CN109835815A - Container crane automatic calibration method and system - Google Patents
Container crane automatic calibration method and system Download PDFInfo
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- CN109835815A CN109835815A CN201910201287.7A CN201910201287A CN109835815A CN 109835815 A CN109835815 A CN 109835815A CN 201910201287 A CN201910201287 A CN 201910201287A CN 109835815 A CN109835815 A CN 109835815A
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Abstract
The invention discloses a kind of container crane automatic calibration methods, including installing marker, it carries out benchmark calibration and establishes the first coordinate system, calibration vision positioning device simultaneously establishes the second coordinate system, calibration first laser positioning device simultaneously establishes third coordinate system, combined calibrating is carried out to vision positioning device and first laser positioning device, determines the transformational relation of the second coordinate system and third coordinate system.The present invention also provides a kind of container crane automatic calibration systems, including marker, benchmark calibration device, vision positioning device, first laser positioning device, second laser positioning device, controller.The present invention can be improved the combined calibrating efficiency between vision positioning device and laser locating apparatus, reduce the maintenance complexity of vision positioning device and laser locating apparatus, and then reduce system cost.
Description
Technical field
The present invention relates to crane automatic Calibration fields, more specifically to a kind of container crane automatic Calibration
Method and system.
Background technique
In general, each harbour has a large amount of container to need to unload, is transported to interim stockyard, then refill be downloaded to it is various
On the means of transport of form, cargo handling process needs to put into a large amount of time and cost of labor.The automatic loading and unloading of container is not only
Production efficiency can be improved, reduce cost of labor, additionally it is possible to improve the working environment of worker, reduce labor intensity, improve harbour
Synthesized competitiveness, so automation gantry crane or automation field bridge etc. equipment that construction can carry out automatic loading and unloading to container are
As inexorable trend.
The automatic loading and unloading device of container mainly includes container crane, the equipment such as automatic guided vehicle (AGV).For reality
Now full-automatic pick-and-place container, need to crane job in-site installation detector of lifting device (SDS), object detecting device (TDS),
The equipment such as automatic guided vehicle positioning device (APS).TDS and APS belongs to laser and determines device, for detect targeted containers, from
The dynamic position of guide trolleys or truck relative to crane, SDS belong to vision positioning device, for detect current suspender relative to
The position of crane, so as to the accurate pick-and-place container of crane.
In previous automated system, TDS and SDS are artificially demarcated in the level of factory debugging stage, establish respective coordinate system,
Target is detected and positioned under local Coordinate System, while carrying out the combined calibrating between system, realizes container handling.When whole
It when machine reaches curstomer's site, needs artificially to demarcate TDS again, need for gantry crane in position of platform and rear exchange zone position,
The combined calibrating twice for carrying out TDS and SDS then carries out combined calibrating, calibration process using active band lamp support for track crane
It takes time and effort.When TDS and SDS adjustment or replacement, in addition to the calibration of itself, it is also necessary to by container or by active lamp
Bracket repeats combined calibrating process, increases system cost, and maintenance complexity is high.
Summary of the invention
The object of the present invention is to provide a kind of container crane automatic calibration method and systems, to solve in the prior art
Combined calibrating low efficiency between TDS and SDS, maintenance complexity is high, so as to cause the high problem of system cost.
In order to solve the above technical problems, embodiments of the present invention disclose a kind of container crane automatic Calibration side
Method, comprising: at least three passive marker object is mounted on the operation field of container crane, by least three by installation marker
Active marker object is mounted on suspender；It carries out benchmark calibration: establishing the first coordinate system, passive mark is measured by benchmark calibration device
Know the coordinate value of object and active marker object under the first coordinate system, measures coordinate value of the first position o'clock under the first coordinate system；
Calibration vision positioning device: establishing the second coordinate system, measures active marker object by the vision positioning device being located on trolley and exists
Coordinate value under second coordinate system obtains at the point of first position the in conjunction with coordinate value of the active marker under the first coordinate system
The first transformational relation between one coordinate system and the second coordinate system；Calibration first laser positioning device: establishing third coordinate system, leads to
Coordinate value of the first laser positioning device measurement passive marker object under third coordinate system on trolley is crossed, in conjunction with passive mark
Know coordinate value of the object under the first coordinate system, obtains second turn at the point of first position between the first coordinate system and third coordinate system
Change relationship；It carries out combined calibrating: according to the first transformational relation and the second transformational relation, obtaining the second coordinate system and third coordinate system
Between third transformational relation.
Optionally, further include obtaining reference coordinates value: suspender being put to the first designated position, is surveyed by vision positioning device
Coordinate value of the active marker object under the second coordinate system is measured, according to the first transformational relation, obtains active marker object in the first coordinate
Reference coordinates value under system.
Optionally, further include calibration second laser positioning device: establishing 4-coordinate system, by being located at container crane
Coordinate value of the second laser positioning device measurement passive marker object under 4-coordinate system on connection beam, in conjunction with passive marker object
Coordinate value under the first coordinate system obtains the 4th transformational relation between the first coordinate system and 4-coordinate system.
Optionally, first laser positioning device is demarcated further include: before establishing third coordinate system, by trolley travelling to the
Two location points.
Optionally, first position point is trolley position point when beginning setting up the first coordinate system.
Optionally, installation marker further includes showing the operation that at least one checking mark object is mounted on container crane
, carrying out benchmark calibration further includes that verification coordinate of the checking mark object under the first coordinate system is measured by benchmark calibration device
Value, wherein checking mark object is passive marker object, after completing to carry out combined calibrating, method further include: verification calibration knot
Fruit: coordinate value of the checking mark object under third coordinate system is measured by first laser positioning device, simultaneously according to verification coordinate value
In conjunction with the first transformational relation, the second transformational relation and third transformational relation, calibration result is verified.
Optionally, calibration result is verified further include: checking mark object is being measured in third by first laser positioning device
Before coordinate value under coordinate system, suspender is put to the second designated position.
Optionally, checking mark object has 2, is mounted on the control point on suspender.
Optionally, passive marker object is the prismatic light reflecting membrane of side length 10cm, and passive marker object has 4.
Optionally, active marker object is infrared lamp, and active marker object has 3.
Optionally, benchmark calibration device is to come card, and vision positioning device is detector of lifting device, first laser positioning device
For object detecting device.
Embodiments of the present invention also disclose a kind of container crane automatic calibration system, comprising: marker, benchmark
Caliberating device, vision positioning device, first laser positioning device, second laser positioning device, controller, wherein vision positioning
Device and first laser positioning device are located on the trolley of container crane, and second laser positioning device is located at container lifting
On the connection beam of machine, it is sharp that controller can obtain benchmark calibration device, vision positioning device, first laser positioning device and two
The measurement data of light-seeking device, controller are suitable for when demarcating to container crane, execute above-mentioned container lifting
Machine automatic calibration method.
Container crane automatic calibration method provided by the present invention and system can be improved vision positioning device and swash
Combined calibrating efficiency between light-seeking device reduces the maintenance complexity of vision positioning device and laser locating apparatus, in turn
Reduce system cost.
For above content of the invention can be clearer and more comprehensible, be cited below particularly preferred embodiment and in conjunction with attached drawing specifically
It is bright.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the calibration on-the-spot schematic of an embodiment of the present invention；
Fig. 2 diagrammatically illustrates the flow chart of the container crane automatic calibration method of an embodiment of the present invention；
Fig. 3 diagrammatically illustrates the passive marker object schematic diagram of an embodiment of the present invention；
Fig. 4 diagrammatically illustrates the block diagram of the container crane automatic calibration system of an embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this specification
Revealed content is understood other advantages and efficacy of the present invention easily.Although description of the invention will combine preferred embodiment
It introduces together, but this feature for not representing the invention is only limitted to the embodiment.On the contrary, being invented in conjunction with embodiment
The purpose of introduction is to be possible to the other selections extended or transformation to cover based on claim of the invention.In order to mention
For that will include many concrete details in depth understanding of the invention, being described below.The present invention can also be thin without using these
Section is implemented.In addition, in order to avoid confusion or obscuring emphasis of the invention, some details will be omitted in the de-scription.It needs
Illustrate, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that in the present specification, similar label and letter indicate similar terms in following attached drawing, because
This does not need then to carry out further defining reconciliation to it in subsequent attached drawing once being defined in a certain Xiang Yi attached drawing
It releases.
Unless otherwise defined, technical term or scientific term used in the present invention are should be in fields of the present invention
The ordinary meaning that personage with general technical ability is understood." first ", " second " used in the present invention and similar word
It is not offered as any sequence, quantity or importance, and is used only to distinguish different component parts.Equally, "one" or
The similar word such as " one " does not indicate that quantity limits yet, but indicates that there are at least one.The classes such as " setting ", " connected ", " connection "
As word shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be with
It is mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
Connection inside a element can understand above-mentioned term in this reality with concrete condition for the ordinary skill in the art
Apply the concrete meaning in example.The orientation or positional relationship of the instructions such as "upper", "lower", "left", "right", "inner", "bottom" is based on attached
Orientation or positional relationship shown in figure or the invention product using when the orientation or positional relationship usually put, be only for
Convenient for the description present invention and simplify description, rather than the device or element of indication or suggestion meaning there must be specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to implementation of the invention
Mode is described in further detail.
Technical solution for a better understanding of the present invention is with double trolley gantry crane portal frame system in subsequent explanation
Example, is described in detail technical solution of the present invention, it should be noted that in specific implementation, those skilled in the art can
To select the container crane system using technical solution of the present invention, specific container crane type according to actual needs
It does not limit the present invention in any way.
Fig. 1 is the calibration on-the-spot schematic of an embodiment of the present invention, shown in Figure 1, in an embodiment party of the invention
In formula, vision positioning device 15 is mounted on door frame trolley 14, and first laser positioning device 16 is mounted on door frame trolley 14, the
Dual-laser positioning device 17 is mounted under the side of door frame land on connection beam, and passive marker object 11 is mounted on container by mounting bracket
The operation field of crane, active marker object 12 are mounted on suspender 13, and checking mark object 18 is mounted on the control on suspender 13
Point.It should be noted that vision positioning device 15 shown in FIG. 1, first laser positioning device 16, second laser positioning device
17, schematic view is only made in passive marker object 11, active marker object 12, the setting form of checking mark object 18 and position, does not answer
It is interpreted as limitation of the present invention.
Referring to fig. 2 and as shown in connection with fig. 1, the present invention provides a kind of container crane automatic calibration methods, comprising:
Step S11: at least three passive marker object is mounted on the operation field of container crane by installation marker, will
At least three active marker object is mounted on suspender.
Specifically, passive marker object 11 is used for the calibration of laser locating apparatus, such as the in embodiment of the present invention
One laser locating apparatus 16 and second laser positioning device 17, the installation site and quantity of passive marker object 11 can be according to liftings
The position of the installation of machine mechanical structure and laser locating apparatus determines, as long as can guarantee that every set laser locating apparatus can scan
At least 3 passive marker objects 11.Active marker object 12 is used for the calibration of vision positioning device 15, similarly, active marker object 12
Installation site and quantity can be determined according to the position of the installation of crane mechanical structure and vision positioning device 15, as long as energy
Guarantee that vision positioning device 15 can scan at least 3 active marker objects 12.It is shown in Figure 1, it is real of the invention one
It applies in mode, passive marker object 11 is 4, is mounted on the loading place at crane job scene, and active marker object 12 is 3, peace
On the suspender 13 of container crane.Since vision positioning device 15 is typically mounted on trolley 14, suspender is faced
Therefore 13 active marker object 12 are arranged in the stated accuracy for being conducive to improve vision positioning device 15 on suspender 13, preferably real
Existing suspender 13 is anti-to be shaken, anti-is verted and the functions such as load orientation.In addition, active marker object 12 is mounted on suspender 13, it can also
To reduce the space of the container terminal occupied because installing marker, the efficiency of loading and unloading is improved.
Step S12: carry out benchmark calibration, establish the first coordinate system, by benchmark calibration device measure passive marker object and
Coordinate value of the active marker object under the first coordinate system measures coordinate value of the first position o'clock under the first coordinate system.
It is shown in Figure 1, in one embodiment of the present invention, the first coordinate system W is established by X-axis of trolley trackXYZ,
The coordinate value matrix P of the lower 3 active marker objects 12 of the first coordinate system is measured by benchmark calibration deviceW, 4 passive marker objects 11
Coordinate value, measure coordinate value S of the first position o'clock under the first coordinate system0(X0, Y0, Z0)。
Step S13: calibration vision positioning device establishes the second coordinate system, passes through the vision positioning device being located on trolley
Coordinate value of the active marker object under the second coordinate system is measured to obtain in conjunction with coordinate value of the active marker under the first coordinate system
Obtain the first transformational relation at the point of first position between the first coordinate system and the second coordinate system.
Shown in Figure 1, in one embodiment of the present invention, vision positioning device 15 measures 3 active marker objects
12 in the coordinate value relative to vision positioning device 15 itself, and combines the relative positional relationship of 3 active marker objects 12, establishes
15 local coordinate system of vision positioning device, i.e. the second coordinate system SXYZ, further, obtain the three-dimensional of 3 active marker objects 12 and sit
Scale value matrix PS.Pass through the coordinate value matrix P of 3 obtained active marker objects 12 of step S12W, first position point can be calculated
Locate the first coordinate system WXYZWith the second coordinate system SXYZBetween the first transformational relation: PW=RSPS+TS+S0, wherein RSFor spin moment
Battle array, TSFor translation matrix.It should be noted that vision positioning device 15 cannot obtain the three-dimensional information of active marker object 12, because
This, needs the relative positional relationship in conjunction with active marker 12 to establish three-dimensional system of coordinate, that is to say, that have 3 active marker objects
12 position cannot be arranged point-blank, it is necessary to make to have in a longitudinal direction between any two range difference away from.
It should be noted that since vision positioning device 15 is located on trolley 14, during container handling operation, depending on
Feel that positioning device 15 can be as trolley 14 be moved along trolley track, in order to make the first coordinate system WXYZWith the second coordinate system SXYZIt
Between be transformed into the same reference point, need record and utilize first position point S0Coordinate.In one embodiment of the present invention,
First position point is to begin setting up the first coordinate system WXYZWhen, 14 position point of trolley, due to the first coordinate system WXYZWith
Trolley track is X-axis, therefore first position point S0Coordinate value can be denoted as S0(X0, Y, Z), i.e. trolley location point is with small
When track road is mobile, in the first coordinate system WXYZUnder coordinate value only have X-component changing, other components be constant.Therefore,
Set 14 position point of trolley for first position point, convenient for measurement and calculate, such as can be convenient using magnetic scale measure
Trolley 14 position o'clock is in the first coordinate system W outXYZUnder coordinate value.
Step S14: calibration first laser positioning device establishes third coordinate system, passes through the first laser being located on trolley
Positioning device measures coordinate value of the passive marker object under third coordinate system, in conjunction with seat of the passive marker object under the first coordinate system
Scale value obtains the second transformational relation at the point of first position between the first coordinate system and third coordinate system.
Specifically, in one embodiment of the present invention, first laser positioning device 16 can be measured that at least three is passive
Coordinate value matrix P of the marker 11 relative to first laser positioning device 16T, 16 local coordinate system of first laser positioning device,
That is third coordinate system TXYZ, further, in conjunction with the coordinate value of 4 obtained passive marker objects 11 of step S12, can calculate
First coordinate system W at the point of first positionXYZWith third coordinate system TXYZBetween the second transformational relation.
It should be noted that in practical calibration process, due to passive marker object 11 and first laser positioning device 16 it
Between relative positional relationship the reason of, first laser positioning device 16 be possible at first position cannot simultaneously effectively measure
At least three passive marker object 11.In order to solve this problem, in one embodiment of the present invention, need first swash with first
Light-seeking device 16 connect trolley 14 be moved to can effective scanning to 11 second position point S of at least three passive marker object, so
First laser positioning device 16 obtains at least three passive marker object 11 in third coordinate system T in measurement afterwardsXYZUnder coordinate value square
Battle array PT, finally obtain the first coordinate system W at the point of first positionXYZWith third coordinate system TXYZBetween the second transformational relation: PW=
RTPT+TT+ S, wherein RTFor spin matrix, TTFor translation matrix.It should be noted that in order to calculate unique solution
The position of transformational relation, any 3 passive marker object 11 cannot be in a straight line.
Step S15: carrying out combined calibrating, according to the first transformational relation and the second transformational relation, obtain the second coordinate system and
Third transformational relation between third coordinate system.
When container handling operation, in order to realize the accurately pick-and-place container of suspender 13, need the sky of suspender 13
Between position associate with the spatial positional information of container, i.e., to vision positioning device 15 and first laser positioning device 16 into
Row combined calibrating.In one embodiment of the present invention, specifically closing scaling method is first turn obtained according to step S13
It changes relationship and the second transformational relation that step S14 is obtained, the second coordinate system S can be calculatedXYZWith third coordinate system TXYZIt
Between third transformational relation:
In one embodiment of the present invention, container crane automatic calibration method further includes obtaining reference coordinates value:
Suspender is put to the first designated position, coordinate value of the active marker object under the second coordinate system is measured by vision positioning device,
According to the first transformational relation, reference coordinates value of the active marker object under the first coordinate system is obtained.
It is understood that since active marker object 12 can be moved with trolley 14 along trolley track, it also can be with cable
Rope needs to safeguard after the container crane system operation a period of time for completing calibration, more along hanging direction vertical motion
Vision positioning device 15 is changed or adjusts, the active marker object 12 measured by the changed vision positioning device 15 of state
In the second coordinate system SXYZUnder coordinate value necessarily change, but can not directly or indirectly obtain at the measurement position at this time
Active marker object 12 is in the first coordinate system WXYZUnder coordinate value, i.e., can not to the changed vision positioning device of state 15 into
Row automatic Calibration.Traditional method is, behind maintenance, replacement or adjustment vision positioning device 15, need again it is artificial into
Then row benchmark calibration is again demarcated vision positioning device 15, time-consuming and laborious, and efficiency is lower.
By increasing the step of obtaining reference coordinates value in the calibration process of early period, i.e., suspender 13 is put to first and referred to
Place is set in positioning, measures second coordinate system S of the active marker object 12 in the first specified location by vision positioning device 15XYZ
Under coordinate value matrix P1, then according to the first transformational relation, active marker object 12 is calculated in the first coordinate system WXYZUnder reference
Coordinate value matrix P1 W.Using the reference coordinates value, may be implemented when vision positioning device 15 maintenance, replacement or adjustment when,
It completes to further improve container crane calibration to the automatic re-calibration of vision positioning device 15 and combined calibrating
The efficiency of the degree of automation and container handling operation.It should be noted that the first designated position, which is one, can make suspender 13
Stablize the position accurately placed, the present invention is not specifically limited the first designated position, as long as suspender 13 is placed on first every time
When position, absolute position is fixed.
Specifically, when complete calibration container crane system run a period of time after, to vision positioning device 15 into
When row maintenance, replacement or adjustment, suspender 13 only need to be placed into the first designated position, measurement at this time active marker object 12 the
Two coordinate system SXYZUnder coordinate value matrix P2, according to P2And P1 WBe calculated vision positioning device 15 is safeguarded, replace or
First coordinate system W after person's adjustmentXYZWith the second coordinate system SXYZBetween transformational relation, and according to this transformational relation re-start with
The combined calibrating of first laser positioning device 16.
In one embodiment of the present invention, container crane automatic calibration method further includes calibration second laser positioning
Device: establishing 4-coordinate system, measures passive mark by the second laser positioning device being located on container crane connection beam
Know coordinate value of the object under 4-coordinate system, in conjunction with coordinate value of the passive marker object under the first coordinate system, obtains the first coordinate
The 4th transformational relation between system and 4-coordinate system.
It is shown in Figure 1, in one embodiment of the present invention, it is also configured with second laser positioning device 17, for obtaining
Container and/or truck and/or the location information of AGV are taken, calibration principle passes through survey as first laser positioning device 16
The location information of amount at least three passive marker object 11 obtains passive marker object 11 in 17 local coordinate of second laser positioning device
System, that is, 4-coordinate system AXYZUnder coordinate value matrix PA, then in conjunction with coordinate of the passive marker object 11 under the first coordinate system
Value calculates the first coordinate system WXYZWith 4-coordinate system AXYZBetween the 4th transformational relation: PW=RAPA+TA.It should be noted that
It is that since second laser positioning device 17 is located on container crane connection beam, position immobilizes, therefore calculates the 4th
First location information is not necessarily to when transformational relation.In addition, since second laser positioning device 17 is located at container crane connection beam
On, the visual field is preferable, can at any time in detection zone vanning and/or truck and/or AGV position so that suspender 13
More fully information can be obtained, while second laser positioning device 17 can also be used as the redundancy of first laser positioning device 16
Configuration, when one of them breaks down, another laser locating apparatus can also be worked normally, and guarantee container handling operation
It is normally carried out.
It should be noted that embodiments of the present invention can also be realized when first laser positioning device 16 and/or second
When the maintenance of laser locating apparatus 17, replacement or adjustment, complete to first laser positioning device 16 and/or second laser positioning dress
Set 17 re-calibration and combined calibrating.Specifically, after the container crane system for completing calibration runs a period of time,
When first laser positioning device 16 and/or second laser positioning device 17 are safeguarded, replaced or adjusted, first laser is fixed
Position device 16 and/or second laser positioning device 17 need to only measure passive marker object 11 in third coordinate system T againXYZAnd/or the
4-coordinate system AXYZUnder coordinate value, the passive marker object 11 obtained then in conjunction with the benchmark calibration stage is in the first coordinate system WXYZUnder
Coordinate value, be automatically performed the re-calibration and joint to first laser positioning device 16 and/or second laser positioning device 17
Calibration.It is therefore not necessary to calibration of the manual intervention to first laser positioning device 16 and/or second laser positioning device 17 again, into
One step improves the degree of automation of container crane calibration and the efficiency of container handling operation.
Shown in Figure 1, in one embodiment of the present invention, installation marker further includes by least one checking mark
Object is mounted on the operation field of container crane, and carrying out benchmark calibration further includes measuring checking mark by benchmark calibration device
Verification coordinate value of the object under the first coordinate system, wherein checking mark object be passive marker object, complete carry out combined calibrating it
Afterwards, method further include: verification calibration result measures checking mark object under third coordinate system by first laser positioning device
Coordinate value according to verification coordinate value and combines the first transformational relation, the second transformational relation and third transformational relation, ties to calibration
Fruit is verified.
Specifically, in order to further confirm that whether the calibration result of early period accurate, it can be in the work of container crane
Industry in-site installation at least one checking mark object 18, and record the checking mark object 18 in benchmark calibration phase measuring and sat first
Mark system WXYZUnder verification coordinate value, when combined calibrating complete after, pass through first laser positioning device 16 measure checking mark object
18 in third coordinate system TXYZUnder coordinate value, then verify respectively according to the first transformational relation, the second transformational relation, third turn
Change relationship, newest measurement verification coordinate value and benchmark calibration phase measuring record verification coordinate value, to calibration result into
Row verification.
In one embodiment of the present invention, calibration result is verified further include: measure by first laser positioning device
Checking mark object puts suspender to the second designated position before the coordinate value under third coordinate system.Since suspender 13 runs shape
It is easy to situations such as shaking when state, if carrying out verification calibration result operation at this time, the precision of verification certainly will be influenced, because
This is needed first to put suspender 13 when verifying calibration result to suspender 13 can be made to keep stable state (such as not shaking)
Second designated position, such as suspender 13 are put to ground, and the present invention is not specifically limited the second designated position, as long as suspender 13 is put
It sets at the second position, is able to maintain stable state.
More specifically, in one embodiment of the present invention, checking mark object there are 2, it is mounted on the control point on suspender.
Checking mark object 18 is mounted on the control point on suspender 13, can according on control point to suspender 13 active marker object 12 away from
From calculating control point in the second coordinate system SXYZUnder coordinate value, that is to say, that first laser positioning device 16 measures verification
Marker 18 is in third coordinate system TXYZUnder coordinate value after, checking mark object 18 can also be obtained simultaneously in the second coordinate system SXYZ
Under coordinate value, no longer need to the precision that verification calibration result is improved using transformational relation.
Shown in Figure 3, in one embodiment of the present invention, passive marker object 11 is that the prismatic of side length 10cm is reflective thin
Light reflecting membrane when installing passive marker object 11 and checking mark object 18, only need to be attached to installation site by film, convenient and efficient.
In addition, can effectively reflect first laser positioning device 16 since prismatic light reflecting membrane side length reaches 10cm and second laser is fixed
The energy that position device 17 emits, can be improved the stated accuracy of first laser positioning device 16 and second laser positioning device 17.
Shown in Figure 2, in one embodiment of the present invention, active marker object 12 is infrared lamp, and it is fixed to be conducive to vision
Identification of the position device 15 to active marker object 12, improves the stated accuracy of vision positioning device 15.
In one embodiment of the present invention, benchmark calibration device is to come card, and vision positioning device 15 is the detection of suspender 13
Device (SDS), first laser positioning device 16 are object detecting device (TDS), and second laser positioning device 17 is homing guidance
Vehicle positioning device (APS).
Referring to fig. 4 and as shown in connection with fig. 1, the present invention provides a kind of container crane automatic calibration systems, comprising: mark
Know object, benchmark calibration device, vision positioning device, first laser positioning device, second laser positioning device, controller, wherein
Vision positioning device and first laser positioning device are located on the trolley of container crane, and second laser positioning device is located at collection
It cases on the connection beam of crane, controller can obtain benchmark calibration device, vision positioning device, first laser positioning device
And the measurement data of dual-laser positioning device, controller are suitable for when demarcating to container crane, execute above-mentioned collection
Vanning crane automatic calibration method.
It is understood that controller can be by direct or indirect with benchmark calibration device, vision positioning device,
One laser locating apparatus and second laser positioning device connect and obtain data, and controller is able to carry out above-mentioned container lifting
Machine automatic calibration method, and control container crane and execute corresponding movement.The present invention to the concrete form of controller not
It is restricted, for example, controller can be the computer equipment for including memory and processor, memory is suitable for storage computer and refers to
It enables, processor is suitable for when running computer instruction, executes above-mentioned container crane automatic calibration method.
Although being shown and described to the present invention by referring to some of the preferred embodiment of the invention,
It will be understood by those skilled in the art that the above content is combine specific embodiment made for the present invention further
It is described in detail, and it cannot be said that specific implementation of the invention is only limited to these instructions.Those skilled in the art can be in form
To it, various changes can be made in details, including makes several simple deduction or replace, without departing from the spirit and scope of the present invention.
Claims (12)
1. a kind of container crane automatic calibration method characterized by comprising
Marker is installed, at least three passive marker object is mounted on to the operation field of container crane, at least three is active
Marker is mounted on suspender；
It carries out benchmark calibration: establishing the first coordinate system, passive marker object is measured by benchmark calibration device and active marker object exists
Coordinate value under first coordinate system measures coordinate value of the first position point under first coordinate system；
Calibration vision positioning device: establishing the second coordinate system, measures active marker by the vision positioning device being located on trolley
Coordinate value of the object under second coordinate system obtains institute in conjunction with coordinate value of the active marker under first coordinate system
State the first transformational relation at the point of first position between first coordinate system and second coordinate system；
Calibration first laser positioning device: establishing third coordinate system, is measured by the first laser positioning device being located on trolley
Coordinate value of the passive marker object under the third coordinate system, in conjunction with coordinate of the passive marker object under first coordinate system
Value, obtains the second transformational relation at the first position point between first coordinate system and the third coordinate system；
Carry out combined calibrating: according to first transformational relation and second transformational relation, obtain second coordinate system and
Third transformational relation between the third coordinate system.
2. container crane automatic calibration method as described in claim 1, which is characterized in that further include:
It obtains reference coordinates value: suspender is put to the first designated position, active marker object is measured in institute by vision positioning device
The coordinate value under the second coordinate system is stated, according to first transformational relation, obtains active marker object under first coordinate system
The reference coordinates value.
3. container crane automatic calibration method as described in claim 1, which is characterized in that further include:
Calibration second laser positioning device: establishing 4-coordinate system, swashs by be located on container crane connection beam second
Light-seeking device measures coordinate value of the passive marker object under 4-coordinate system, in conjunction with the passive marker object described the
Coordinate value under one coordinate system obtains the 4th transformational relation between first coordinate system and 4-coordinate system.
4. container crane automatic calibration method as described in claim 1, which is characterized in that the calibration first laser is fixed
Position device further include: it is described establish third coordinate system before, by trolley travelling to second position point.
5. container crane automatic calibration method as described in claim 1, which is characterized in that the first position point is to open
It establishes when founding first coordinate system, trolley position point.
6. container crane automatic calibration method as described in claim 1, which is characterized in that the installation marker also wraps
The operation field that at least one checking mark object is mounted on to container crane is included, the progress benchmark calibration further includes passing through
Benchmark calibration device measures verification coordinate value of the checking mark object under first coordinate system, wherein the checking mark object
For passive marker object, after completing the progress combined calibrating, the method also includes:
It verifies calibration result: coordinate of the checking mark object under the third coordinate system is measured by first laser positioning device
Value is converted according to the verification coordinate value and in conjunction with first transformational relation, second transformational relation and the third
Relationship verifies calibration result.
7. container crane automatic calibration method as claimed in claim 6, which is characterized in that the verification calibration result is also
It include: that checking mark object is measured before the coordinate value under the third coordinate system by first laser positioning device described,
Suspender is put to the second designated position.
8. container crane automatic calibration method as claimed in claim 6, which is characterized in that the checking mark object has 2
It is a, it is mounted on the control point on suspender.
9. container crane automatic calibration method as claimed in any one of claims 1 to 8, which is characterized in that described passive
Marker is the prismatic light reflecting membrane of side length 10cm, and the passive marker object has 4.
10. container crane automatic calibration method as claimed in any one of claims 1 to 8, which is characterized in that described active
Marker is infrared lamp, and the active marker object has 3.
11. container crane automatic calibration method as claimed in any one of claims 1 to 8, which is characterized in that the benchmark
Caliberating device is to come card, and the vision positioning device is detector of lifting device, and the first laser positioning device is target detection
Device.
12. a kind of container crane automatic calibration system characterized by comprising marker, benchmark calibration device, vision
Positioning device, first laser positioning device, second laser positioning device, controller, wherein the vision positioning device and described
First laser positioning device is located on the trolley of the container crane, and the second laser positioning device is located at the packaging
On the connection beam of case crane, the controller can obtain the benchmark calibration device, the vision positioning device, described
The measurement data of one laser locating apparatus and the dual-laser positioning device, the controller are suitable for rising to the container
When heavy-duty machine is demarcated, container crane automatic calibration method as described in any one of claim 1 to 11 is executed.
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| CN116412818A (en) * | 2022-01-05 | 2023-07-11 | 腾讯科技（深圳）有限公司 | Positioning method, positioning device, positioning apparatus, positioning device, computer-readable storage medium, and computer program product |
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