CN107150954B - 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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- CN107150954B CN107150954B CN201610115989.XA CN201610115989A CN107150954B CN 107150954 B CN107150954 B CN 107150954B CN 201610115989 A CN201610115989 A CN 201610115989A CN 107150954 B CN107150954 B CN 107150954B
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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
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Image Processing (AREA)
Abstract
The present invention discloses the crane direction Precise Position System based on machine vision, it include main controller, main controller is connect with the PLC controller signal of picture pick-up device and crane system, picture pick-up device is installed on crane, picture pick-up device is used to shoot the live real-time pictures of object in groups, and it transmits it on main controller, object includes the object A being set on the operation field and object B being set on crane in groups, main controller obtains the real time position of object A and object B using image recognition software respectively, obtain 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 controller again, complete the accurate positioning in crane direction.The advantage is that: equipment is simple, and it is low in cost, it is easy to maintain, crane direction location efficiency can be greatly improved.
Description
Technical field
The present invention relates to the container crane field of locating technology of container terminal or stockyard, more particularly to are based on
The crane direction Precise Position System and method of machine vision.
Background technique
Machine vision is exactly to replace human eye with machine to measure and judge.NI Vision Builder for Automated InspectionRefer to and passes through machine vision
Product will be ingested target and be converted into picture signal, send to dedicatedImage processing system, obtain the form letter of target subject
Breath, according to the information such as pixel distribution and brightness, color, is transformed into digitized signal；Picture system carries out these signals various
The feature of object is extracted in operation, and then identifies measurement target article coordinate, according to its real-time coordinates and theoretical principle coordinate ratio
Compared with as a result, come control equipment corresponding mechanism movement, realize equipment automatic and accurate positioning, contraposition.
When container terminal or storage yard operation, for container crane during realizing that cart is accurately positioned, driver is usual
Be be sitting in drivers' cab it is curved waist, low head operate equipment；Equipment itself is shaken just bigger when operation, in addition it is low to bend over always
Head, driver are easy to fatigue, and are easy to suffer from the occupational disease of lumbar vertebrae or cervical spine injury etc..If can be realized the automatic of equipment
Positioning will substantially reduce the labor intensity of hoister.
When on container crane suspender central point cart direction of travel with need to align object (to hanging box or
Wait emplace as top container or truck sweep or ground tank bit identification line) center be completely coincident in earth absolute coordinate system
When, the accurate pick-and-place case of lifting function, the object measured at this time from camera coordinates system is reason in the coordinate value of cart direction of travel
By reference coordinate value, the pinpoint target in container lifting cart direction be realize the measured value of object in groups that need to align with
Theoretical principle value is consistent.
Gantry crane cart direction positioning at present is usually by installing positioning magnetic nail, magnetic stripe, lattice on stockyard
Thunder bus etc. realizes also have and realize by DGPS technology by way of coding.Gray bus, magnetic nail, magnetic stripe positioning linear
Precision can guarantee that is, dress magnetic nail, magnetic stripe or the position precision of Gray bus side can guarantee.But these localization methods are due to magnetic
Item, magnetic nail, Gray bus and matched reader hardware cost are inherently high, in addition magnetic nail, magnetic stripe are pre-buried, Gray bus frame
If construction cost.Overall cost is very high.And there is also positioning accuracies to be unable to satisfy requirement for these schemes, needs other machines
The further positioning of structure auxiliary.Such as using magnetic stripe, Gray bus, crane is unable to measure with truck lane departure detection angle, and RTG
Running deviation value is larger, and angle is very big, this error will lead to RTG in the operation of shellfish position, crane hanger central point and the Bei Weishang
The central point of each column case to be hung in the front-back direction deviation be more than heap case international standard (38mm).For suspender in no cart side
For to the crane of no anti-swing mechanism and micromotion mechanism, the positioning of cart direction is inaccurate, in pick-and-place case, crawl cart is needed to disappear
Except this deviations, and cart crawl, it is meant that sacrifice efficiency.
Bridge crane direction there is no automatic positioning solution at present, the basic experience people for relying on hoister
Work carries out, and positions and is often not allowed, and needs the manual crawl fine tuning of driver, and then suspender is caused to rock, influences the handling effect of whole ship
Rate.Summary of the invention
The technical problem to be solved by the invention for the present situation of prior art is to provide the cranes based on machine vision
Cart direction Precise Position System and method utilize machine vision technique, to the difference crane that need to be aligned and ground (or ship
On face) one group of object real time position be compared after issue positioning instruction, equipment is simple, low in cost, easy to maintain,
Substantially increase the location efficiency in crane direction.
The technical scheme of the invention to solve the technical problem is:
Crane direction Precise Position System based on machine vision, includes main controller, main controller is set with camera shooting
Standby and crane system PLC controller signal connection, picture pick-up device are installed on crane, and picture pick-up device is for clapping
The live real-time pictures for the object in groups that need to be aligned are taken the photograph, and are transmitted it on main controller, object includes being set in groups
Object A on the operation field and object B being set on crane, main controller are obtained respectively using image recognition software
The real time position of object A and object B, obtain the coordinate difference between object A and object B, then by PLC controller according to
The coordinate difference controls cart walking mechanism or suspender transverse-moving mechanism along the corresponding distance of cart direction transverse shifting, completes crane
The accurate positioning in cart direction.
The technical measures of optimization further 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 master of twin-lens
Dynamic picture pick-up device or pairs of single-lens active picture pick-up device.
Above-mentioned main controller is connect with server signal, and server is for depositing containing shellfish position number and container number information
Production operation instruction system, shellfish position number that main controller is absorbed according to the picture pick-up device, container number with from the service
The shellfish position number for the correct operation that device obtains and container number compare.
Pass through the connection cooperation of data I/O interface between above-mentioned main controller and the server.
Above-mentioned object in groups: corresponding when object A is to be laid with or establish the marking plate near cart runway
Object B be the arrow aligning plate for being set to point identification plate on car frame or saddle beam；When object A is operation column position
What the container at the top of piling up suspended in midair under corresponding object B sling upper rack, suspender or suspender when perhaps ground tank position draws lines
Container.
Above-mentioned cart walking mechanism includes cart frequency converter, motor, decoder, shaft coupling, reduction gearbox and cart vehicle
Wheel.
Above-mentioned suspender transverse-moving mechanism includes that sling upper rack, transverse slide rail or pendency arm and push rod, push rod are connected to institute
It states between sling upper rack and suspender.
Above-mentioned picture pick-up device is industrial camera or monitoring camera, is provided with light compensating apparatus on picture pick-up device；Main controller
For industrial computer or single-chip microcontroller.
The localization method of crane direction Precise Position System based on machine vision, comprising the following steps:
Step 1: crane is connected to job instruction, cart is displaced dynamic completion coarse positioning to target shellfish, enters object and take the photograph
As equipment coverage in；
Step 2: picture pick-up device is actuated for captured in real-time, and the real-time pictures containing object are transmitted to main controller；
Step 3: main controller identifies object A and target according to the target signature of object with image processing software respectively
The real time position of object B, extrapolates the real-time coordinates of object central point, and according to the real-time of object A and object B central point
Coordinate compares, and both show that the coordinate difference in the coordinate difference of cart direction of travel, and is transmitted to PLC controller by central point；
Step 4: PLC controller controls cart walking mechanism or suspender transverse-moving mechanism edge according to coordinate difference obtained
Cart direction of travel moves respective distance, completes the accurate positioning in cart direction.
As an improvement, the localization method of the crane direction Precise Position System based on machine vision, including it is following
Step:
Step 1: crane is connected to job instruction, cart to target shellfish be displaced it is dynamic complete coarse positioning, make in groups object into
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 master
Control machine；
Step 3: main controller identifies shellfish position number or the container case in picture on object A by character recognition software
Number, it is compared with shellfish position number correct in job instruction on server or container number, faulty operation stops, correct to grasp
Work continues；
Step 4: main controller identifies object A and target according to the target signature of object with image processing software respectively
The real time position of object B, extrapolates the real-time coordinates of object central point, and according to the real-time of object A and object B central point
Coordinate compares, and both show that the coordinate difference in the coordinate difference of cart direction of travel, and is transmitted to PLC controller by central point；
Step 5: PLC controller according to coordinate difference obtained control cart walking mechanism or suspender transverse-moving mechanism into
Line position sets adjustment, and step 4 is repeated after adjustment, obtains new coordinate difference；
Step 6: the coordinate difference in step 5 is compared with the error permissible value of setting, it is greater than error permissible value then
Step 5 is repeated, then stops recycling less than or equal to error permissible value, crane direction is completed and is accurately positioned.
Crane direction Precise Position System based on machine vision of the invention, using machine vision technique, by
Picture pick-up device shooting realtime graphic is simultaneously transmitted to main controller, is obtained by the image recognition software installed in main controller according to target signature
Take the real time position of object in groups, comparison object A with and object B real time position, obtain object A and object B
Between coordinate difference, PLC controller controls cart walking mechanism or suspender transverse-moving mechanism according to coordinate difference and completes to be accurately positioned；
Its equipment is simple, low in cost, easy to maintain, can be greatly improved the location efficiency in crane direction.
In addition, being known by the digital identification software installed in main controller to the shellfish position number on object, container number
Not, shellfish position number, container number and the correct shellfish position number obtained from server, container number that identification obtains are carried out
Contrast verification carries out subsequent operation after confirmation is correct again；By the verifying of shellfish position number, container number, it ensure that operation just
True property.
Detailed description of the invention
Fig. 1 is block schematic illustration of the invention；
Fig. 2 is the flow chart that positioning system of the invention completes the positioning of crane direction；
Fig. 3 is the device of the invention scheme of installation；
Fig. 4 is the amplified left view in the portion I in Fig. 3；
Fig. 5 is the top view of Fig. 3.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
Appended drawing reference therein are as follows: object A, object B, main controller 1, picture pick-up device 2, light compensating apparatus 21, PLC control
Device 3, container 5, Crane Beam 6, server 7, data I/O interface 71, suspender transverse-moving mechanism 8, is hung cart walking mechanism 4
Have restocking 81, pendency arm 82, push rod 83, suspender 84.
Embodiment one, the crane direction Precise Position System based on machine vision, include main controller 1, master control
Machine 1 is connect with 3 signal of PLC controller of picture pick-up device 2 and crane system, and picture pick-up device 2 is installed on crane,
Picture pick-up device 2 is used to shoot the live real-time pictures of object in groups, and transmits it on main controller 1, in groups object packet
The object B for including the object A being set on operation field and being set on crane, main controller 1 are soft using image recognition
Part obtains the real time position of object A and object B respectively, obtains the coordinate difference between object A and object B, then by PLC
Controller 3 according to the coordinate difference control cart walking mechanism 4 or suspender transverse-moving mechanism 8 along cart direction transverse shifting accordingly away from
From the accurate positioning in completion 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 twin-lens
Active picture pick-up device or pairs of single-lens active picture pick-up device.
Picture pick-up device 2 may be mounted on Crane Beam 6, on the saddle beam of crane, also may be mounted at car frame
On, as long as guaranteeing that picture pick-up device 2 can take object.
The localization method of crane direction Precise Position System based on machine vision, comprising the following steps:
Step 1: crane is connected to job instruction, cart is displaced dynamic completion coarse positioning to target shellfish, enters object and take the photograph
As equipment 2 coverage in；
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 controller
1；
Step 3: main controller 1 identifies object A and target according to the target signature of object with image processing software respectively
Object B, and measure and obtain the real time position of the two, the real-time coordinates of object central point are extrapolated, and according to object A and target
The real-time coordinates of object B central point compare, and both show that central point in the coordinate difference of cart direction of travel, and the coordinate difference is passed
Transport to PLC controller 3；
Step 4: PLC controller 3 controls cart walking mechanism 4 or suspender transverse-moving mechanism 8 according to coordinate difference obtained
Respective distance is moved along cart direction of travel, completes the accurate positioning in cart direction.
In embodiment, cart walking mechanism 4 includes cart frequency converter, motor, decoder, shaft coupling, reduction gearbox and big
Vehicle wheel.
In embodiment, suspender transverse-moving mechanism 8 includes sling upper rack 81, transverse slide rail or pendency arm 82 and push rod 83, is pushed away
Bar 83 is connected between the sling upper rack 81 and suspender 84.The arm 82 that dangles is connecting rod or chain sling, by transverse slide rail or is hanged
The connection of plumbing arm 82 makes that transverse shifting can be completed between suspender 84 and sling upper rack 81, passes through the effect of push rod 83 when mobile
It completes.
Due to the mobile shaking that can cause suspender of cart, when a small range is mobile, as being equipped in crane
Suspender transverse-moving mechanism 8, as far as possible selection suspender transverse-moving mechanism 8 are completed to be accurately positioned.
This crane direction Precise Position System, object occur in groups, pass through comparison object A and object
The accurate positioning in B central point real-time coordinates completion crane direction.
The object in groups: corresponding when object A is to be laid with or establish the marking plate near cart runway
Object B be the arrow aligning plate for being set to point identification plate on car frame or saddle beam；When object A is operation column position
When piling up container or the ground tank position setting-out (non-stacking container on operation column position) at top, corresponding object B suspender
The lower container suspended in midair of restocking 81, suspender 84 or suspender 84.
Mark plate is rectangular configuration, and the mark plate of rectangle is made of the shellfish of white background board and black position number.
Other forms can be used in marking plate, are such as made of the white triangles shape and black triangle diagonally separated；Mark
The structure of square-outside and round-inside can also be used by knowing plate, and internal circle is inscribed within external square, and internal circle is black, external
Square is white；Or inside and outside black and white form and aspect are exchanged；Marking plate can also use round outside but spuare inside structure, external circle
It is cut in internal square outside, external circle is black, and internal square is white；Or by inside and outside black and white form and aspect tune
It changes；Marking plate can also be easy to carry out figure using by the circle or quadrangle patterns at black and white interval, bar code and two dimensional code etc.
As the pattern of identification is constituted.
Marking plate is constituted using black and white segment, and contrast is obvious, readily identified, 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, with operation column position object as a comparison, although object is not
Together, but its principle is identical with localization method.
Since object is that (mark plate is artificially arranged standard size, and dimensions can self-setting；And container
Dimensions then has international standard；Suspender 84, sling upper rack 81 dimensions be also certain), so target on object
There is one-to-one relationships for feature and the central point distance of object, measure target signature coordinate value, can extrapolate target
The coordinate value at object center.
In the specific implementation process, mark plate and operation column position can object, the two be mutually auxiliary as a comparison simultaneously
It helps, should demonstrate,prove.When being main contrast's object with mark plate, supplemented by the container or the setting-out i.e. of ground tank position on operation column position
Help comparison object, on the contrary when on operation column position container or ground tank position setting-out be main target object when, mark plate is
Object is compared for auxiliary.
In embodiment, picture pick-up device 2 is industrial camera or monitoring camera, is provided with light compensating apparatus 21 on picture pick-up device 2；
Main controller 1 is industrial computer or single-chip microcontroller.
Embodiment two, on the basis of above-mentioned crane Precise Position System, improve and expand:
In embodiment, main controller 1 is connect with 7 signal of server, and server 7 is for depositing containing shellfish position number and container case
The production operation instruction system of number information, shellfish position number that main controller 1 is absorbed according to the picture pick-up device 2, container number with from
The shellfish position number for the correct operation that the server 7 obtains and container number compare.
In embodiment, pass through the connection cooperation of data I/O interface 71 between main controller 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,
The following steps are included:
Step 1: crane is connected to job instruction, cart is displaced dynamic completion coarse positioning to target shellfish, enters object and take the photograph
As equipment 2 coverage in；
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 controller
1；
Step 3: main controller 1 identifies shellfish position number or the container case in picture on object A by character recognition software
Number, it is compared with shellfish position number correct in job instruction on server 7 or container number, faulty operation stops, correctly
Operation continues；
Step 4: main controller 1 identifies object A and target according to the target signature of object with image processing software respectively
The real time position of object B, extrapolates the real-time coordinates of object central point, and according to the real-time of object A and object B central point
Coordinate compares, and both show that the coordinate difference in the coordinate difference of cart direction of travel, and is transmitted to PLC controller 3 by central point；
Step 5: PLC controller 3 controls cart walking mechanism 4 or suspender transverse-moving mechanism 8 according to coordinate difference obtained
It is adjusted, step 4 is repeated after adjustment, obtains new coordinate difference；
Step 6: the coordinate difference in step 5 is compared with the error permissible value of setting, it is greater than error permissible value then
Step 5 is repeated, then stops recycling less than or equal to error permissible value, crane direction is completed and is accurately positioned.
Localization method in the present embodiment increases the comparison to shellfish position number, container number before completing to be accurately positioned
Confirmation process ensure that the accuracy that pick-and-place container 5 operates, avoid maloperation.
This crane direction Precise Position System is applicable not only to gantry crane, is also applied for overhead traveling crane
Machine.When applied to bridge crane, object A can be laid with or establish near ship side.
Highly preferred embodiment of the present invention has illustrated, and the various change or remodeling made by those of ordinary skill in the art are not
It can depart from the scope of the present invention.
Claims (1)
1. the localization method of the crane direction Precise Position System based on machine vision, the crane based on machine vision
Cart direction Precise Position System includes main controller (1), and the main controller (1) and picture pick-up device (2) and crane are big
PLC controller (3) signal of vehicle system connects, and the picture pick-up device (2) is installed on crane, the picture pick-up device
(2) for shoot the live real-time pictures of object in groups, and transmit it on main controller (1), the main controller (1) and
The connection of server (7) signal, the server (7) are used to deposit the production operation containing shellfish position number and container number information
Instruction system connect cooperation by data I/O interface (71) between the main controller (1) and the server (7)；Described
Picture pick-up device (2) is monocular picture pick-up device or binocular camera shooting equipment, and the binocular camera shooting equipment is that the active of twin-lens is taken the photograph
As equipment or pairs of single-lens active picture pick-up device；The picture pick-up device (2) be industrial camera or monitoring camera,
It is characterized in that: the object in groups includes the object A being set on operation field and is set on crane
Object B, the main controller (1) obtains the real time position of object A and object B using image recognition software respectively,
It obtains in the coordinate difference of cart direction of travel between object A and object B, then by PLC controller (3) according to the coordinate difference control
Cart walking mechanism (4) processed or suspender transverse-moving mechanism (8) complete crane along the corresponding distance of cart direction transverse shifting
The accurate positioning in direction；The cart walking mechanism (4) includes cart frequency converter, motor, decoder, shaft coupling, reduction gearbox
And cart wheel；
The suspender transverse-moving mechanism (8) includes sling upper rack (81), transverse slide rail or pendency arm (82) and push rod (83), institute
The push rod (83) stated is connected between the sling upper rack (81) and suspender (84)；The object in groups: when object A is
Being laid with corresponding object B when perhaps establishing the marking plate near cart runway is to be set on car frame or saddle beam
The arrow aligning plate of point identification plate；When object A is container or the setting-out of ground tank position that operation column position piles up top,
The container suspended in midair under corresponding object B sling upper rack (81), suspender (84) or suspender (84)；
Crane direction Precise Position System based on machine vision is applicable not only to gantry crane, is also applied for bridge
Formula crane；When applied to bridge crane, object A can be laid with or establish near ship side；
Light compensating apparatus (21) are provided on the picture pick-up device (2)；The main controller (1) is industrial computer or monolithic
Machine；
The main controller (1) absorbed according to the picture pick-up device (2) shellfish position number on object A, container number with from institute
The shellfish position number and container number for stating the correct operation of server (7) acquisition compare；
The localization method of crane direction Precise Position System based on machine vision the following steps are included:
Step 1: crane is connected to job instruction, cart is displaced dynamic completion coarse positioning to target shellfish, enters object (5) and take the photograph
In the coverage of picture equipment (2)；
Step 2: the picture pick-up device (2) is actuated for captured in real-time, and the real-time pictures containing object are transmitted to master
Control machine (1)；
Step 3: the main controller (1) identifies shellfish position number or the packaging in picture on object A by character recognition software
Correct shellfish position number or container number compare in job instruction on case case number (CN), with server (7), and faulty operation is stopped
Only, correct operation continues；
Step 4: the main controller (1) with image processing software according to the target signature of object identify respectively object A and
Object B, and the real time position of the two is measured, the real-time coordinates of object central point are extrapolated, and according to object A and target
The real-time coordinates of object B central point compare, and both show that central point in the coordinate difference of cart direction of travel, and the coordinate difference is passed
Transport to PLC controller (3)；
Step 5: the PLC controller (3) controls cart walking mechanism (4) according to coordinate difference obtained or suspender is horizontal
Telephone-moving structure (8) is adjusted, and step 4 is repeated after adjustment, obtains new coordinate difference；
Step 6: the coordinate difference in step 5 is compared with the error permissible value of setting, then repeated greater than error permissible value
Step 5 then stops recycling less than or equal to error permissible value, completes crane direction and is accurately positioned.
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| CN107697794A (en) * | 2017-09-26 | 2018-02-16 | 通裕重工股份有限公司 | Material barrel grasping system |
| CN107902554B (en) * | 2017-10-12 | 2019-03-26 | 淮阴工学院 | The location algorithm of suspender precise positioning system |
| EP3746963A4 (en) * | 2018-02-02 | 2021-11-03 | Digital Logistics As | Cargo detection and tracking |
| CN108892042B (en) * | 2018-09-13 | 2024-05-03 | 郑州大学 | Steel ladle trunnion hoisting alignment recognition device and method |
| CN111028533A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Control method for accurate box parking of RTG (real time railway) cart |
| CN112499479A (en) * | 2020-11-23 | 2021-03-16 | 北京机械设备研究所 | Auxiliary assembly robot |
| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
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