal to error permissible value, crane direction is completed and is accurately positioned.
Localization method in the present embodiment adds the contrast to shellfish position number, container number and confirms process, it is ensured that the accuracy that pick-and-place container 5 is operated before completing to be accurately positioned, it is to avoid maloperation.
This crane direction Precise Position System is applicable not only to gantry crane, is also applied for bridge crane.During applied to bridge crane, object A can lay or establish near ship side.
Highly preferred embodiment of the present invention has been illustrated, and the various change or remodeling made by those of ordinary skill in the art are all without departing from the scope of the present invention.
Claims (10)
1. the crane direction Precise Position System based on machine vision, includes main control computer (1), it is characterized in that：Described main control computer (1) is connected with PLC (3) signal of picture pick-up device (2) and crane system, described picture pick-up device (2) is installed on crane, described picture pick-up device (2) is used for the live real-time pictures for shooting object in groups, and transmit it on main control computer (1), described object in groups includes the object A being arranged on the operation field and object B being arranged on crane, described main control computer (1) obtains object A and object B real time position using image recognition software respectively, draw the coordinate difference in cart direct of travel between object A and object B, cart walking mechanism (4) or suspender transverse-moving mechanism (8) are controlled along the corresponding distance of cart direction transverse shifting according to the coordinate difference by PLC (3) again, complete being accurately positioned for crane direction.
2. the crane direction Precise Position System according to claim 1 based on machine vision, it is characterized in that：Described picture pick-up device (2) is monocular picture pick-up device or binocular camera shooting equipment, and described binocular camera shooting equipment is the active picture pick-up device or paired single-lens active picture pick-up device of twin-lens.
3. the crane direction Precise Position System according to claim 2 based on machine vision, it is characterized in that：Described main control computer (1) is connected with server (7) signal, described server (7) is used to deposit the production operation instruction system containing shellfish position number and container number information, and described main control computer (1) absorbs shellfish position number on object A, container number and the shellfish number of correct operation obtained from the server (7) and container number according to the picture pick-up device (2) and contrasted.
4. the crane direction Precise Position System according to claim 3 based on machine vision, it is characterized in that：Cooperation is connected by data I/O interfaces (71) between described main control computer (1) and the server (7).
5. the crane direction Precise Position System according to claim 4 based on machine vision, it is characterized in that：Described object in groups:When object A is lays or establish the marking plate near cart runway, corresponding object B is the arrow aligning plate for being arranged at point identification plate on car frame or saddle beam；When object A is that operation row position piles up container or the setting-out of ground tank position at top, the container suspended in midair under corresponding object B sling upper racks (81), suspender (84) or suspender (84).
6. the crane direction Precise Position System according to claim 5 based on machine vision, it is characterized in that：Described cart walking mechanism (4) includes cart frequency converter, motor, decoder, shaft coupling, reduction box and cart wheel.
7. the crane direction Precise Position System according to claim 6 based on machine vision, it is characterized in that：Described suspender transverse-moving mechanism (8) includes sling upper rack (81), cross sliding rail or pendency arm (82) and push rod (83), and described push rod (83) is connected between the sling upper rack (81) and suspender (84).
8. the crane direction Precise Position System according to claim 7 based on machine vision, it is characterized in that：Described picture pick-up device (2) is to be provided with light compensating apparatus (21) on industrial camera or monitoring camera, described picture pick-up device (2)；Described main control computer (1) is industrial computer or single-chip microcomputer.
9. the localization method of the crane direction Precise Position System according to claim 1 based on machine vision, it is characterized in that：Comprise the following steps：
Step 1: crane is connected to job instruction, cart completes coarse positioning to the displacement of target shellfish is dynamic, object (5) is entered in the coverage of picture pick-up device (2)；
Step 2: described picture pick-up device (2) is actuated for captured in real-time, and the real-time pictures containing object are transmitted to main control computer (1)；
Step 3: described main control computer (1) recognizes object A and object B respectively with image processing software according to the target signature of object, and measure the real time position of the two, extrapolate the real-time coordinates of object central point, and compared according to object A and object B central points real-time coordinates, coordinate difference of both central points in cart direct of travel is drawn, and the coordinate difference is transmitted to PLC (3)；
Step 4: described PLC (3) controls cart walking mechanism (4) or suspender transverse-moving mechanism (8) to move corresponding distance along cart direct of travel according to the coordinate difference obtained, being accurately positioned for cart direction is completed.
10. the localization method of the crane direction Precise Position System according to claim 3 based on machine vision, it is characterized in that：Comprise the following steps：
Step 1: crane is connected to job instruction, cart completes coarse positioning to the displacement of target shellfish is dynamic, object (5) is entered in the coverage of picture pick-up device (2)；
Step 2: described picture pick-up device (2) is actuated for captured in real-time, and the real-time pictures containing object are transmitted to main control computer (1)；
Step 3: described main control computer (1) recognizes shellfish position number or the container number in picture on object A by character recognition software, contrasted with correct shellfish position number or container number in job instruction on server (7), faulty operation stops, and correct operation continues；
Step 4: described main control computer (1) recognizes object A and object B respectively with image processing software according to the target signature of object, and measure the real time position of the two, extrapolate the real-time coordinates of object central point, and compared according to object A and object B central points real-time coordinates, coordinate difference of both central points in cart direct of travel is drawn, and the coordinate difference is transmitted to PLC (3)；
Step 5: described PLC (3) controls cart walking mechanism (4) or suspender transverse-moving mechanism (8) to be adjusted according to the coordinate difference obtained, repeat step four after adjustment obtain new coordinate difference；
Step 6: the error permissible value of the coordinate difference in step 5 and setting is compared, more than error permissible value then repeat step five, circulation is then stopped less than or equal to error permissible value, crane direction is completed and is accurately positioned.
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