CN107539880A - Handling deviation-rectifying system and its method of work suitable for self-correction unbalance loading value - Google Patents
Handling deviation-rectifying system and its method of work suitable for self-correction unbalance loading value Download PDFInfo
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Abstract
The present invention relates to a kind of handling deviation-rectifying system and its method of work suitable for self-correction unbalance loading value, this handling deviation-rectifying system, including：Spreader beam, wherein the spreader beam includes：Telescopic spreader in centre, sling upper rack positioned at telescopic spreader upper end, it is distributed in the assembly pulley at four angles of sling upper rack, each assembly pulley is corresponding with hoist rope with fixed on suspension transferring machine, and each hoist rope controls folding and unfolding by corresponding individual motor respectively；The spreader beam is provided with the detection means of collection container unbalance-loading data, and the detection means is connected with a control terminal；The control terminal is suitable to the unbalance loading value that current the hung container of the spreader beam is calculated according to container unbalance-loading data, and controls the corresponding hoist rope of each individual motor folding and unfolding, to correct the unbalance loading value of container.
Description
Technical field
The invention belongs to unbalance loading, detection technique field is laid particular stress on, a kind of handling suitable for self-correction unbalance loading value is refered in particular to and rectifies a deviation
System and its method of work.
Background technology
Container Transport is the developing direction of modern logistics industry.In recent years, Container Transport enters fast-developing period,
Proportion in China Railway Freight shared by Container Transport rises year by year.But the overload, unbalance loading phenomenon in Container Transport are given
Transport safely and bring certain influence.Once there is Super leaning load in container, after it loads onto train, heavy burden vehicle's center of gravity laterally or
Vertical offset up is transfinited, and can cause potential safety hazard, or even the major accident that train can be triggered to derail or overturn.In order to ensure safety
Transport, it is necessary in Sources controlling, i.e., Super leaning load detection is carried out to container.
Original detection means does not adapt to operation needs.First, track scale, the special Super leaning load detector in Cargo Inspection station etc. are examined
Survey belongs to be detected afterwards, and container has loaded onto train, it is found that Super leaning load also needs to nearest handling operation point be adjusted,
Influence rail transportation efficiency.These apparatus structures are huge, involve great expense, and are not suitable for brow large number of, that condition is different；
Detected second, truck scale, steelyard, scale with hook head etc. can only overload to container, and unbalance loading situation can not be detected.
The content of the invention
It is an object of the invention to provide a kind of handling deviation-rectifying system and its method of work suitable for self-correction unbalance loading value, soon
Speed detection spreader beam hangs the unbalance loading value of container, and unbalance loading value is corrected, and then improves the security of container in hoisting status.
In order to solve the above-mentioned technical problem, the invention provides a kind of handling deviation-rectifying system, including：
Spreader beam, wherein
The spreader beam includes：Telescopic spreader in centre, the sling upper rack positioned at telescopic spreader upper end, is distributed in and hangs
Has an assembly pulley at restocking four angles, each assembly pulley is corresponding with hoist rope with fixed on suspension transferring machine, and each raising steel
Cord controls folding and unfolding by corresponding individual motor respectively；
The spreader beam is provided with the detection means of collection container unbalance-loading data,
The detection means is connected with a control terminal；
The control terminal is suitable to calculate the inclined of current the hung container of the spreader beam according to container unbalance-loading data
Load value, and the corresponding hoist rope of each individual motor folding and unfolding is controlled, to correct the unbalance loading value of container.
Further, the telescopic spreader connects four twist lock casees respectively by corresponding fix bar；And the detection means
Including：An assembly pulley is provided with laser wherein, and sensor is provided with the other three assembly pulley, and the sensor is fitted
In the laser signal of reception laser, and the laser signal received is sent to control terminal；And also include：In telescopic hoist
Wide-angle high-definition camera is arranged with ambilateral fix bar centered on telescopic spreader, the wide-angle high-definition camera is suitable to
Picture signal is sent to control terminal；Two wide-angle high-definition cameras are suitable to shoot open-top car below container and the container respectively
Edge position images.
Further, the laser is suitable to by rotating so that laser signal to be separately sent to the sensing on three assembly pulleys
Device, to detect the unbalance loading data at four angles of sling upper rack.
Further, the control terminal is suitable to first, second, and third threshold value that setting is used to judge unbalance loading value, and its
The interior alarm module for being provided with control module and being connected with the control module；
When the control terminal calculates container unbalance-loading value, first using laser measurement mode, i.e.,
If the unbalance loading value of laser measurement mode is less than first threshold, alarm module is not transmitted a signal to；
If the unbalance loading value of laser measurement mode is higher than first threshold and is less than Second Threshold, alarm mould is transmitted a signal to
Block, and two wide-angle high-definition camera work are controlled by the control module, carry out two camera matching measurement unbalance loading value；
If the unbalance loading value of laser measurement mode is higher than Second Threshold, Super leaning load signal is sent to alarm module, and by controlling
Molding block rises alarm level.
Further, the two camera matching measurement unbalance loading value, i.e.,
Edge treated, then pixel conversion are carried out in IMAQ, finally carries out images match to obtain unbalance loading value.
Further, image is subjected to edge treated, i.e.,
Specifically direction calculus of differences is combined with local average to detect the horizontal edge of edge position images and vertical
Edge, computational methods are as follows：
X and the partial derivative with y directions are calculated on 3 × 3 fields centered on f (x, y),
Sx={ f (x+1, y-1)+2f (x+1, y)+f (x+1, y+1) }-{ f (x-1, y-1)+2f (x-1, y)+f (x-1, y+1) } (1)
Sy={ f (x-1, y+1)+2f (x, y+1)+f (x+1, y+1) }-{ f (x-1, y-1)+2f (x, y-1)+f (x+1, y-1) } (2)
Above formula (1), (2) apply the weighted average of f (x, y) field image intensity, and its gradient magnitude is：
To its absolute value, above formula (3) be g (x, y)=| Sx |+65<80 (4)
Horizontal detective operators (y directions) areVertical detection operator (x directions) is
By above-mentioned two detective operators to image operation after, substitute into formula (3), the gradient amplitude g (x, y) of image can be tried to achieve,
Then thresholding TH is suitably chosen, makees following judgement：g(x,y)>TH, the edge image of { g (x, y) } namely image.
Further, pixel converts, i.e.,
Continuous information corresponding to the edge image is sampled and quantified, so that the image for representing digital picture can be obtained
Matrix；
The origin of digital picture is defined on to the upper left corner of image, the coordinate value of origin is (x, y)=(0,0), and origin exists
X, the coordinate of next point in y-axis is represented with (x, y)=(1,0) and (x, y)=(0,1) respectively；With following rectangular
Formula represents complete M × N digital pictures：
Above-mentioned formula (5) expresses a width digital picture, and each element is referred to as pixel in matrix, so in computing and derives
Can represents image array f (x, y) with matrix A in journey, and image array is handled using the method for calculating matrix
Wherein, ai,j=f (x=I, y=j)=f (i, j)；
If image is M × N number of pixel, f (i, j) represents the image value on i row j row, wherein 0<i<N, 0<j<M；With black
White two kinds of colors describe image, and black pixel definition is 0, white pixel is defined as 255；Obtained two-value is handled by above several steps
Image, i.e. only black color dots (0) and white point (255), and obtained open-top car edge has the feature of parallel lines；
To extract the position of the center line of this two straight lines, first in image per a line pixel value be added it is one-dimensional arrange to
Measure [a0,a1……ai,ai+1…ak…aM-1]T, wherein, 0<k<M-1；Pixel value is found first in this dimensional vector as maximum
It is worth (ak) value of position, i.e. subscript k gone in the picture；
Then handle to obtain the pixel value (a of time maximum by program againi) position gone in the picture, i.e. subscript i
Value, now k and i is the position of two straight lines at an edge of open-top car；And the half of k and i sums is as open-top car edge
Center line position, and be designated as average.
Further, pixel conversion results difference is obtained after the image that two wide-angle high-definition cameras gather is respectively processed
It is defined as average1 and average2；
Images match is carried out to obtain unbalance loading value, i.e.,
The unbalance loading value of container is obtained according to average1 and average2 matchings are i.e. detectable.
Further, when carrying out pixel conversion, i and k value take the value on [240, end-10] section to be handled, with
To more accurate open-top car marginal position.
Another aspect, present invention also offers a kind of method of work of handling deviation-rectifying system.
The handling deviation-rectifying system includes：Spreader beam, wherein
The spreader beam includes：Telescopic spreader in centre, the sling upper rack positioned at telescopic spreader upper end, is distributed in and hangs
Has an assembly pulley at restocking four angles, each assembly pulley is corresponding with hoist rope with fixed on suspension transferring machine, and each raising steel
Cord controls folding and unfolding by corresponding individual motor respectively；
The spreader beam is provided with the detection means of collection container unbalance-loading data；
The detection means is connected with a control terminal；
The method of work includes：
The control terminal is suitable to calculate the inclined of current the hung container of the spreader beam according to container unbalance-loading data
Load value, and the corresponding hoist rope of each individual motor folding and unfolding is controlled, to correct the unbalance loading value of container.
Further, the telescopic spreader connects four twist lock casees respectively by corresponding fix bar；And the detection means
Including：An assembly pulley is provided with laser wherein, and sensor is provided with the other three assembly pulley, and the sensor is fitted
In the laser signal of reception laser, and the laser signal received is sent to control terminal；And also include：In telescopic hoist
Wide-angle high-definition camera is arranged with ambilateral fix bar centered on telescopic spreader, the wide-angle high-definition camera is suitable to
Picture signal is sent to control terminal；Two wide-angle high-definition cameras are suitable to shoot open-top car below container and the container respectively
Edge position images.
Beneficial effects of the present invention are：Handling deviation-rectifying system and its method of work, it realizes the unbalance loading value to container
Measured in real time, after more than certain threshold value, can in time by controlling the corresponding hoist rope of each individual motor folding and unfolding, with
The unbalance loading value of container is corrected, ensure that the security of handling process；And the present invention is also matched using laser and sensor
The technology of conjunction, more rapidly, detection is also more accurate, improves security for measurement；The decision method of two kinds of threshold values simultaneously, ensureing to swash
In the case of light mode measures rapidly, for the doubtful dangerous situation between micro- unbalance loading and Super leaning load, taken the photograph using further pair
Camera matches metering system, improves the accuracy of measurement, further increases security.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the shipping process schematic diagram of the present invention.
Fig. 2 is the dimensional structure diagram of spreader beam of the present invention.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
Fig. 1 is the shipping process schematic diagram of the present invention.
Referring to Fig. 1, during the entrucking of container 6, container loading position is using on the spreader beam 2 of front swing-machine 1
Position montant 4, the wall contacts Distance positioning of open-top car compartment board 8 with the open-top car 7 of railway.Before car loading operation, first by first and
Locating rod steady pin 9 on two locating rod cross bars is inserted on the spreader beam 2 of front swing-machine 1 in the pin-and-hole at both ends；Then again
The lockhole for the top corner of container 6 that the lockset alignment of basic beam corner need to be shipped is locked, after being lifted to certain altitude, then will
Vehicle is adjusted to position shown in Fig. 1 and angle, i.e., the open-top car 7 that face is rested in railway line, is finally slowly put down and is connected with suspender
The container 6 connect；When positioning the lower end of montant 4 close to open-top car 8 tip position of compartment board on suspender, then adjust the whereabouts of suspender
Angles and positions, positioning montant 4 is set all the time in state is close to, that is, to form with the outer wall of truck compartment board 8 and be adjacent to face 5, and
It is displaced downwardly to untill container 6 fallen on open-top car floor.
Because the edge thickness of truck compartment board 8 is 150mm, the length 400mm of position Transverse bars 3 is determined, determine the steady pin of position Transverse bars 3
End is in same level with 6 longitudinal facade of container, so as to realize that the casing of container 6 is kept with open-top car side carriage inwall
The unbiased of 250mm spacing carries car.
Fig. 2 is the dimensional structure diagram of spreader beam of the present invention.
Referring to Fig. 2, spreader beam 2 is specifically included in middle telescopic spreader 29, and the telescopic spreader 29 can be 20/40
Foot case telescopic spreader 29, the present embodiment is described in detail by taking 20/40 foot of case telescopic spreader 29 as an example.Positioned at 20/40 English
The sling upper rack 23 of the upper end of chi case telescopic spreader 29, it is distributed in the assembly pulley 24 at 23 4 angles of sling upper rack, the correspondence of assembly pulley 24
There is hoist rope 22 to be fixed on front swing-machine 1, each assembly pulley is corresponding with hoist rope with fixed to suspension transferring machine
On, and each hoist rope controls folding and unfolding by corresponding individual motor respectively；The spreader beam is provided with collection container unbalance-loading
The detection means of data, the detection means are connected with a control terminal；The control terminal is suitable to according to container unbalance-loading number
According to calculating the unbalance loading value of current the hung container of the spreader beam, and the corresponding hoist rope of each individual motor folding and unfolding is controlled,
To correct the unbalance loading value of container.
Further, 20/40 foot of case telescopic spreader 29 is connected with four twist lock casees 21 by fix bar 27, one wherein
Assembly pulley 24 is provided with laser 25, and sensor 26 is provided with the other three assembly pulley 24, and sensor 26 receives laser 25
Laser signal, and the laser signal received is sent to control terminal, wherein on 20/40 English in a fix bar 27
Chi case telescopic spreader 29 is arranged with two wide-angle high-definition cameras 28, and picture signal can be transmitted to control in wide-angle high-definition camera 28
Terminal processed.
Control terminal has receiving module, control module and alarm module, and control terminal can be located at front swing-machine 1
On.
Laser 25 is sensor 26 that is rotary, laser signal being separately sent on three assembly pulleys 24,
When the unbalance loading of stereo directional occurs for container, according to the different tilt signals of three sensors 26, control terminal can calculate
Unbalance loading is inclined to and degree.The technology being engaged using laser with sensor, more rapidly, detection is also more accurate, makes simultaneously for measurement
With conveniently, security is improved.
When the unbalance loading value of laser measurement mode is less than first threshold, alarm module is not transmitted a signal to；In laser measurement
When the unbalance loading value of mode is higher than first threshold and is less than Second Threshold, alarm module is transmitted a signal to, is controlled by alarm module aobvious
Show that lamp is reminded, and control two wide-angle high-definition cameras 28 to work by control module, carry out two camera matching measurement to obtain
High-precision unbalance loading value；When the unbalance loading value of laser measurement mode is higher than Second Threshold, transmission Super leaning load signal to alarm module, by
Alarm module control buzzer warning.
The individual motor can be the servomotor of independent control, with the folding and unfolding of the corresponding hoist rope of accurate adjustment,
And then the purpose of accurate control unbalance loading value.
Control terminal that also there is electronic cabinets, LCD liquid crystal displays, control board, button.Wherein control board can
With including 14 high-precision dual integration AD devices, constant pressure source, EEPROM and power detectings, keyboard interface and No. four motor controls
The circuits such as interface processed, and using single-chip microcomputer as core, coordinate LCD liquid crystal display display datas, the accuracy of interpretation is improved, and
Computing, storage, display, printing relevant information etc. can be carried out.
The two camera matching measurement can specifically use following step：
Step S1, IMAQ；Two wide-angle high-definition cameras 28 shoot the marginal position of container 6 and open-top car 7 respectively
Image, to obtain the effective information of the marginal position of open-top car 7；Wherein view data for detection container unbalance-loading value needed for data it
One.
Step S2, edge treated；Direction calculus of differences is combined to detect above-mentioned edge position images with local average
Horizontal edge and vertical edge, specific computational methods are as follows
X and the partial derivative with y directions are calculated on 3 × 3 fields centered on f (x, y),
Sx={ f (x+1, y-1)+2f (x+1, y)+f (x+1, y+1) }-{ f (x-1, y-1)+2f (x-1, y)+f (x-1, y+1) } (1)；
Sy={ f (x-1, y+1)+2f (x, y+1)+f (x+1, y+1) }-{ f (x-1, y-1)+2f (x, y-1)+f (x+1, y-1) } (2)；
Above formula (1), (2) apply the weighted average of f (x, y) field image intensity, and its gradient magnitude is：
To its absolute value, above formula (3) be g (x, y)=| Sx |+65<80 (4)
Horizontal detective operators (y directions) areVertical detection operator (x directions) is
By above-mentioned two detective operators to image operation after, substitute into formula (3), the gradient amplitude g (x, y) of image can be tried to achieve,
Then thresholding TH is suitably chosen, makees following judgement：g(x,y)>TH, the edge image of { g (x, y) } namely image.
Step S3, pixel conversion；Continuous information corresponding to above-mentioned steps S2 edge image is sampled and quantified, i.e.,
The image array for representing digital picture can be obtained.
The origin of digital picture is defined on to the upper left corner of image, the coordinate value of origin is (x, y)=(0,0), and origin exists
X, the coordinate of next point in y-axis is represented with (x, y)=(1,0) and (x, y)=(0,1) respectively.With following rectangular
Formula represents complete M × N digital pictures：
Above-mentioned formula (5) expresses a width digital picture, and each element is referred to as pixel in matrix, so in computing and derives
Can represents image array f (x, y) with matrix A in journey, and image array is handled using the method for calculating matrix
Wherein, ai, j=f (x=I, y=j)=f (i, j)；
If image is M × N number of pixel, f (i, j) represents the image value on i row j row, wherein 0<i<N, 0<j<M.With black
White two kinds of colors describe image, and black pixel definition is 0, white pixel is defined as 255.Obtained two-value is handled by above several steps
Image, i.e. only black color dots (0) and white point (255), and the obtained edge of open-top car 7 has the feature of parallel lines.For extraction
The position of the center line of this two straight lines, every a line pixel value in image is added to obtain a dimensional vector [a first0,a1……ai,
ai+1…ak…aM-1]T, wherein, 0<k<M-1.It is maximum (a to find pixel value first in this dimensional vectork) place image
The value of the position of middle row, i.e. subscript k.Handle to obtain the pixel value (a of time maximum by program againi) position gone in the picture
Put, i.e. subscript i value, then k and i is the position of two straight lines at an edge of open-top car 7.Therefore the half of their sums
As the position of the center line at the edge of open-top car 7, and it is designated as average.
Step S4, images match is to obtain unbalance loading value；Using above-mentioned steps S1, step S2 and step S3, obtain successively by
Two wide-angle high-definition cameras collection image be respectively processed after obtain pixel conversion results be respectively defined as average1 and
average2；The unbalance loading value of container is obtained according to average1 and average2 matchings are i.e. detectable.
Between above-mentioned steps S2 and step S3, edge threshold optimization processing can also be carried out.
For above-mentioned steps S3, i and k value can only take the value on [240, end-10] section to be handled, with
Obtain the more accurate marginal position of open-top car 7.
For above-mentioned steps S4, obtained unbalance loading value is to be shown according to number of pixels for unit, can also be changed
For other measurement scales, such as mm.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of method of work of handling deviation-rectifying system.
The handling deviation-rectifying system includes：Spreader beam, wherein
The spreader beam includes：Telescopic spreader in centre, the sling upper rack positioned at telescopic spreader upper end, is distributed in and hangs
Has an assembly pulley at restocking four angles, each assembly pulley is corresponding with hoist rope with fixed on suspension transferring machine, and each raising steel
Cord controls folding and unfolding by corresponding individual motor respectively；
The spreader beam is provided with the detection means of collection container unbalance-loading data；
The detection means is connected with a control terminal；
The method of work includes：
The control terminal is suitable to calculate the inclined of current the hung container of the spreader beam according to container unbalance-loading data
Load value, and the corresponding hoist rope of each individual motor folding and unfolding is controlled, to correct the unbalance loading value of container.
Further, the telescopic spreader connects four twist lock casees respectively by corresponding fix bar；And the detection means
Including：An assembly pulley is provided with laser wherein, and sensor is provided with the other three assembly pulley, and the sensor is fitted
In the laser signal of reception laser, and the laser signal received is sent to control terminal；And also include：In telescopic hoist
Wide-angle high-definition camera is arranged with ambilateral fix bar centered on telescopic spreader, the wide-angle high-definition camera is suitable to
Picture signal is sent to control terminal；Two wide-angle high-definition cameras are suitable to shoot open-top car below container and the container respectively
Edge position images.
Also, the control module in the control terminal controls two wide-angle high-definition camera work, carries out twin camera
Matching measurement.
Measured on two camera matching to obtain appropriate section of the method for unbalance loading value referring to embodiment 1, herein no longer
Repeat.
The handling deviation-rectifying system and its method of work of the present invention, it is realized is surveyed in real time to the unbalance loading value of container
Amount, can be in time by controlling the corresponding hoist rope of each individual motor folding and unfolding, to correct container after more than certain threshold value
Unbalance loading value, ensure that the security of handling process；And the technology that the present invention is also engaged using laser with sensor, survey
More rapidly, detection is also more accurate, improves security for amount；The decision method of two kinds of threshold values simultaneously, ensureing laser mode measurement
In the case of rapidly, for the doubtful dangerous situation between micro- unbalance loading and Super leaning load, surveyed using further two camera matching
Amount mode, the accuracy of measurement is improved, further increases security.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (11)
- A kind of 1. handling deviation-rectifying system, it is characterised in that including：Spreader beam, whereinThe spreader beam includes：Telescopic spreader in centre, the sling upper rack positioned at telescopic spreader upper end, is distributed on suspender The assembly pulley at four angles of frame, each assembly pulley is corresponding with hoist rope with fixed on suspension transferring machine, and each hoist rope Folding and unfolding is controlled by corresponding individual motor respectively；The spreader beam is provided with the detection means of collection container unbalance-loading data,The detection means is connected with a control terminal；The control terminal is suitable to the unbalance loading value that current the hung container of the spreader beam is calculated according to container unbalance-loading data, And the corresponding hoist rope of each individual motor folding and unfolding is controlled, to correct the unbalance loading value of container.
- 2. handling deviation-rectifying system according to claim 1, it is characterised in thatThe telescopic spreader connects four twist lock casees respectively by corresponding fix bar；AndThe detection means includes：An assembly pulley is provided with laser wherein, and is provided with and passes on the other three assembly pulley Sensor, the sensor is suitable to the laser signal for receiving laser, and the laser signal received is sent into control terminal；With And also include：Wide-angle high-definition camera is arranged with centered on telescopic spreader in the ambilateral fix bar of telescopic hoist, it is described Wide-angle high-definition camera is suitable to send picture signal to control terminal；Two wide-angle high-definition cameras are suitable to the edge position images for shooting open-top car below container and the container respectively.
- 3. handling deviation-rectifying system according to claim 2, it is characterised in thatThe laser is suitable to, by rotating so that laser signal to be separately sent to the sensor on three assembly pulleys, hang with detection Have the unbalance loading data at four angles of restocking.
- 4. handling deviation-rectifying system according to claim 3, it is characterised in thatThe control terminal is suitable to first, second, and third threshold value that setting is used to judge unbalance loading value, and control is provided with it Module and the alarm module being connected with the control module；When the control terminal calculates container unbalance-loading value, first using laser measurement mode, i.e.,If the unbalance loading value of laser measurement mode is less than first threshold, alarm module is not transmitted a signal to；If the unbalance loading value of laser measurement mode is higher than first threshold and is less than Second Threshold, alarm module is transmitted a signal to, and Two wide-angle high-definition camera work are controlled by the control module, carry out two camera matching measurement unbalance loading value；If the unbalance loading value of laser measurement mode is higher than Second Threshold, Super leaning load signal is sent to alarm module, and by control mould Block rises alarm level.
- 5. handling deviation-rectifying system according to claim 4, it is characterised in that：The two camera matching measures unbalance loading value, i.e.,Edge treated, then pixel conversion are carried out in IMAQ, finally carries out images match to obtain unbalance loading value.
- 6. handling deviation-rectifying system according to claim 5, it is characterised in that：Image is subjected to edge treated, i.e.,Specifically direction calculus of differences is combined with local average to detect the horizontal edge of edge position images and vertical edge, Computational methods are as follows：X and the partial derivative with y directions are calculated on 3 × 3 fields centered on f (x, y),Sx={ f (x+1, y-1)+2f (x+1, y)+f (x+1, y+1) }-{ f (x-1, y-1)+2f (x-1, y)+f (x-1, y+1) } (1)Sy={ f (x-1, y+1)+2f (x, y+1)+f (x+1, y+1) }-{ f (x-1, y-1)+2f (x, y-1)+f (x+1, y-1) } (2)Above formula (1), (2) apply the weighted average of f (x, y) field image intensity, and its gradient magnitude is：To its absolute value, above formula (3) be g (x, y)=| Sx |+65<80 (4)Horizontal detective operators (y directions) areVertical detection operator (x directions) isBy above-mentioned two detective operators to image operation after, substitute into formula (3), the gradient amplitude g (x, y) of image can be tried to achieve, then It is appropriate to choose thresholding TH, make following judgement：g(x,y)>TH, the edge image of { g (x, y) } namely image.
- 7. handling deviation-rectifying system according to claim 6, it is characterised in that：Pixel converts, i.e.,Continuous information corresponding to the edge image is sampled and quantified, so that the image moment for representing digital picture can be obtained Battle array；The origin of digital picture is defined on to the upper left corner of image, the coordinate value of origin is (x, y)=(0,0), and origin is in x, y-axis On the coordinate of next point represented respectively with (x, y)=(1,0) and (x, y)=(0,1)；Represented with following matrix form Complete M × N digital pictures：Above-mentioned formula (5) expresses a width digital picture, and each element is referred to as pixel in matrix, so in computing and derivation Can represents image array f (x, y) with matrix A, and image array is handled using the method for calculating matrixWherein, ai,j=f (x=I, y=j)=f (i, j)；If image is M × N number of pixel, f (i, j) represents the image value on i row j row, wherein 0<i<N, 0<j<M；With black and white two Color is planted to describe image, black pixel definition is 0, and white pixel is defined as 255；Obtained binary map is handled by above several steps Picture, i.e. only black color dots (0) and white point (255), and obtained open-top car edge has the feature of parallel lines；To extract the position of the center line of this two straight lines, every a line pixel value in image is added to obtain a dimensional vector first [a0,a1……ai,ai+1…ak…aM-1]T, wherein, 0<k<M-1；It is maximum to find pixel value first in this dimensional vector (ak) value of position, i.e. subscript k gone in the picture；Then handle to obtain the pixel value (a of time maximum by program againi) value of position, i.e. subscript i gone in the picture, Now k and i is the position of two straight lines at an edge of open-top car；And center of the half of k and i sums as open-top car edge The position of line, and it is designated as average.
- 8. handling deviation-rectifying system according to claim 7, it is characterised in thatPixel conversion results are obtained after the image that two wide-angle high-definition cameras gather is respectively processed to be respectively defined as Average1 and average2；Images match is carried out to obtain unbalance loading value, i.e.,The unbalance loading value of container is obtained according to average1 and average2 matchings are i.e. detectable.
- 9. handling deviation-rectifying system according to claim 7, it is characterised in thatWhen carrying out pixel conversion, i and k value take the value on [240, end-10] section to be handled, more accurate to obtain Open-top car marginal position.
- A kind of 10. method of work of handling deviation-rectifying system, it is characterised in thatThe handling deviation-rectifying system includes：Spreader beam, whereinThe spreader beam includes：Telescopic spreader in centre, the sling upper rack positioned at telescopic spreader upper end, is distributed on suspender The assembly pulley at four angles of frame, each assembly pulley is corresponding with hoist rope with fixed on suspension transferring machine, and each hoist rope Folding and unfolding is controlled by corresponding individual motor respectively；The spreader beam is provided with the detection means of collection container unbalance-loading data；The detection means is connected with a control terminal；The method of work includes：The control terminal is suitable to the unbalance loading value that current the hung container of the spreader beam is calculated according to container unbalance-loading data, And the corresponding hoist rope of each individual motor folding and unfolding is controlled, to correct the unbalance loading value of container.
- 11. method of work according to claim 10, it is characterised in thatThe telescopic spreader connects four twist lock casees respectively by corresponding fix bar；AndThe detection means includes：An assembly pulley is provided with laser wherein, and is provided with and passes on the other three assembly pulley Sensor, the sensor is suitable to the laser signal for receiving laser, and the laser signal received is sent into control terminal；With And also include：Wide-angle high-definition camera is arranged with centered on telescopic spreader in the ambilateral fix bar of telescopic hoist, it is described Wide-angle high-definition camera is suitable to send picture signal to control terminal；Two wide-angle high-definition cameras are suitable to the edge position images for shooting open-top car below container and the container respectively.
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