CN109878926A - The localization method and device of the fixed cage knob of container - Google Patents
The localization method and device of the fixed cage knob of container Download PDFInfo
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- CN109878926A CN109878926A CN201910307265.9A CN201910307265A CN109878926A CN 109878926 A CN109878926 A CN 109878926A CN 201910307265 A CN201910307265 A CN 201910307265A CN 109878926 A CN109878926 A CN 109878926A
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- cage knob
- fixed cage
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- container
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Abstract
The present invention relates to the localization methods and device of the fixed cage knob of container, wherein localization method obtains the 3-D image of the fixed cage knob of target using binocular camera the following steps are included: step S1；Step S2 determines location information of the fixed cage knob of the target on Y-Z plane according to the 3-D image；Step S3 obtains location information of the fixed cage knob of the target in the X-axis perpendicular with the Y-Z plane using laser ranging mechanism；Step S4 determines the spatial three-dimensional position of the fixed cage knob of the target based on location information of the fixed cage knob of the target on the location information and X-axis on the Y-Z plane.The localization method of the fixed cage knob of the container of the embodiment of the present invention improves the degree of automation of entire harbour, and then improves work efficiency and security performance.
Description
Technical field
The present invention relates to the technical fields of the fixed cage knob of container, and in particular to a kind of positioning side of the fixed cage knob of container
Method and device.
Background technique
In order to ensure safety, prevent container from sliding and toppling during transportation, all it is carried out effectively bind and
It is fixed.The binding of Nowadays, Container shipping is employed to fixed cage knob, but the presence of fixed cage knob brings phase to the handling of container
When difficulty, the dismounting of the fixed cage knob of most of dock container depend on it is traditional artificial, not only to the personal safety of worker
It is harmful, and waste a large amount of human costs and time cost.In order to improve working efficiency, personal safety harm is reduced, seldom
Digital head uses laser orientation system, but because of its own condition deficiency, position error is larger to be met the requirements.
Summary of the invention
In order to solve the above technical problems, it is an object of the present invention to provide a kind of positioning sides of the fixed cage knob of container
Method, the localization method improve the degree of automation of entire harbour, and then improve work efficiency and security performance.
It is another object of the present invention to provide a kind of positioning of the fixed cage knob of container for realizing above-mentioned localization method
Device.
In order to achieve the above objectives, the invention provides the following technical scheme:
The localization method of the fixed cage knob of the container of embodiment according to a first aspect of the present invention, comprising the following steps:
Step S1 obtains the 3-D image of the fixed cage knob of target using binocular camera；
Step S2 determines location information of the fixed cage knob of the target on Y-Z plane according to the 3-D image；
Step S3 obtains the fixed cage knob of the target in the X-axis perpendicular with the Y-Z plane using laser ranging mechanism
On location information；
Step S4, the location information based on the fixed cage knob of the target on the location information and X-axis on the Y-Z plane
Determine the spatial three-dimensional position of the fixed cage knob of the target.
Preferably, the step S2 includes:
Step S21 handles the 3-D image, obtains optimization processing image；
Step S22 determines that position of the fixed cage knob of the target on Y-Z plane is believed based on the optimization processing image
Breath.
It is further preferred that the step S21 includes:
Step S211 carries out distortion correction to the 3-D image；
Step S212 is smoothed image after distortion correction, obtains the optimization processing image.
It is further preferred that the localization method of the fixed cage knob of the container further includes following steps:
Step S5, the seat converted the spatial three-dimensional position of the fixed cage knob of the target in the coordinate system where robot
It marks and is supplied to the robot；
Step S6, the robot operate the fixed cage knob of the target according to the coordinate.
It is further preferred that the localization method of the fixed cage knob of the container further includes following steps:
Step S7 according to the model of the fixed cage knob of target described in the optimization processing image recognition and is supplied to the machine
People,
Wherein, the step S6 is specifically included:
The robot operates the fixed cage knob of the target according to the coordinate and the model.
The positioning device of the fixed cage knob of the container of embodiment according to a second aspect of the present invention, comprising:
Binocular camera, two imaging lens in the binocular camera are arranged along the x axis respectively, solid for obtaining target
The 3-D image of lock button；
Laser ranging mechanism, the laser ranging mechanism is for measuring the distance between fixed cage knob of the target；
Processor, the processor is for receiving the 3-D image and determining that the target is solid according to the 3-D image
Location information of the lock button on Y-Z plane, and for determining the target according to the distance that the laser ranging mechanism measures
Location information of the fixed cage knob in the X-axis perpendicular with the Y-Z plane, and according to the fixed cage knob of the target in the Y-
The location information on location information and X-axis on Z plane determines the spatial three-dimensional position of the fixed cage knob of the target.
Preferably, the processor includes:
Graphics processing unit, the graphics processing unit obtain optimization processing for handling the 3-D image
Image；
Computing unit, the computing unit determine that the fixed cage knob of the target is flat in Y-Z based on the optimization processing image
Location information on face.
It is further preferred that described image processing unit includes:
Distortion correction module, for carrying out distortion correction to the 3-D image；
Smoothing module obtains the optimization processing image for being smoothed to image after distortion correction.
It is further preferred that the positioning device of the fixed cage knob of the container further include:
Robot, the robot are connect with the binocular camera and laser ranging mechanism telecommunications respectively,
Wherein, the computing unit converts the spatial three-dimensional position of the fixed cage knob of the target to the seat where robot
It marks the coordinate in system and is supplied to the robot, the robot operates the fixed cage knob of the target according to the coordinate.
It is further preferred that the computing unit is also used to the target fixing lock according to the optimization processing image recognition
The model of button is simultaneously supplied to the robot, and it is solid to operate the target according to the coordinate and the model for the robot
Lock button.
Preferably, the distance between the binocular camera and the fixed cage knob of the target are 0.8-3m.
The beneficial effects of the present invention are: it is utilized respectively binocular camera and laser ranging mechanism obtains the fixed cage knob of target and exists
The location information on location information and X-axis on Y-Z plane, and then determine the spatial three-dimensional position of the fixed cage knob of target, according to
The localization method and device of the fixed cage knob of the container of the embodiment of the present invention, improve the degree of automation of entire harbour, in turn
It improves work efficiency and security performance, and fast response time, it is moderate, conducive to being widely used in production.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the flow chart of the localization method of the fixed cage knob of container of the embodiment of the present invention；
Fig. 2 is the top view of the positioning device of the fixed cage knob of container of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is merely to illustrate the present invention, but is not intended to limit the scope of the invention.
As shown in Figure 1, the localization method of the fixed cage knob 20 of container 10 according to an embodiment of the present invention, including following step
It is rapid:
Step S1 obtains the 3-D image of the fixed cage knob 20 of target using binocular camera 30；
Step S2 determines location information of the fixed cage knob 20 of the target on Y-Z plane according to the 3-D image；
According to some embodiments of the present invention, step S2 includes:
Step S21 handles the 3-D image, obtains optimization processing image；
Preferably, step S21 includes:
Step S211 carries out distortion correction to the 3-D image；
Step S212 is smoothed image after distortion correction, obtains the optimization processing image.
3-D image progress distortion correction can be, image is corrected using image processing software, it is abnormal to eliminate figure
Become, image after distortion correction is smoothed refer near the lock pin to the fixed cage knob 20 of container 10 it is existing be stained and
The existing corrosion of tapered end is smoothed.
Step S22 determines that position of the fixed cage knob 20 of the target on Y-Z plane is believed based on the optimization processing image
Breath.
Step S3 obtains the fixed cage knob 20 of the target perpendicular with the Y-Z plane using laser ranging mechanism 40
X-axis on location information；
Step S4, the position letter based on the fixed cage knob 20 of the target on the location information and X-axis on the Y-Z plane
Breath determines the spatial three-dimensional position of the fixed cage knob 20 of the target.
That is, since position deviation of the fixed cage knob 20 of target in X-axis is larger, and laser ranging mechanism 40 is logical
The laser straight line of sending is crossed to obtain location information, be existed so that the fixed cage knob 20 of target can not be obtained using laser ranging mechanism 40
Location information in Y-axis and Z axis, therefore the 3-D image that target fixes cage knob 20 is obtained using binocular camera 30, utilize triangle
The shape principle of similitude, and then determine location information of the fixed cage knob 20 of target on Y-Z plane, recycle laser ranging mechanism 40 to obtain
Location information of the fixed cage knob 20 of target in the perpendicular X-axis of Y-Z plane is taken, and flat in Y-Z based on the fixed cage knob 20 of target
The location information on location information and X-axis on face determines the spatial three-dimensional position of the fixed cage knob 20 of target, thus to container
10 fixed cage knobs 20 are positioned, wherein the opposite X-Z plane of binocular camera 30 Y-Z plane opposite with laser ranging mechanism 40
It is perpendicular.
The fixed cage knob 20 of target is obtained on Y-Z plane by being utilized respectively binocular camera 30 and laser ranging mechanism 40
Location information on location information and X-axis, and then determine the spatial three-dimensional position of the fixed cage knob 20 of target, the embodiment of the present invention
The localization method of the fixed cage knob 20 of container 10, improves the degree of automation of entire harbour, so improve work efficiency with
Security performance, and fast response time, it is moderate, conducive to being widely used in production.
According to some embodiments of the present invention, the localization method of the fixed cage knob 20 of above-mentioned container 10, further includes walking as follows
It is rapid:
Step S5 converts the spatial three-dimensional position of the fixed cage knob 20 of the target in the coordinate system where robot
Coordinate is simultaneously supplied to the robot；
Step S6, the robot operate the fixed cage knob of the target according to the coordinate.
Preferably, the localization method of the fixed cage knob 20 of container 10, further includes:
Step S7 according to the model of the fixed cage knob 20 of target described in the optimization processing image recognition and is supplied to the machine
Device people,
Wherein step S6 is specifically included: it is solid to operate the target according to the coordinate and the model for the robot
Lock button 20.
Wherein, image processing software is according to information such as the pixel distribution of optimization processing image, brightness and colors, at optimization
Reason image is changed into digitized signal, and then image processing software carries out various operations to these digitized signals to extract target
Feature is compared with inventory's model, to judge the model of the fixed cage knob 20 of target, and will judge the fixed cage knob 20 of resulting target
Model be supplied to robot, robot loads onto fixture corresponding with the fixed model of cage knob 20 of target to the fixed lock knob of target
20 are operated, and are unlocked so as to further be conducive to robot to the fixation cage knob 20 of container 10, if image procossing
The resulting target signature of software and inventory's model to being less than, can manual intervention exclude misrecognition, and by new fixation cage knob 20
Type information stored.
As shown in Fig. 2, realize the fixed cage knob 20 of container 10 of the localization method of the fixed cage knob 20 of above-mentioned container 10
Positioning device, including binocular camera 30, laser ranging mechanism 40 and processor, wherein two imaging lens in binocular camera 30
Head difference is arranged along the x axis, for obtaining the 3-D image of the fixed cage knob 20 of target, binocular camera can be tool there are two at
As a camera of camera lens is also possible to be respectively provided with two cameras of an imaging lens；Laser ranging mechanism 40 is for measuring
The distance between fixed cage knob 20 of target, the opposite Y-Z plane of laser ranging mechanism 40 X-Z plane opposite with binocular camera
It is perpendicular；Processor is used to receive 3-D image and determines position of the fixed cage knob 20 of target on Y-Z plane according to 3-D image
Confidence breath, and for according to the distance that laser ranging mechanism 40 measure determine target fixation cage knob 20 with the Y-Z plane phase
Location information in vertical X-axis, and believed according to position of the fixed cage knob of target on the location information and X-axis on Y-Z plane
Cease the spatial three-dimensional position for determining the fixed cage knob 20 of target.
The positioning device of the fixed cage knob 20 of the container 10 of the embodiment of the present invention, improves the automation journey of entire harbour
Degree, and then improve work efficiency and security performance to save a large amount of human cost and time cost has ensured worker
Personal safety, and fast response time is moderate, conducive to being widely used in production.
According to some embodiments of the present invention, processor includes graphics processing unit and computing unit, wherein graphics process
Unit obtains optimization processing image for handling the 3-D image；Computing unit is determined based on optimization processing image
Location information of the fixed cage knob 20 of target on Y-Z plane.
Preferably, image processing unit includes distortion correction module and smoothing module, wherein distortion correction module is used
In to 3-D image progress distortion correction；Smoothing module is obtained for being smoothed to image after distortion correction
To optimization processing image.
According to some embodiments of the present invention, the positioning device of the fixed cage knob 20 of the container 10 further includes robot,
Robot is connect with binocular camera 30 and 40 telecommunications of laser ranging mechanism respectively, wherein target is fixed cage knob 20 by computing unit
The coordinate that is converted into the coordinate system where robot of spatial three-dimensional position and be supplied to the robot, the robot root
The fixed cage knob 20 of the target is operated according to the coordinate.
Preferably, computing unit is also used to the model of the fixed cage knob 20 of the target according to the optimization processing image recognition
And it is supplied to the robot, the robot operates the fixed cage knob 20 of the target according to the coordinate and the model.
According to some embodiments of the present invention, the distance between binocular camera 30 and the fixed cage knob 20 of target are 0.8-3m,
The clearly 3-D image of the fixed cage knob 20 of target is got convenient for binocular camera 30.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of localization method of container (10) fixed cage knob (20), which comprises the following steps:
Step S1 obtains the 3-D image of target fixed cage knob (20) using binocular camera (30)；
Step S2 determines location information of the target fixed cage knob (20) on Y-Z plane according to the 3-D image；
Step S3 obtains the target fixed cage knob (20) perpendicular with the Y-Z plane using laser ranging mechanism (40)
X-axis on location information；
Step S4, the location information based on the target fixed cage knob (20) on the location information and X-axis on the Y-Z plane
Determine the spatial three-dimensional position of the target fixed cage knob (20).
2. the localization method of container (10) according to claim 1 fixed cage knob (20), which is characterized in that the step
S2 includes:
Step S21 handles the 3-D image, obtains optimization processing image；
Step S22 determines that position of the target fixed cage knob (20) on Y-Z plane is believed based on the optimization processing image
Breath.
3. the localization method of container (10) according to claim 2 fixed cage knob (20), which is characterized in that the step
S21 includes:
Step S211 carries out distortion correction to the 3-D image；
Step S212 is smoothed image after distortion correction, obtains the optimization processing image.
4. the localization method of container (10) according to claim 2 fixed cage knob (20), which is characterized in that further include as
Lower step:
Step S5, the seat converted the spatial three-dimensional position of the target fixed cage knob (20) in the coordinate system where robot
It marks and is supplied to the robot；
Step S6, the robot operate the target according to the coordinate and fix cage knob (20).
5. the localization method of container (10) according to claim 4 fixed cage knob (20), which is characterized in that further include:
Step S7 according to the model of target described in the optimization processing image recognition fixed cage knob (20) and is supplied to the machine
People,
Wherein, the step S6 is specifically included:
It is fixed cage knob (20) to operate the target according to the coordinate and the model for the robot.
6. a kind of positioning device of container (10) fixed cage knob (20) characterized by comprising
Binocular camera (30), two imaging lens in the binocular camera (30) are arranged along the x axis respectively, for obtaining mesh
Mark the 3-D image of fixed cage knob (20)；
Laser ranging mechanism (40), the laser ranging mechanism (40) is for measuring between the target fixed cage knob (20)
Distance；
Processor, the processor is for receiving the 3-D image and determining the target fixing lock according to the 3-D image
Location information of the button (20) on Y-Z plane, and described in the distance determination for being measured according to the laser ranging mechanism (40)
Location information of the target fixed cage knob (20) in the X-axis perpendicular with the Y-Z plane, and according to the fixed cage knob of the target
(20) location information on the location information and X-axis on the Y-Z plane determines the space of the target fixed cage knob (20)
Three-dimensional position.
7. the positioning device of container (10) according to claim 6 fixed cage knob (20), which is characterized in that the processing
Device includes:
Graphics processing unit, the graphics processing unit obtain optimization processing image for handling the 3-D image；
Computing unit, the computing unit determine the fixed cage knob of the target on Y-Z plane based on the optimization processing image
Location information.
8. the positioning device of container (10) according to claim 7 fixed cage knob (20), which is characterized in that described image
Processing unit includes:
Distortion correction module, for carrying out distortion correction to the 3-D image；
Smoothing module obtains the optimization processing image for being smoothed to image after distortion correction.
9. the positioning device of container (10) according to claim 7 fixed cage knob (20), which is characterized in that further include:
Robot, the robot are connect with the binocular camera (30) and the laser ranging mechanism (40) telecommunications respectively,
Wherein, the computing unit converts the spatial three-dimensional position of the target fixed cage knob (20) to the seat where robot
It marks the coordinate in system and is supplied to the robot, the robot operates the fixed cage knob of the target according to the coordinate
(20)。
10. the positioning device of container (10) according to claim 9 fixed cage knob (20), which is characterized in that the meter
Unit is calculated to be also used to the model of the target according to the optimization processing image recognition fixed cage knob (20) and be supplied to the machine
It is fixed cage knob (20) to operate the target according to the coordinate and the model for device people, the robot.
11. the positioning device of container (10) according to claim 6 fixed cage knob (20), which is characterized in that described double
The distance between mesh camera (30) and the target fixed cage knob (20) are 0.8-3m.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910307265.9A CN109878926A (en) | 2019-04-17 | 2019-04-17 | The localization method and device of the fixed cage knob of container |
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| CN201910307265.9A CN109878926A (en) | 2019-04-17 | 2019-04-17 | The localization method and device of the fixed cage knob of container |
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Cited By (4)
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| WO2021030973A1 (en) * | 2019-08-16 | 2021-02-25 | Abb Schweiz Ag | Method and apparatus for determining object location |
| CN112919161A (en) * | 2021-03-03 | 2021-06-08 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| WO2021109545A1 (en) * | 2019-12-04 | 2021-06-10 | 深圳蓝普科技有限公司 | Automated maintenance system for tiled display device and positioning method for unlocking mechanism |
| WO2022032575A1 (en) * | 2020-08-13 | 2022-02-17 | 上海成业智能科技股份有限公司 | Lock pin positioning method and apparatus, and device and storage medium |
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