CN108996268A - A kind of container tractor based on camera and suspension bridge are mutually located method - Google Patents
A kind of container tractor based on camera and suspension bridge are mutually located method Download PDFInfo
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- CN108996268A CN108996268A CN201810865366.3A CN201810865366A CN108996268A CN 108996268 A CN108996268 A CN 108996268A CN 201810865366 A CN201810865366 A CN 201810865366A CN 108996268 A CN108996268 A CN 108996268A
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- image
- tractor
- camera
- suspension bridge
- distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/006—Centring or aligning a vehicle at a loading station using means not being part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention discloses container tractor based on camera and suspension bridge is mutually located method, by tractor be parked in suspension bridge aligned position lane, be at a certain distance that interval is moved forward and backward, two sides image acquired by the camera of headstock two sides；Calculate the pyramid diagram picture and corresponding edge image of image；Automatic Pilot tractor obtains its left and right sides image and calculates pyramid diagram picture and corresponding edge image when sailing to below suspension bridge on the lane；To each distance, asks friendship to calculate with the edge image two-value prestored the edge image of acquisition, sum after obtaining two two-value intersection areas, obtain this apart from lower adduction knot fruit；Take out it is all sum it up knot fruit maximum image arranged side by side apart from lower image, calculate adduction intersection using the lower tomographic image of maximum image arranged side by side, find out matching highest image, the distance of the matching degree highest image, i.e. distance of the tractor relative to suspension bridge.The present invention can carry out high-precision alignment to the relative position of tractor and crane.
Description
Technical field
The present invention relates to object location techniques fields, and in particular to a kind of based on the container tractor of camera and suspension bridge phase
Mutual positioning method.
Background technique
During carrying out transporting container under the scenes such as harbour, logistics goods yard, gantry crane or bank are often required to use
Suspension bridge is loaded or unloads to container tractor.During loading or unloading, need to guarantee tractor support extension and suspension bridge
Guarantee that high-precision is aligned, ability is prepared in this way is placed on vehicle for container and hangs up or suspender is made to catch container.Artificial
In the case where operation, this alignment usually has relatively high requirement to driver operation technology, is grasped in automatic Pilot tractor
In the case where work, how to realize that tractor positioning becomes especially important.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of containers based on camera
Tractor and suspension bridge are mutually located method, can carry out high-precision alignment to the relative position of tractor and crane, work as traction
Garage sails in suspension bridge environs, can distance with precise measurement tractor relative to suspension bridge, equally can be used in people
Assist driver carries out the alignment of vehicle in the case that work operates.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of container tractor based on camera and suspension bridge are mutually located method, comprising steps of
Tractor is parked on a lane of the position perfectly aligned with suspension bridge by S1, is at a certain distance then interval
It is moved forward and backward tractor, image at left and right sides of tractor is acquired by the camera installed at left and right sides of the headstock of tractor, is formed
The camera image of left and right sides of multiple same intervals under on the lane；
S2 calculates the thumbnail and corresponding edge image of all camera images using image pyramid method；
S3 starts left and right sides camera when detecting that automatic Pilot tractor drives to below suspension bridge on the lane
Left and right sides camera image is obtained respectively, calculates the thumbnail and correspondence of left and right sides camera image using image pyramid method respectively
Edge image；
S4, for each distance, by the edge image of the step S3 left and right sides obtained and step the S2 left and right sides obtained
The corresponding two-value that carries out of edge image asks friendship to calculate, and obtains two two-value intersection areas, then the two is summed, is obtained under the distance
Adduction knot fruit；
S5, take out it is all sum it up knot fruit maximum image arranged side by side apart from lower edge image, then to all under and
The adduction that corresponding thumbnail is obtained in next tomographic image of column maximum image and step S3 is handed over calculates, obtain in step S3
The edge image that arrives matches highest image, according to the distance parameter of the highest image of the matching degree, obtain tractor relative to
The distance of suspension bridge.
In step S1, the parameter of the camera image include towards, lane and distance, the distance be relative to hang
Length of the bridge from.
In step S3, the parameter of the left and right sides camera image includes direction, lane.
The present invention can carry out high-precision alignment to the relative position of tractor and crane, when to drive to suspension bridge attached for tractor
In nearly range, can distance with precise measurement tractor relative to suspension bridge, equally can be used in the case where manual operation
The alignment of assist driver progress vehicle.
Detailed description of the invention
Fig. 1 is high-definition camera position schematic diagram on tractor；
Fig. 2 is the position view that tractor drives to suspension bridge close beneath；
Fig. 3 is the suspension bridge schematic diagram under camera perspective；
Position view when Fig. 4 is data acquisition phase vehicle and perfectly aligned suspension bridge；
In figure: 1 is suspension bridge, and 2 be tractor, and 3 be left and right suspension bridge leg, and 4 be high definition camera.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
The present invention is the headstock left and right side in tractor, installs a platform high definition camera 4, the image of high definition camera respectively
The left and right side region that direction is headstock is acquired, as shown in Figure 1；
When tractor drives to 1 close beneath of suspension bridge, as shown in Fig. 2, the left and right camera of the headstock left and right side of tractor can
Left bridge leg, the right bridge leg of suspension bridge are taken respectively, and the image of shooting is as shown in Figure 3.
Image is acquired by above camera, and realizes what tractor and suspension bridge were mutually located using related algorithm.
Referring to shown in Fig. 1-2, a kind of container tractor based on camera and suspension bridge are mutually located method, including following step
It is rapid:
One, data phase is acquired:
1, tractor is parked in the position perfectly aligned with suspension bridge, as shown in figure 4, shooting left and right leg image by camera
I (comes from left/right camera, lane number, orientation distance), for having the case where a plurality of lane, the camera in different lanes under suspension bridge
Image is I (L, 0,0), I (L, 1,0, I (L, 2,0)), I (L, 3,0) ... and I (R, 0,0), I (R, 1,0), I (R, 2,
0) ... using canny operator or other Boundary extracting algorithms extract its edge image E (from left/right camera, lane number,
Orientation distance).
2, it is interval by move vehicle after Chinese herbaceous peony using 5cm, and records camera image I, such as I (L, 0, -1000), I (L, 0, -
995) ..., I (L, 0,995), I (L, 0,1000), right side, wherein aligned position move forward the image to be formed away from
From being expressed as 995,1000, the orientation distance for moving backward the image to be formed is expressed as -1000, -995.
3, all camera image I are calculated using image pyramid method and (comes from left/right camera, lane number, spacer
From) thumbnail (form pyramid diagram picture or image pyramid), such as camera image I (L, 1, -1000) is calculated
Image be denoted as I_ { the image pyramid number of plies } (from left/right camera, lane number, orientation distance) such as I_1/2 (L, 1 ,-
1000), I_1/4 (L, 1, -1000), I_1/8 (L, 1, -1000), I_1/16 (L, 1, -1000) and corresponding edge image note
For E_ { the image pyramid number of plies } (come from left/right camera, lane number, orientation distance), such as E_1/2 (L, 1, -1000), E_1/
4 (L, 1, -1000), E_1/8 (L, 1, -1000), E_1/16 (L, 1, -1000).
Two, data use positioning stage
4, when automatic Pilot tractor drives to below suspension bridge, system is positioned by the low precision of automatic Pilot tractor first
It unites and determines that tractor is within opposite suspension bridge a certain range (such as 10m) and is in kth lane, obtain the camera figure in left side at this time
As being denoted as J (from left/right camera, lane number), such as J (L, k), calculates its image pyramid and be denoted as J_ { image pyramid layer
Number } (come from left/right camera, lane number), such as J_1/2 (L, k), J_1/4 (L, k), J_1/8 (L, k), J_1/16 (L, k), and
Its edge image is denoted as F_ { the image pyramid number of plies } (from left/right camera, lane number), such as F_1/2 (L, k), F_1/4
(L, k), F_1/8 (L, k), F_1/16 (L, k), right side.
5, it is obtained first using the 1/16th layer of edge image F_1/16 (L, k), F_1/16 (R, k) and data acquisition phase
1/16th tomographic image E_1/16 (L, k, -1000)~E_1/16 (L, k, 1000), E_1/16 (R, k, -1000)~E_1/16 (R,
K, 1000) image carries out two-value and friendship is asked to calculate.
6, for each distance d, such as d=-900, the two-value for calculating F_1/16 (L, k) and E_1/16 (L, k, d) is handed over
Collect the two-value cross surface product of area and F_1/16 (R, k) and E_1/16 (R, k, d), the two summation is in current distance and size
Lower and pre-stored image adduction is handed over.
It takes out all apart from lower adduction knot fruit maximum image arranged side by side, it is assumed that be E_1/16 (L, k, -800)~E_1/16
(L, k, -700) (right side), using its 1/8th layer of edge image E_1/8 (L, k, -800)~E_1/8 (L, k, -700) with
The pyramid edge image F_1/8 (L, k) for the camera image that data acquisition phase obtains asks adduction intersection to calculate (right side).
Take out adduction knot fruit maximum image arranged side by side under above-mentioned distance range, it is assumed that be E_1/8 (L, k, -800)~E_1/8
(L, k, -750) (right side) reuses its 1/4th layer of edge image E_1/4 (L, k, -800)~E_1/4 (L, k, -750)
The pyramid edge image F_1/4 (L, k) of the camera image obtained with data acquisition phase asks adduction intersection to calculate, and (right side is also
So).
Analogize according to above-mentioned steps, after obtaining adduction friendship maximum image arranged side by side, further uses the 1/2nd tomographic image and the 1/th
1 layer of edge image is compared, gradually reduce orientation distance possible range, finally obtain with images to be recognized F_1/1 (L,
K) and F_1/1 (R, k) matches highest image, it is assumed that the highest image of the matching degree is E_1/1 (L, k, -765) and E_1/1
(R, k, -765), then obtaining current tractor relative to the distance of suspension bridge is -765cm.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of container tractor based on camera and suspension bridge are mutually located method, which is characterized in that comprising steps of
Tractor is parked on a lane of the position perfectly aligned with suspension bridge by S1, is at a certain distance then interval front and back
Mobile tractor acquires image at left and right sides of tractor by the camera installed at left and right sides of the headstock of tractor, forms the vehicle
The camera image of left and right sides of multiple same intervals under on road；
S2 calculates the thumbnail and corresponding edge image of all camera images out using image pyramid method；
S3, when detecting that automatic Pilot tractor drives to below suspension bridge on the lane, starting left and right sides camera difference
The left and right sides camera image under the lane is obtained, calculates the thumbnail of left and right sides camera image using image pyramid method respectively
And corresponding edge image；
S4, for each distance, by the edge of the edge image of the step S3 left and right sides obtained and step the S2 left and right sides obtained
The corresponding two-value that carries out of image asks friendship to calculate, and obtains two two-value intersection areas, then the two is summed, obtain this apart from lower step
The adduction knot fruit for the edge image that S2 is obtained；
S5, take out it is all apart from lower edge image sum it up knot fruit maximum image arranged side by side, then to all under side by side most
The adduction that corresponding thumbnail is obtained in the next tomographic image and step S3 of big image hands over calculating, obtain with obtained in step S3
Edge image matches highest image and obtains tractor relative to suspension bridge according to the distance parameter of the highest image of the matching degree
Distance.
2. the container tractor based on camera and suspension bridge are mutually located method as described in claim 1, which is characterized in that step
In S1, the parameter of the camera image include towards, lane and distance, the distance be tractor relative to suspension bridge away from
From.
3. the container tractor based on camera and suspension bridge are mutually located method as described in claim 1, which is characterized in that step
In S3, the parameter of the left and right sides camera image includes direction, lane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810865366.3A CN108996268A (en) | 2018-08-01 | 2018-08-01 | A kind of container tractor based on camera and suspension bridge are mutually located method |
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| CN201810865366.3A CN108996268A (en) | 2018-08-01 | 2018-08-01 | A kind of container tractor based on camera and suspension bridge are mutually located method |
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| CN108996268A true CN108996268A (en) | 2018-12-14 |
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| CN106097329A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container profile localization method based on rim detection |
| CN107818577A (en) * | 2017-10-26 | 2018-03-20 | 滁州学院 | A kind of Parts Recognition and localization method based on mixed model |
| CN107895376A (en) * | 2017-12-11 | 2018-04-10 | 福州大学 | Based on the solar panel recognition methods for improving Canny operators and contour area threshold value |
| CN107992881A (en) * | 2017-11-13 | 2018-05-04 | 广州中国科学院先进技术研究所 | A kind of Robotic Dynamic grasping means and system |
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Patent Citations (7)
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| JP4561380B2 (en) * | 2005-01-24 | 2010-10-13 | コニカミノルタホールディングス株式会社 | Detection apparatus, detection method, and detection program |
| CN101251379A (en) * | 2008-02-19 | 2008-08-27 | 哈尔滨工程大学 | Real time binocular vision guidance method facing to underwater carrying vehicle |
| CN101806586A (en) * | 2010-04-21 | 2010-08-18 | 上海交通大学 | Method and device for measuring section contour of sealing strip of vehicle based on image matching |
| CN106097329A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container profile localization method based on rim detection |
| CN107818577A (en) * | 2017-10-26 | 2018-03-20 | 滁州学院 | A kind of Parts Recognition and localization method based on mixed model |
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Application publication date: 20181214 |