CN107525810A - A kind of container device for detecting breakage and method based on 3D imagings - Google Patents
A kind of container device for detecting breakage and method based on 3D imagings Download PDFInfo
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- CN107525810A CN107525810A CN201710773265.9A CN201710773265A CN107525810A CN 107525810 A CN107525810 A CN 107525810A CN 201710773265 A CN201710773265 A CN 201710773265A CN 107525810 A CN107525810 A CN 107525810A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims description 24
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000009826 distribution Methods 0.000 claims abstract description 11
- 238000012360 testing method Methods 0.000 claims description 16
- 238000007405 data analysis Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000007747 plating Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011261 inert gas Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000000605 extraction Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 230000000246 remedial effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of container device for detecting breakage based on 3D imagings, the detection device include memory；And it is coupled to the processor of the memory, the processor is configured as performing the program being stored in the memory, is operated below the computing device：Container top surface that triggering is separately mounted to each to face in face of the 3D cameras and laser scans of container top, left side, right side, front end and back-end location, left surface, right flank, the surface of above and below, obtain the distribution of its surface texture；3D cameras are demarcated, obtain container three-dimensional information；Container surface texture is analyzed, according to national standard, judges whether container surface has broken hole or depression.
Description
Technical field
The invention belongs to harbor automatic technical field, more particularly to a kind of container damage testing based on 3D imagings is set
Standby and method.
Background technology
Important component of the container damage testing as tally, refer to that ship when reaching with leaving harbour, is collecting
It is detected in vanning cargo handling process, checks it with the presence or absence of breakages such as broken hole, depression, overall deformations, it is former to it
Residual and stevedore's damage is detected, and finds the container to go wrong in transit early, reduces the damage to caused by transport goods,
Ensure transporting safely for goods, simultaneously for there is the container of breakage, adopt remedial measures in time, and to harbour, goods
Main and carrier responsibility is assert, to be compensated accordingly.
Traditional container damage testing is completely by manually carrying out, and tally-man stands on ship deck or bank place, hand
Hold the container STOWAGE PLAN or PDA of paper, naked eyes check one by one, confirm container number and outward appearance is damaged etc., then will be seen
Information record is transmitted to system on paper STOWAGE PLAN or by hand-held PDA.This work needs tally-man, and the moment watches close ship at the scene
Oceangoing ship operation, and carefully it is conscientious check, check, recording, its feature determine tally-man need to close to Work machine position work
Make, work risk is higher, certain potential safety hazard be present；Meanwhile because weather environment influence, person works' sense of responsibility etc.,
The damaged inspection to container may be caused to have slipped.
To improve current tally present situation, segment terminal is manually checked by installing CCTV camera on backstage by video
Each side real-time video of container, judge container with the presence or absence of concave, convex, incised wound, breakage.Can be effective using the system
Improvement tally person works' environment, its workplace is transferred to Indoor Video center by outdoor gantry crane, cabin.Simultaneously can be real
The existing more gantry cranes of tally personnel's real time inspection, substantially increase operating efficiency, but this method still needs to manually in detection process
Real time inspection, and damaged automatic detection is not implemented.
The content of the invention
It is an object of the invention to for defect present in prior art, there is provided one kind can automatic detection container break
The method of damage situation, the container that broken hole and depression be present is detected, and testing result is uploaded onto the server, to existing
Damaged container is alarmed, and whole process is all automatically performed without manual intervention.
A kind of container device for detecting breakage based on 3D imagings, the detection device include memory；And
It is coupled to the processor of the memory, the processor is configured as performing the journey being stored in the memory
Sequence, operate below the computing device：
Triggering is separately mounted to 3D cameras and laser in face of container top, left side, right side, front end and back-end location
The container top surface each faced, left surface, right flank, the surface of above and below are scanned, obtains the distribution of its surface texture；
3D cameras are demarcated, obtain container three-dimensional information；
Container surface texture is analyzed, according to national standard, judges whether container surface has broken hole or depression.
3D cameras obtain the depth information of container using laser triangulation, and then obtain the texture of container surface
Change, when the depth value in scanning result is infinity, its value is 0 in data, then it is assumed that the container at this has broken hole.
According to container surface grain distribution, data analysis line by line or by column is carried out to nominal data, when going out in data
When now deviateing the data of Wave crest and wave trough, it is believed that the position is recessed, by analyzing the deviation distance with Wave crest and wave trough, it is determined that
The depth of depression,
Deviate the data volume of part by marking, determine the size of sunk part.
A kind of container damage testing method based on 3D imagings, comprises the following steps：
Triggering is separately mounted to 3D cameras and laser in face of container top, left side, right side, front end and back-end location
The container top surface each faced, left surface, right flank, the surface of above and below are scanned, obtains the distribution of its surface texture；
3D cameras are demarcated, obtain container three-dimensional information；
Container surface texture is analyzed, according to national standard, judges whether container surface has broken hole or depression.
3D cameras obtain the depth information of container using laser triangulation, and then obtain the texture of container surface
Change, when the depth value in scanning result is infinity, its value is 0 in data, then it is assumed that the container at this has broken hole.
According to container surface grain distribution, data analysis line by line or by column is carried out to nominal data, when going out in data
When now deviateing the data of Wave crest and wave trough, it is believed that the position is recessed, by analyzing the deviation distance with Wave crest and wave trough, it is determined that
The depth of depression,
Deviate the data volume of part by marking, determine the size of sunk part.
A kind of computer-readable recording medium, is stored thereon with computer program, and the program is subsequently can by computer device execution
When, perform the container damage testing method based on 3D imagings.
Packaging can be achieved without manual intervention in container damage testing method whole process proposed by the present invention based on 3D imagings
The real-time detection of case broken, substantially increases detection efficiency, while reduces cost of labor, reduces potential safety hazard.
Compared with prior art, there is following technique effect using the present invention：
1st, it is advanced
The design of system should have technical advance, and used theory, technology should be leading in the industry.It is existing at present
There is the damage testing in tallying system to need artificial exercise supervision at the scene to check that working environment is severe, it is dangerous high.Part port
Mouth uses video monitoring using semi-automatic damage testing, i.e. front end, and staff is carrying out verification verification from the background, but still needs to
It is artificial to participate in.The method that the present invention uses can realize the full-automatic detection of breakage, participated in without artificial, greatly reduce personnel
Working strength.
2nd, 3D imaging technique
3D imaging technique is applied in container breakage detection system by the present invention, by industrial camera and laser to collection
Vanning is scanned, and container surface depth information is obtained using laser triangulation.It the method overcome conventional video side
Method can not obtain the defects of testee depth information, can accurately obtain damaged container broken hole size and cup depth.
3rd, stability
Heretofore described method is that a system concern is more, running environment is severe, the complication system that uninterruptedly uses.
To consider device therefor and control system during system design as a whole, meet the job development side of current techniques and operating administration
To simultaneity factor selects ripe technology, reduces the technical risk of system.
Brief description of the drawings
Detailed description below, above-mentioned and other mesh of exemplary embodiment of the invention are read by reference to accompanying drawing
, feature and advantage will become prone to understand.In the accompanying drawings, if showing the present invention's by way of example, and not by way of limitation
Dry embodiment, wherein：
Damage testing flow chart in Fig. 1 embodiment of the present invention.
Fig. 2 intermediate cam instrumentation plans of the embodiment of the present invention.
Block size schematic diagram is demarcated in Fig. 3 embodiment of the present invention.
Scanning result schematic diagram in Fig. 4 embodiment of the present invention.
Embodiment
The present invention needs to build an adaptation container vehicle by, sizeable passage, on channel roof, left side, the right side
3D cameras and laser are installed in side, front end and rear end respectively, respectively to container top surface, left surface, right flank, above and below
Container surface is scanned, and obtains its surface texture information, while on the left of passage and the install sensor of right side, triggers 3D phases
Machine and laser scans.
As shown in figure 1, the implementation method of the present invention is as follows：
First, laser triangulation
3D scannings be mainly laser by camera lens by laser directive testee surface, the laser through object reflection is by camera
Receive, according to different distances, camera " can see " this luminous point under a different angle.According to this angle and known
The distance between laser and camera, with regard to the distance between sensor and testee can be calculated.
The central principle of laser measurement is triangulation, i.e., the calculating process of the position of any point in space.Triangle is surveyed
Amount method is calculated from angle of two end points into space certain point and datum line on known fixed datum line, rather than
The distance of direct measurement point.As shown in Fig. 2 triangulation can be used to calculate from baseline AB to point P distance and coordinate.
By
Then
Utilize triangular equation
With
Sin (alpha+beta)=sin α cos β+cos α sin β (4)
It can then obtain
Laser is derived to the distance of testee.
2nd, camera calibration
To obtain the real depth information of testee, camera need to be demarcated, calibration process is as follows：
1) calibrating block is made
In calibration process, it need to be required to formulate calibrating block according to measured object size and measurement accuracy, calibrating block, which makes, to be required
As shown in figure 3, wherein, FOV is visual field size, i.e. testee height value, Z-Range is testee depth bounds.
2) demarcation point coordinates is determined
In calibration process, it need to determine several demarcation point coordinates according to demarcation block size, calibrating block can be depicted
Curve.
3) demarcation environment is built
Highly determined according to testee 3D cameras and laser angle and with testee distance, build demarcation environment,
Calibrating block is scanned, obtains calibrating block curve, the demarcating file formulated according to calibration point coordinate value, is loaded into camera i.e.
The demarcation to camera can be completed, then the image of follow up scan is the scanning result with depth information.
3rd, container damage testing
In national standard, specified in more detail has been done to container surface texture dimensions, it is specific as follows：
Side plate：
Side plate is made up of both ends and middle die mould corrugated plating, is docked with inert gas automatic welding welded together.
A. among：1.6mm thickness quantity；9 pieces/side
B. both ends：2.0mm thickness quantity；2 pieces/side
C. waveform：Convex surface is wide：72mm
Inclined-plane：68mm
Concave surface is wide：70mm
The depth of convolution：36mm
The pitch of waves：278mm
Top plate：
Top plate by the inert gas automatic welding butt welding of 5 pieces of die mould corrugated platings, at the trough of corrugated plating among arch upward upwards.
Waveform：The depth of convolution：20mm
Convex surface is wide：91mm
Inclined-plane：13.5mm
Concave surface is wide：91mm
The pitch of waves：209mm
Thickness of slab：2.0mm
Camber：6mm
1. container broken hole detects
According to Standard, each side surface texture of container is in rule texture variations, and laser triangulation is basis
Object with different depth information, the distance difference and then acquisition testee 3D information of its reflected light return laser light device, because
, for the container without any breakage, its scanning result is regular change curve for this, such as Fig. 4 (a), due to camera exposure
Or other factors interference, error may be caused to produce noise to scanning result, the present invention uses the filtering side of Computer Vision
Method, noise reduction process is carried out to testing result, to reduce testing result error.
For container scanning result, if broken hole in testee be present, its reflection light can not be connect by laser
Receive, be reflected in scanning result, its depth value is infinity, and its value is 0 in data, therefore can carry out container according to the rule
Broken hole detects.Fig. 4 (b) is the container surface texture curve with broken hole, it can be seen that when laser scanning to broken hole
When, its depth information is 0.
2. container depression detection
According to container surface grain distribution situation, data analysis line by line or by column is carried out to nominal data, works as data
When middle appearance deviates the data of Wave crest and wave trough, it is believed that the position is recessed, by analyzing the deviation distance with Wave crest and wave trough,
The depth of depression can be determined, the data volume of part is deviateed by marking, it may be determined that the size of sunk part.
There is fixed rule in container surface texture, if with the presence of depressed area, this rule is just broken such as Fig. 4 (c) institutes
Show.Therefore, the problem of searching depressed area, which can be converted to search in data, there is the problem of significant change region.Depression detection
General principle be：
1) obtain scanning result image (after demarcation)；
2) data of the first row cross section are extracted；
3) preliminary treatment is carried out to this group of data, removes shade or the part without data；
4) data after processing are carried out with unusual spot scan, the singular point searched out is to be recessed, and records the seat of lower recess
Mark and depth information；
5) next line data are extracted and repeat 3,4,5 steps.
The singular point extraction algorithm used in algorithm, it is a kind of algorithm based on Xue Shengshi t distributions.Xue Shengshi t are distributed in
In probability statistics, it is usually used in estimating the average of statistics for entire group, therefore suitable for the confidential interval of estimated data.This system
Whether the advantage of calculating method is to have no the population size of sample the information such as particular/special requirement and the standard deviation to population known
Have no particular/special requirement.
During algorithm is realized, the information such as double tail probabilities are distributed by the average value, standard deviation, the Xue Shengshi t that compute repeatedly data,
Each data point is analyzed and processed, and then draws the set for the point for not meeting data rule.
What deserves to be explained is although foregoing teachings describe the essence of the invention by reference to some embodiments
God and principle, it should be appreciated that, the present invention is not limited to disclosed embodiment, the also unawareness of the division to each side
The feature that taste in these aspects can not combine, and this division is merely to the convenience of statement.It is contemplated that cover appended power
Included various modifications and equivalent arrangements in the spirit and scope that profit requires.
Claims (7)
1. a kind of container device for detecting breakage based on 3D imagings, it is characterised in that the detection device includes memory；And
It is coupled to the processor of the memory, the processor is configured as performing the program being stored in the memory, institute
State and operated below computing device：
Triggering is separately mounted to 3D cameras and laser scans in face of container top, left side, right side, front end and back-end location
The container top surface that each faces, left surface, right flank, the surface of above and below, obtain the distribution of its surface texture；
3D cameras are demarcated, obtain container three-dimensional information；
Container surface texture is analyzed, according to national standard, judges whether container surface has broken hole or depression.
2. the container device for detecting breakage as claimed in claim 1 based on 3D imagings, it is characterised in that 3D cameras are using sharp
Light triangulation obtains the depth information of container, and then obtains the texture variations of container surface, when in scanning result
Depth value is infinity, and its value is 0 in data, then it is assumed that the container at this has broken hole.
3. the container device for detecting breakage as claimed in claim 1 based on 3D imagings, it is characterised in that according to container table
Face grain distribution, data analysis line by line or by column is carried out to nominal data, when appearance deviates the data of Wave crest and wave trough in data
When, it is believed that the position is recessed, by analyzing the deviation distance with Wave crest and wave trough, it is determined that the depth of depression,
Deviate the data volume of part by marking, determine the size of sunk part.
A kind of 4. container damage testing method based on 3D imagings, it is characterised in that comprise the following steps：
Triggering is separately mounted to 3D cameras and laser scans in face of container top, left side, right side, front end and back-end location
The container top surface that each faces, left surface, right flank, the surface of above and below, obtain the distribution of its surface texture；
3D cameras are demarcated, obtain container three-dimensional information；
Container surface texture is analyzed, according to national standard, judges whether container surface has broken hole or depression.
5. the container damage testing method as claimed in claim 4 based on 3D imagings, it is characterised in that 3D cameras are using sharp
Light triangulation obtains the depth information of container, and then obtains the texture variations of container surface, when in scanning result
Depth value is infinity, and its value is 0 in data, then it is assumed that the container at this has broken hole.
6. the container damage testing method as claimed in claim 4 based on 3D imagings, it is characterised in that according to container table
Face grain distribution, data analysis line by line or by column is carried out to nominal data, when appearance deviates the data of Wave crest and wave trough in data
When, it is believed that the position is recessed, by analyzing the deviation distance with Wave crest and wave trough, it is determined that the depth of depression,
Deviate the data volume of part by marking, determine the size of sunk part.
7. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by computer
When managing device execution, the method in perform claim requirement 4 to 6 described in any one claim.
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| CN201710773265.9A CN107525810A (en) | 2017-08-31 | 2017-08-31 | A kind of container device for detecting breakage and method based on 3D imagings |
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| CN201710773265.9A CN107525810A (en) | 2017-08-31 | 2017-08-31 | A kind of container device for detecting breakage and method based on 3D imagings |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108124142A (en) * | 2018-01-31 | 2018-06-05 | 西北工业大学 | Images steganalysis system and method based on RGB depth of field camera and EO-1 hyperion camera |
| CN108932563A (en) * | 2018-07-03 | 2018-12-04 | 江苏海事职业技术学院 | One kind interconnects formula harbour information platform Intelligent Dispatching System |
| CN109117979A (en) * | 2018-07-03 | 2019-01-01 | 江苏海事职业技术学院 | A kind of port logistics dispatching method based on dijkstra's algorithm |
| CN110070324A (en) * | 2019-04-24 | 2019-07-30 | 大连大学 | A kind of container terminal intelligence tallying system |
| CN110992337A (en) * | 2019-11-29 | 2020-04-10 | 添维信息科技(天津)有限公司 | Container damage detection method and system |
| CN114723689A (en) * | 2022-03-25 | 2022-07-08 | 盛视科技股份有限公司 | Container body damage detection method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108124142A (en) * | 2018-01-31 | 2018-06-05 | 西北工业大学 | Images steganalysis system and method based on RGB depth of field camera and EO-1 hyperion camera |
| CN108932563A (en) * | 2018-07-03 | 2018-12-04 | 江苏海事职业技术学院 | One kind interconnects formula harbour information platform Intelligent Dispatching System |
| CN109117979A (en) * | 2018-07-03 | 2019-01-01 | 江苏海事职业技术学院 | A kind of port logistics dispatching method based on dijkstra's algorithm |
| CN110070324A (en) * | 2019-04-24 | 2019-07-30 | 大连大学 | A kind of container terminal intelligence tallying system |
| CN110070324B (en) * | 2019-04-24 | 2023-04-07 | 大连大学 | Intelligent tallying system for container terminal |
| CN110992337A (en) * | 2019-11-29 | 2020-04-10 | 添维信息科技(天津)有限公司 | Container damage detection method and system |
| CN114723689A (en) * | 2022-03-25 | 2022-07-08 | 盛视科技股份有限公司 | Container body damage detection method |
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Application publication date: 20171229 |