CN110143524A - A kind of container of view-based access control model detection it is automatic case system - Google Patents
A kind of container of view-based access control model detection it is automatic case system Download PDFInfo
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- CN110143524A CN110143524A CN201910430995.8A CN201910430995A CN110143524A CN 110143524 A CN110143524 A CN 110143524A CN 201910430995 A CN201910430995 A CN 201910430995A CN 110143524 A CN110143524 A CN 110143524A
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- mark
- identifier
- container
- access control
- control model
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provide a kind of detection of view-based access control model container it is automatic case system, including small rail car and it is fixedly connected on the suspender of small rail car center bottom, it further include first object identification device, second Target Identification Unit and caliberating device, the first object identification device is installed on the side of the small rail car bottom, the other side of the small rail car bottom is fixedly installed with second Target Identification Unit, the first object identification device is connect with the second Target Identification Unit signal, and the caliberating device is also fixedly installed in the lower surface of the small rail car, the present invention passes through the calibration of first object identification device and the second Target Identification Unit and detector of lifting device, it fast can accurately grab targeted containers, and then dramatically improve the automatic lifting operation efficiency of container, also alleviate worker's simultaneously Operating pressure reduces labor intensity.
Description
Technical field
The present invention relates to a kind of container it is automatic box technology field, and in particular to a kind of container of view-based access control model detection
Automatic case system.
Background technique
With the sustainable development of China's economy, harbour container vanning business is increased rapidly, and the lifting of container turns
Fortune becomes the prevailing traffic mode for port traffic, and wherein rail-mounted gantry container crane is that collection is commonly used on harbour
Vanning handling, stacking and the equipment carried, in order to enable crane fills targeted containers with can be realized safety and precise
Operation is hung, then the suspender of crane must be enabled accurately to position targeted containers, and would generally in position fixing process
Target identification system is applied to, is that image information and data information are converted into for target is absorbed by machine vision product, passes
To dedicated image processing module and data processing module, using the target signature obtained after processing, according to target signature into
Row motion control.But above-mentioned positioning method is used to have to the case to each container to realize automatic case lifting
Position is marked, but such operation is too cumbersome for operator and time-consuming, simultaneously for container case lift
Efficiency is too low.
Summary of the invention
The main purpose of the present invention is to provide a kind of container of view-based access control model detection it is automatic case system, it is intended to solve
Fast accurately the positioning dress of targeted containers can be hung, the technical problem of the automatic lifting operation low efficiency of container.
In order to realize above-mentioned technical purpose, the present invention provide a kind of view-based access control model detection container it is automatic case system
System including small rail car and is fixedly connected on the suspender of small rail car center bottom, further includes first object identification device, the
Two Target Identification Units and caliberating device, the first object identification device are installed on the side of the small rail car bottom,
The other side of the small rail car bottom is fixedly installed with second Target Identification Unit, the first object identification device with
The connection of second Target Identification Unit signal, and the caliberating device is also fixedly installed in the lower surface of the small rail car.
Further, the caliberating device include first identifier, second identifier, third mark, the 4th mark, the 5th mark,
6th mark, the first identifier to second identifier distance with the 4th be identified to the 5th identify be equidistant, described the
One distance for being identified to the 4th mark being equidistant with what the second identifier to the 5th identified.
Further, the third mark arrives in the same outside that the first identifier and the 4th identify, the first identifier
The distance of third mark is identified to being equidistant for third mark with the described 4th.
Further, the 6th mark is in the same outside that the second identifier and the 5th identify, and the described 6th identifies
Being equidistant for the 5th mark, the first identifier, second identifier, the 4th are identified to the distance of second identifier and the described 6th
Mark and the 5th mark are in sustained height, and the third mark is consistent with the 6th mark height and is higher than described first
Mark, second identifier, the 4th mark and the 5th mark.
Further, the first identifier, second identifier, third mark, the 4th mark, the 5th mark and the 6th mark are equal
Light source mark and gauge without light source mark are installed.
Further, it is also equipped on the suspender for demarcating the detector of lifting device for thering is light source to identify.
Further, the detector of lifting device is that can identify the thermal infrared video camera for having light source to identify.
Further, the first object identification device and the second Target Identification Unit are Fluorescence Scanner.
Compared to the prior art, the present invention provide a kind of detection of view-based access control model container it is automatic case system, in use
State technical solution, reached following technical effect: the present invention by first object identification device and the second Target Identification Unit with
And the calibration of detector of lifting device, targeted containers fast can be accurately grabbed, and then it is automatic dramatically to improve container
Lifting operation efficiency, while the operating pressure for also alleviating worker reduces labor intensity.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of caliberating device in the present invention.
Fig. 3 is the side view of Fig. 2.
Fig. 4 is A partial enlarged view in Fig. 2.
In figure: 1- small rail car, 2- suspender, 3- first object identification device, the second Target Identification Unit of 4-, 5- calibration dress
It sets, 6- has light source mark, 7- gauge without light source mark, 8- detector of lifting device, 50- first identifier, 51- second identifier, 52- third mark
Know, 53- the 4th is identified, and 54- the 5th is identified, and 55- the 6th is identified.
Specific embodiment
Further to illustrate the technical means and efficacy of the invention taken to reach above-mentioned purpose, below in conjunction with attached drawing
And preferred embodiment, a specific embodiment of the invention, structure, feature and its effect describe in detail bright, it should be understood that this hair
Specific examples are only used to explain the present invention described in bright, is not intended to limit the present invention.
Referring to Fig.1 shown in -4, the present invention provides a kind of container number identifying system of view-based access control model detection, including track
Trolley 1 and the suspender 2 for being fixedly connected on 1 center bottom of small rail car further include first object identification device 3, the second target
Identification device 4 and caliberating device 5, first object identification device 3 are installed on the side of 1 bottom of small rail car, 1 bottom of small rail car
The other side in portion is fixedly installed with the second Target Identification Unit 4, and first object identification device 3 and the second Target Identification Unit 4 are believed
Number connection；Wherein first object identification device 3 and the second Target Identification Unit 4 are all made of Fluorescence Scanner, and in small rail car 1
Lower surface be also fixedly installed with caliberating device 5.Wherein, pass through first object identification device 3 and the second mesh using the above structure
The calibration for marking identification device 4 and detector of lifting device 8, fast can accurately grab targeted containers, and then dramatically
Improve the automatic lifting operation efficiency of container.
In preferred embodiment of the present invention, with reference to Fig. 2, shown in 3,4, caliberating device 5 therein includes first identifier 50, the
Two marks 51, the 54, the 6th mark 55 of the 53, the 5th mark of the 52, the 4th mark of third mark, first identifier 50 arrive second identifier 51
Distance be equidistant with 53 to the 5th mark 54 of the 4th mark, distance and the second mark of first identifier 50 to the 4th mark 53
To know 51 to the 5th marks 54 to be equidistant, third mark 52 is in the same outside of first identifier 50 and the 4th mark 53, and first
The distance of mark 50 to third mark 52 identifies 52 with the 4th mark 53 to third and being equidistant, and the 6th identifies 55 described the
The same outside of two marks 51 and the 5th mark 54, and the 6th mark 55 is to the distance of second identifier 51 and the 6th mark 55 to the
Five marks 54 are equidistant, and first identifier 50, the mark of second identifier the 51, the 4th 53 and the 5th mark 54 are in same height
Degree, third mark 52 is consistent with 55 height of the 6th mark and is higher than first identifier 50, second identifier 51, the 4th identifies 53 and the
Five marks 54, first identifier 50, second identifier 51, the 53, the 5th mark 54 of the 52, the 4th mark of third mark and the 6th mark 55
It is mounted on light source mark 6 and gauge without light source mark 7；It is also equipped on suspender 2 for demarcating the suspender detection dress for having light source mark 6
8 are set, detector of lifting device 8 is that can identify the thermal infrared video camera for having light source mark 6.Using the above structure, it is detected by suspender
Device 8 can will accurately have light source very well it will be seen that light filters out using the thermal infrared video camera that can identify the light source mark
Mark 6 is identified that gauge without light source mark 7 is made of fluorescent material, and first object identification device 3 and the second target identification dress
It sets 4 and is all made of Fluorescence Scanner to identify gauge without light source mark 7, beaten by fluorescent powder has high-energy value above, and fluorescence is swept
After the profile for describing gauge without light source mark 7, according to the energy value for returning to fluorescent powder, accurately by the contours extract of gauge without light source mark 7
Out, so that first object identification device 3 and the second Target Identification Unit 4 can be obtained accurately with gauge without light source mark 7,
The principle of middle first object identification device 3 is by being extraneous measuring basis coordinate system, i.e. small rail car 1 with Fluorescence Scanner
Coordinate system, according to state of the Fluorescence Scanner relative to measuring basis coordinate system is calculated, general object spatially all has six
A freedom degree, including three one-movement-freedom-degrees and three corresponding rotary freedoms, wherein three-dimensional coordinate system calibration are led
If template, i.e., Fluorescence Scanner coordinate system and measuring basis coordinate system are contacted by measured point known to three-dimensional coordinate
Come, so as to find out the conversion coordinate system of two coordinate systems.
Fluorescence Scanner scanning element is discrete under normal conditions, therefore three-dimensional coordinate of the measured point in the frame of reference
It can not accurately obtain, so that stated accuracy is poor, according to the architectural characteristic of Fluorescence Scanner itself, Fluorescence Scanner is to different glimmering
Luminescent material feedback effects are different, and the present invention uses high-performance fluorescent material to gauge without light source mark 7, and Fluorescence Scanner is to phosphor
Expect that susceptibility is very high, reflected energy value is also very high, using this feature of energy value, a preset value is arranged, by institute
There is the phosphor dot met the requirements to screen, obtains the profile of gauge without light source mark 7, and seek gauge without light source mark 7 using these points
Center of gravity, thus seek six gauge without light source mark 7 in Fluorescence Scanner coordinate { (Xi, Yi, Zi) } (i=1,2,3,4,5,
6), at the same time, the coordinate { (Xi ', Yi ', Zi ') } using electronic total station measurement marking plate in 1 coordinate system of small rail car
(i '=1,2,3,4,5,6) utilizes { (Xi, Yi, Zi) } and { (Xi ', Yi ', Zi ') } calculating Fluorescence Scanner coordinate system and track
Transformational relation between 1 coordinate system of trolley is simultaneously stored in calibration result in industrial computer, to pass through industrial computer control
The control of suspender 2 is hung the top of container position in target dress by system, and then accurately grabs container.
Concrete operating principle:
When the caliberating device 5 being arranged on small rail car 1, which moves to container to be measured dress, hangs region, small rail car 1 at this time
The suspender 2 of lower surface installation would fall to specified altitude, and at the same time, by the way that active marker is powered, and on suspender 2
The detector of lifting device 8 of installation is thermal infrared video camera to there is light source mark 6 to carry out Image Acquisition, and image processing algorithm is according to view
There is light source to identify the number of 6 infrared lamps to judge which kind of working condition camera is at this time, has calculated light source in wild range
Mark 6 camera coordinates system pixel coordinate, and by pixel coordinate be sent to industrial computer carry out Data Analysis Services, work as work
After industry computer receives the pixel coordinate of light source mark 6, according to the pixel coordinate for having light source mark 6, it is combined with light source mark
Know 6 between positional relationship, calculated light source mark 6 in video camera D coordinates value { (Xai, Yai, Zai) } (i=3,
4,5,6) it, is combined with coordinate { (Xai ', Yai ', Zai ') } (i=3,4,5,6) of the light source mark 6 under trolley coordinate system, is calculated
Transformational relation between 1 coordinate system of camera coordinate system and small rail car, and by transition matrix storage into industrial computer, until
The calibration of this detector of lifting device 8 is completed, and after the completion of the calibration of detector of lifting device 8, industrial computer sends instructions to first
Target Identification Unit 3 and the second Target Identification Unit 4 after the device receives instruction, start to scan the gauge without light source mark on ground
7, Fluorescence Scanner extracts gauge without light source mark 7 again, obtains coordinate of the gauge without light source mark 7 in Fluorescence Scanner
{ (Xi, Yi, Zi) } (i=1,2,3,4,5,6), in conjunction with gauge without light source mark 7 in 1 coordinate system of small rail car coordinate (Xi ',
Yi ', Zi ') } (i=1,2,3,4,5,6), calculate two fluorescence of first object identification device 3 and the second Target Identification Unit 4
Transformational relation between 1 coordinate system of scanner and small rail car, and the conversion coordinate calculated is stored to industrial computer
In, and industrial computer is by automatic Verification calibration result, and is shown on interface, it is entire to examine if calibration result is shown successfully
Surveying staking-out work terminates, and hangs the top of container position in target dress to control suspender 2 by Industrial Computer Control, into
And container is accurately grabbed, to improve the automatic lifting operation efficiency of container, alleviate the labor intensity of staff.
The present invention provide a kind of detection of view-based access control model container it is automatic case system, pass through first object identification device 3
With the calibration of the second Target Identification Unit 4 and detector of lifting device 8, targeted containers, Jin Erji fast can be accurately grabbed
The automatic lifting operation efficiency of container is improved to big degree, while the operating pressure for also alleviating worker reduces labor intensity.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as limitation of the invention, this hair
Bright protection scope should be with the technical solution of claim record, technical characteristic in the technical solution recorded including claim
Equivalents are protection scope.Equivalent replacement i.e. within this range is improved, also within protection scope of the present invention.
Claims (8)
1. a kind of container of view-based access control model detection it is automatic case system, including small rail car (1) and be fixedly connected on track
The suspender (2) of trolley (1) center bottom, which is characterized in that further include first object identification device (3), the second target identification dress
(4) and caliberating device (5) are set, the first object identification device (3) is installed on the side of the small rail car (1) bottom,
The other side of small rail car (1) bottom is fixedly installed with second Target Identification Unit (4), the first object identification
Device (3) is connect with the second Target Identification Unit (4) signal, and is also fixedly installed in the lower surface of the small rail car (1)
The caliberating device (5).
2. a kind of container of view-based access control model detection according to claim 1 it is automatic case system, which is characterized in that it is described
Caliberating device (5) includes first identifier (50), second identifier (51), third mark (52), the 4th mark (53), the 5th mark
(54), the 6th mark (55), the first identifier (50) arrive the distance and the 4th mark (53) to the 5th to second identifier (51)
Mark (54) is equidistant, the distance of the first identifier (50) to the 4th mark (53) and the second identifier (51) to the
Five marks (54) are equidistant.
3. a kind of container of view-based access control model detection according to claim 2 it is automatic case system, which is characterized in that it is described
Third identifies (52) in the same outside of the first identifier (50) and the 4th mark (53), and the first identifier (50) arrives third
It identifies the distance of (52) and the described 4th and identifies (53) being equidistant to third mark (52).
4. a kind of container of view-based access control model detection according to claim 2 it is automatic case system, which is characterized in that it is described
6th mark (55) is in the same outside of the second identifier (51) and the 5th mark (54), and the described 6th identifies (55) to the
The distance of two marks (51) and the 6th mark (55) being equidistant to the 5th mark (54), the first identifier (50),
Second identifier (51), the 4th mark (53) and the 5th mark (54) be in sustained height, the third identify (52) with it is described
6th mark (55) height is consistent and is higher than the first identifier (50), second identifier (51), the 4th mark (53) and the 5th
It identifies (54).
5. a kind of container for view-based access control model detection stated according to claim 4 it is automatic case system, which is characterized in that described the
One mark (50), second identifier (51), third mark (52), the 4th mark (53), the 5th mark (54) and the 6th mark
(55) light source mark (6) and gauge without light source mark (7) are mounted on.
6. a kind of container of view-based access control model detection according to claim 1 it is automatic case system, which is characterized in that it is described
It is also equipped on suspender (2) for demarcating the detector of lifting device (8) for having light source mark (6).
7. a kind of container of view-based access control model detection according to claim 6 it is automatic case system, which is characterized in that it is described
Detector of lifting device (8) is that can identify the thermal infrared video camera for having light source mark (6).
8. a kind of container of view-based access control model detection according to claim 1 it is automatic case system, which is characterized in that it is described
First object identification device (3) and the second Target Identification Unit (4) are Fluorescence Scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430995.8A CN110143524A (en) | 2019-05-22 | 2019-05-22 | A kind of container of view-based access control model detection it is automatic case system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430995.8A CN110143524A (en) | 2019-05-22 | 2019-05-22 | A kind of container of view-based access control model detection it is automatic case system |
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| CN110143524A true CN110143524A (en) | 2019-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910430995.8A Pending CN110143524A (en) | 2019-05-22 | 2019-05-22 | A kind of container of view-based access control model detection it is automatic case system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891927A (en) * | 2020-07-16 | 2020-11-06 | 上海振华重工(集团)股份有限公司 | First floor container placement method and computer readable storage medium |
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| CN101573286A (en) * | 2006-12-21 | 2009-11-04 | Abb公司 | Calibration device, method and system for a container crane |
| WO2016001481A1 (en) * | 2014-06-30 | 2016-01-07 | Konecranes Plc | Load transport by means of load handling equipment |
| CN105480864A (en) * | 2016-01-20 | 2016-04-13 | 上海振华重工电气有限公司 | Automatic detecting and calibrating system and method for container crane |
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