CN110996068B - Automatic tracking system, equipment and method for lifting appliance - Google Patents
Automatic tracking system, equipment and method for lifting appliance Download PDFInfo
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- CN110996068B CN110996068B CN201911321861.9A CN201911321861A CN110996068B CN 110996068 B CN110996068 B CN 110996068B CN 201911321861 A CN201911321861 A CN 201911321861A CN 110996068 B CN110996068 B CN 110996068B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides an automatic tracking system for a crane lifting appliance, which comprises a high-definition low-illumination fog-penetrating camera, a laser array LED compensating lamp, a video transmitter/server, a display and a centralized power supply. The high-definition low-illumination fog-penetrating camera mainly has the functions of picture imaging, hanger position detection and identification and optical zooming locking of a hanger. The laser array LED compensation lamp has the function of compensating the light of the camera, and the imaging definition of the camera and the position accuracy of a lifting appliance are improved. The video transmitter has the functions of building a stable real-time video signal and data loop and providing communication interfaces such as MODBUS, RS485, CVBS and the like for the server and the camera. The server is used for carrying out A/D, D/A conversion on the video signals and the data collected by each sensor, and carrying out corresponding control and adjustment after analyzing and comparing each data. The display function is for showing high definition picture and hoist position in real time. The centralized power supply function provides various stable power supplies for system equipment.
Description
Technical Field
The invention relates to the technical field of electromechanics, in particular to an automatic tracking system, equipment and a method for a crane lifting appliance.
Background
With the continuous rise of labor cost, people pursue safe and efficient operation environments, and the continuous promotion of industrial automation 4.0 and an artificial intelligence digital technology promotes the intellectualization of the port industry. However, most of the containers at the wharf are still handled manually except for a part of the automated wharf. For example, it is a very delicate matter to precisely insert the twist locks at the four corners of the spreader into the corresponding lock holes at the top of the container, and not only requires the driver to be skilled in operation, but also the attention must be kept highly focused. If manual grasping is performed continuously, the labor intensity is considerable. Due to the fact that the physical strength of a driver is reduced or under the condition that weather and operation environments are poor (for example, the weather conditions that sight lines are poor at night, sunlight is refracted through sea water or a container and dazzles, rain, haze and the like), the driver cannot clearly see the position of a lifting appliance and easily causes low efficiency and potential safety hazards only by feeling, for example, the risk that the container is toppled over due to the fact that the container is stacked irregularly, the risk that the container falls off from the air due to the fact that a lock catch cannot be grabbed by the container during lifting, or the risk that people or objects are hit by the container due to the fact that the driver cannot see whether people or objects exist in a yard or under the cabin operation range, and the like are caused.
Disclosure of Invention
It is an object of the present invention to provide an automatic tracking system, apparatus and method.
According to one aspect of the invention there is provided an automatic tracking system for a spreader, the system comprising a video server for converting an analogue current signal corresponding to the height of the spreader into a voltage signal and/or deriving zoom data from the voltage signal for controlling a camera for automatic tracking of the spreader.
The automatic tracking system according to the above aspect of the invention further comprises a programmable logic controller for generating the analog current signal according to the height of the crane spreader; and/or a camera for zooming to automatically track the spreader according to the zooming data; and/or a light compensation device for performing light compensation on the camera; and/or a power supply for supplying power to the automatic tracking system.
The automatic tracking system according to the above aspect of the invention, wherein the programmable logic controller is configured to send an instruction to switch the monitoring picture to the video server when the system is started or the spreader is moved; and/or when the video server receives a monitoring picture switching instruction, switching the monitoring picture to a real-time picture of a camera of the automatic tracking lifting appliance, and/or sending an image sampling instruction to the camera.
According to the automatic tracking system of the above aspect of the invention, the camera includes a ranging module for obtaining ranging data of the spreader through time-of-flight ranging upon receiving the image sampling command; and/or a first conversion module, which is used for converting the ranging data and a preset database to obtain a first operation result; and/or an imaging module for obtaining a spreader image; and/or the second conversion module is used for processing the hanger image through movement detection and/or obtaining a second operation result through image difference and clustering operation.
The automatic tracking system according to the above aspect of the present invention, wherein the video server includes a current-voltage conversion module for converting the analog current signal into a voltage signal; and/or a third conversion module, which is used for converting the voltage signal and a preset database to obtain a third operation result; and/or a comparison voter for comparing the first to third operation results and sending a zoom instruction for driving the camera to the control processor when the first to third operation results are the same; and/or the control processor is used for controlling the camera to carry out zooming and/or focusing and imaging according to the zooming instruction.
According to the automatic tracking system in the above aspect of the present invention, the control processor is further configured to process and perform video analysis on the monitored picture to monitor the early warning area and perform an alarm, and/or to control the light compensation device to perform light compensation; and/or the camera comprises a high-definition low-illumination fog-penetrating camera; and/or the light compensation device comprises a laser array light emitting diode; and/or the camera is placed directly above the spreader; and/or the ranging module comprises a time-of-flight laser 3-dimensional sensor.
According to another aspect of the invention, there is provided a video server for automatic tracking of spreaders for converting an analog current signal corresponding to the height of the spreader to a voltage signal and/or deriving zoom data from the voltage signal for controlling a camera used for automatic tracking of the spreader.
The video server according to the above aspect of the present invention further includes switching the monitoring picture to a real-time picture of a camera of the automatic tracking hanger according to the received command for switching the monitoring picture when the system is started or the hanger is moved, and/or sending an image sampling command to the camera to send a command for switching the monitoring picture to the video server.
The video server according to the above aspect of the present invention, wherein the video server includes a current-voltage conversion module for converting the analog current signal into a voltage signal; and/or a third conversion module, which is used for converting the voltage signal and a preset database to obtain a third operation result; and/or a comparison voter for comparing the first to third operation results and sending a zoom instruction for driving the camera to the control processor when the first to third operation results are the same; and/or a control processor, which is used for controlling the camera to carry out zooming and/or focusing and imaging according to the zooming instruction; and/or processing and video analysis are carried out on the monitoring picture so as to monitor the early warning area and carry out alarming; and/or controlling light compensation equipment to perform light compensation on the camera.
According to a further aspect of the present invention, there is provided a camera for automatic monitoring of a spreader, wherein the camera is adapted to determine a spreader distance by detecting a round trip flight time of a light pulse transmitted to the spreader to generate a first calculation result and/or generate a second calculation result by performing motion detection image processing and/or image differencing and clustering calculations on spreader images to control optical zoom of the camera to lock the spreader.
The camera comprises a ranging module, a data acquisition module and a data processing module, wherein the ranging module is used for obtaining ranging data of a lifting appliance through time-of-flight ranging when receiving the image sampling instruction; and/or a first conversion module, which is used for converting the ranging data and a preset database to obtain a first operation result; and/or an imaging module for obtaining a spreader image; and/or the second conversion module is used for processing the hanger image through movement detection and/or obtaining a second operation result through image difference and clustering operation.
The camera according to the above aspect of the invention, wherein the camera is placed directly above the spreader; and/or the camera comprises a high-definition low-illumination fog-penetrating camera.
According to a further aspect of the invention there is provided a method for automatic tracking of a spreader comprising driving a camera optically variable and/or focused and/or imaged in dependence on camera zoom data obtained, whereby the camera tracks spreader movement in real time for zoom in and out.
The method according to the above aspect of the invention, further comprising converting the analog quantity of the current signal corresponding to the height of the spreader into a voltage signal; and/or comparing the voltage signal with a pre-stored database to obtain an operation result; and/or voting the operation result and a sampling result of a camera for automatically tracking the lifting appliance; and/or when the voting result indicates that the operation result is the same as the sampling result, controlling the zoom number of the cameras so as to lock the lifting appliance for automatic tracking.
The method according to the above aspect of the invention, wherein the method further comprises switching the monitor picture to a real-time picture of the camera automatically tracking the spreader when the power is turned on or the spreader is moved; and/or instructing the camera to perform image sampling, wherein the step of determining the distance of the lifting appliance by detecting the round-trip flight time of a light pulse sent to the lifting appliance to generate a first operation result and/or the step of performing motion detection image processing and/or image difference and clustering operation on an image of the lifting appliance to generate a second operation result; and/or comparing the operation result with a first operation result and a second operation result of the camera for voting; and/or when the operation result is the same as the first operation result and the second operation result of the camera, processing and/or optimizing the picture of the position data, the video picture and the like of the lifting appliance; and/or controlling a camera to carry out zooming and/or focusing and/or imaging according to the camera zooming data in the operation result so as to lock the lifting appliance for automatic tracking.
The method according to the above aspect of the present invention, wherein the method further comprises processing and video analyzing the monitoring picture to monitor the early warning area and alarm when someone breaks into the early warning area; and/or controlling light compensation equipment to perform light compensation on the camera.
According to yet another aspect of the invention, there is provided a non-transitory machine-readable storage medium comprising one or more instructions which in response to being executed result in one or more processors performing one or more steps of a method as described above.
In accordance with yet another aspect of the present invention, a computing device is provided, comprising one or more processors; one or more memories coupled with the one or more processors for storing one or more instructions, wherein the one or more memories, in response to being executed, cause the one or more processors to perform one or more steps of a method as described above.
The automatic tracking system, apparatus and method according to the above aspects of the present invention may utilize NCAST image difference and clustering operations and TOF laser ranging dual system detection. In one embodiment, 1920 x 1080P high definition low light imaging may be used, and/or the lamp compensation may be automatically adjusted using a laser matrix. In another embodiment, a 128-bit Advanced Encryption Standard (AES) data transfer Encryption algorithm may be utilized. The automatic tracking system and the method have strong expansibility, and can select regional early warning, weather display and hanger speed display. The automatic tracking system can also be designed with a watchdog circuit to achieve no human intervention. The automatic tracking system and the method do not need to be in data communication with a machine PLC, can achieve fog penetration, strong light reflection inhibition, and real-time tracking of 42-time optical zooming and the like. The distance measured by the automatic tracking system and the method can be accurate to 1mm, and mechanical and optical anti-shake can be realized. The automatic tracking system of the invention conforms to the conventional use habit, is plug and play without any arrangement, and is simple and convenient in bracket installation. The automatic tracking system and the method can utilize the monitor to display data and real-time pictures, are full-automatic and intelligent, do not need manual operation, do not cause interference to other equipment, and have strong expansibility of various industrial serial ports. According to one embodiment of the invention, the automatic tracking system and the automatic tracking method can be suitable for various occasions with the working environment temperature between-40 ℃ and +60 ℃, and can customize specific functions according to the requirements of customers.
Drawings
FIG. 1 shows a schematic block diagram of an automatic tracking system in accordance with one embodiment of the present invention;
figure 2 shows a schematic view of a lifting device according to one embodiment of the invention;
FIGS. 3A and 3B are diagrams illustrating a monitoring screen according to an embodiment of the present invention, respectively;
FIGS. 4A and 4B show schematic comparison diagrams before and after application of a fog-penetrating function, respectively, in accordance with an embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of a safety precaution area, in accordance with one embodiment of the present invention;
FIG. 6 shows a schematic diagram of a lamp compensation zone according to one embodiment of the invention;
FIG. 7 shows a schematic block diagram of an automatic tracking system in accordance with one embodiment of the present invention;
FIG. 8 shows a schematic flow diagram of a method according to one embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Although the following description sets forth various implementations that may be shown, for example, in a system architecture, implementations of the techniques and/or arrangements described herein are not limited to a particular system architecture and/or computing system and may be implemented by any architecture and/or computing system for similar purposes. For example, various architectures and/or various computing devices and/or electronic devices employing, for example, one or more integrated circuit chips and/or packages, may implement the techniques and/or arrangements described herein. Furthermore, although the following description may set forth numerous specific details (e.g., logical implementations, types and interrelationships of system components, logical partitioning/integration choices, etc.), claimed subject matter may be practiced without these specific details. In other instances, some materials (e.g., control structures and complete software instruction sequences) may not be shown in detail in order not to obscure the material disclosed herein. The materials disclosed herein may be implemented in hardware, firmware, software, or any combination thereof.
The materials disclosed herein may also be implemented as instructions stored on a machine-readable medium or memory that may be read and executed by one or more processors. A computer-readable medium may include any medium and/or mechanism for storing or transmitting information in a form readable by a machine (e.g., a computing device). For example, a machine-readable medium may include Read Only Memory (ROM), Random Access Memory (RAM), magnetic disk storage media; an optical storage medium; a flash memory device; and/or other media. In another form, a non-volatile article (e.g., a non-volatile computer-readable medium) can be used for any of the above-mentioned examples or other examples, including such elements (e.g., RAM, etc.) that can temporarily store data in a "transient" manner.
FIG. 1 schematically illustrates a block diagram of one example of an auto-tracking system in accordance with one embodiment of the present invention. In one embodiment, the automatic tracking system 100 may be used for lifting equipment such as a crane of a harbor machinery or other harbor machinery, but the invention is not limited thereto, and in other examples, the automatic tracking system 100 may also be used for object movement automatic tracking and behavior recognition in other industrial automation equipment collision avoidance, distance measurement and/or special monitoring occasions.
In one embodiment, for the weather of the crane operation environment being complicated and changeable, the light at night being poor, the sunlight passing through sea water or container being refracted and dazzling, raining, dust, floating fog and the like with unclear vision and/or the condition of the operation environment being poor, the automatic tracking system 100 can display the position/height of the crane sling in real time through a camera device such as a high-definition low-illumination automatic tracking camera and the like, so as to assist the crane driver to carry out efficient and safe operation.
As shown in fig. 1, the automatic tracking system 100 may include a power supply 110, a camera 120, a light compensation device 130, an editable Logic Controller (PLC) 140, a video transmitter and/or server 150, and/or a display 160.
In one embodiment, the power supply 110 may comprise a centralized power supply to power one or more devices of the system 100.
The camera 120 may be used for picture imaging, spreader position detection recognition, and/or optical zoom locking of the spreader, etc. For example, the camera 120 may include a high definition low light optical zoom camera or the like for imaging to automatically track the spreader. In one embodiment, camera 120 may include a Time of flight (TOF) laser sensor and/or a high definition optical 42 zoom movement, although the invention is not limited in this respect. For example, the camera 120 may perform NCAST image difference and clustering operations by using TOF technology and/or depth camera self-learning motion detection image processing technology, etc., analyze the height of the spreader to be displayed on the monitoring screen, and/or drive the camera to optically zoom and track the movement of the spreader in real time.
In one embodiment, the light compensation device 130 may perform light intensity light compensation based on the spreader position/height. For example, the light compensation device 130 may be used to provide light compensation to the camera 120 to improve the imaging clarity of the camera 120 and the spreader position accuracy. For example, the lamp compensation device 130 may include a laser array Light Emitting Diode (LED) compensation lamp, etc., but the present invention is not limited thereto.
In one embodiment, the PLC server 140 may be used to convert the spreader height to an analog output. In one embodiment, the PLC 140 may be located on a port machine such as a crane, for example, although the invention is not limited thereto.
The Video transmitter/server 150 may include a Video transmitter and a Video server, wherein the Video transmitter may be configured to set up a stable real-time Video Signal and data loop, and provide communication interfaces such as MODBUS, RS485, Composite Video Broadcast Signal (CVBS) and the like for the Video server and the camera 120. The video transmitter may be used to transmit data modulated carrier to the power line to avoid the system to additionally run dedicated lines, but the invention is not limited thereto. The video server can be used for carrying out analog/digital (A/D) and digital/analog (D/A) conversion on the video signals and/or the data collected by each sensor, and carrying out corresponding control and adjustment after analyzing and comparing the data.
The display 160 may include an industrial display screen or other display device to display images taken by the camera 120 and the spreader position in real time.
Referring to fig. 1, in one embodiment, when the system 100 is powered on or the crane spreader moves, the PLC 140 may issue a first instruction to the video server 150 to immediately switch the monitoring picture to the camera real-time picture, so that the video server 150 controls the display 160 to switch the monitoring picture to the real-time picture photographed by the camera 120. PLC 140 may also issue a second instruction to camera 120 to immediately begin image sampling, data analysis, and/or comparison to drive camera 120 optical zoom lock spreader. The video server 150 may also perform frame optimization according to the position/height data of the spreader and/or the video frames, so as to drive the light compensation device 130 to perform light compensation according to the real-time position/height of the spreader, and/or analyze whether there is a human intrusion in the monitored area to give an alarm, or control the camera 120 according to the weather environment during operation, etc., so as to optimize the imaging effect.
Referring to fig. 1 and 7, in one embodiment, the PLC 140 is configured to convert an analog current signal (e.g., 4mA-20mA, etc., although the invention is not limited thereto) based on the height of the spreader. PLC 140 may provide an analog current signal to current signal acquisition scaling processor 716 to scale the acquired current signal. The current signal acquisition scaling processor 716 may scale and optimize the data from the PLC 140 and compare the stabilized voltage data with a pre-stored database and provide the comparison results to the comparison voter 718 for comparison and voting with other sampled signals. And driving the camera 120 to zoom, focus and/or image the optical lens according to the comparison voting result of the comparison voter, so as to ensure that the lens of the camera 120 tracks the movement of the lifting appliance in real time to zoom in or zoom out.
Referring to fig. 1 and 7, if the relative origin height of the spreader with respect to the camera 120 is 0 meters, the PLC 140 may preset an output current 4mA to current-voltage converter. The current-to-voltage converter 712 may convert the current to a voltage of 0V. The 0V voltage can be optimized to a stable voltage through a third arithmetic unit (e.g., a single chip microcomputer) 714 by comparison, for example, 100 times per second, so as to obtain the zoom number of the optical zoom lens (lens) of the camera 120 through comparison and conversion with a pre-stored database. The third operator 714 issues a corresponding instruction to the comparison voter 718 to cause the comparison voter 718 to compare the obtained zoom amount with other sampled data from the camera 120. If the zoom number is the same as that of other sampling data, the control processor drives the optical zoom movement of the camera 120 to perform corresponding zoom and focusing, so that the automatic tracking of the camera locking hanger action is realized.
In another example, if the relative origin height of the spreader with respect to the camera 120 is 10 meters, the PLC 140 may be programmed to output a current of 10mA to the current/voltage converter 712 to convert the current to a voltage of 1.0V. The voltage of 1.0V is optimized to a stable voltage through the third operator 714, for example, 100 comparisons per second, and converted to a pre-stored database to obtain the zoom number of the optical zoom movement. The third operator 714 issues a corresponding instruction to the comparison voter 718 to compare the magnification-varying amount with other sampled data. If the zooming data is the same as other sampling data, the control processor 724 drives the optical zooming movement core to perform corresponding zooming and focusing, so that the automatic tracking camera locks the hanger to act.
Although the automatic tracking system of fig. 1 is described above with respect to a port crane as an example, the present invention is not limited thereto, and in other embodiments, the automatic tracking system 100 may be used for, for example, automatic tracking and position display of port crane shore crane spreader positions, and/or alarm of personnel intruding into a work area; and/or the position of a port crane field bridge lifting appliance is automatically tracked and displayed, and/or personnel in an operation area intrudes into the port crane field bridge lifting appliance for alarming; and/or collision avoidance and distance measurement of industrial automation equipment; and/or object movement automatic tracking and behavior identification in special monitoring occasions and the like.
Referring to FIG. 1, in one embodiment, some or all of the auto-tracking system 100 may comprise hardware, software, firmware, and/or various combinations thereof. The automatic tracking system 100 includes one or more discrete modules and/or devices, but in some embodiments, the one or more discrete modules may be integrated into one module and/or processor. The automated control system 100 may include various architectures of one or more integrated circuit chips and/or packages and/or various computing and/or electronic devices, etc. The automated control system 100 may include one or more processing units (or processors) and one or more memory units (or memories) coupled to the one or more processing units.
Figure 2 schematically shows an example of a hoisting device according to an embodiment of the invention. In one embodiment, the lifting apparatus 200 may be used for lifting apparatuses such as a crane of a harbour machinery or other harbour machinery, but the invention is not limited thereto, and in other embodiments, the lifting apparatus 200 may also be used for other lifting machinery or the like.
As shown in fig. 2, in one embodiment, the illustrated lifting apparatus 200 may include a cab 210, a bridge girder 230, and a spreader 240. Although fig. 2 illustrates the spreader 240 being used on a port crane shore bridge, the present invention is not limited thereto and in other embodiments, the spreader 240 may be used on a port crane shore bridge or other port machinery or hoisting machinery.
As shown in fig. 2, the lifting apparatus 200 may further include a camera 220 mounted to the bridge girder 230 for automatically tracking the spreader 240. Referring to fig. 2, the camera 220 may be installed at a position directly above the spreader 240. For example, the camera 220 may be vertically aligned 90 ° down with the spreader 240, but the invention is not limited thereto and in another embodiment, the field of view of the camera 220 may cover the spreader 240. In yet another embodiment, the camera 220 may change position and/or orientation with the movement of the spreader 240 such that it is directly above the spreader 240 or has a field of view that covers the spreader 240 (e.g., as shown in fig. 3A or 3B). Fig. 2 only schematically illustrates the ratio of the camera 220 to the lifting device 200 (e.g., a shore bridge), but the present invention is not limited thereto. In one embodiment, the camera 220 may be set such that the zero of data is the operating reference for all acquired data.
Referring to fig. 1 and 2, when the lifting apparatus 200 is powered on or the lifting tool 240 moves, the video server of the lifting apparatus 200 receives an instruction given by the PLC to start working, switches a monitoring picture to a camera real-time picture for automatically tracking the lifting tool 240, and sends an instruction to the camera 220 to immediately start image sampling, data analysis and/or comparison, so as to drive the camera 220 to perform corresponding zooming, focusing and/or imaging, thereby realizing the automatic tracking of the camera to lock the lifting tool.
Fig. 3A and 3B schematically show an example of a monitor screen display according to an embodiment of the present invention, respectively.
In one embodiment, the monitoring screen shown in fig. 3A may be utilized for image sampling, data analysis, and/or comparison for zooming, focusing, and/or imaging to automatically track a locking spreader. The monitoring screen of fig. 3A may display a cursor 320, a cursor origin 322, a spreader image 330 within the cursor 320, and/or a camera field of view 310. In one embodiment, as shown in fig. 3A, the cursor origin 322 may be located at the center of the spreader image 330 and/or the camera field of view 310. In one embodiment, the height of the spreader relative to the camera's relative origin may be obtained from the distance of the sides of the spreader image 330 relative to the corresponding sides of the camera's field of view 310.
In another embodiment, the monitoring screen shown in fig. 3B may also be utilized for image sampling, data analysis and/or comparison for zooming, focusing and/or imaging to electronically track the locking spreader. The monitoring screen of fig. 3B may only display the spreader image 330 and/or the camera field of view 310.
Fig. 4A and 4B schematically illustrate a graphical comparison of the fog penetration capability of a camera in accordance with one embodiment of the present invention. As shown in fig. 4A, if a non-fog-penetrating camera is applied, in the case of fog, dust, and/or rain, it is difficult to perform hanger screen imaging, hanger position detection recognition, and/or optical zoom locking of a hanger, and the like. In contrast, as shown in fig. 4B, the high-definition low-illumination fog-penetrating camera can perform hanger image imaging, hanger position detection and identification, and/or optical zoom locking on a hanger under the conditions of haze, dust, rainwater, and/or the like, so as to realize automatic tracking of the camera locking hanger.
Fig. 5 schematically illustrates an example of a safety precaution area according to an embodiment of the present invention. Referring to fig. 1, 2 and 5, a safety precaution area 520 may be set in a working area of a machine, such as a shore bridge crane 510 of a port crane, and if a person or an object intrudes into the safety precaution area, an image/video information of the safety precaution area may be captured in time by using a camera (e.g., the camera 120 or 220 shown in fig. 1 or 2) of an automatic tracking system, and the automatic tracking system may detect the intrusion of the person or the object by processing the image/video information and then send an alarm to remind a driver of the shore bridge to stop working, so as to avoid a safety hazard, such as a personal injury accident. Although fig. 5 illustrates the quay crane 510, the present invention is not limited thereto, and in other embodiments, an automatic tracking system may be used to alarm personnel intruding into the working area of the quay crane or other crane, or perform collision avoidance and distance measurement of industrial automation equipment, and/or perform automatic object movement tracking and behavior recognition for special monitoring occasions.
Fig. 6 shows an example of lamp compensation according to an embodiment of the present invention. For example, as shown in fig. 6, in the light compensation area 602, a laser array LED compensation lamp may be used for light compensation during the operation of the shore bridge, but the present invention is not limited thereto, and the light compensation may be performed for the operation of the field bridge or other industrial automation equipment or special monitoring occasions. In another embodiment, the light compensation may be performed at other locations or automatically adjusted using, for example, a laser matrix or using other light compensation devices.
FIG. 7 schematically illustrates a schematic diagram of an automatic tracking system in accordance with one embodiment of the present invention. In one embodiment, the auto-tracking system 700 may include the camera 120, the PLC 140, and/or the video server or processor 150 as shown in fig. 1.
As shown in fig. 7, in one embodiment, the camera 120 may include a ranging module 704 for detecting one or more spreader positions 702. For example, the ranging module 704 may include a photoelectric sensor such as a TOF laser 3-dimensional sensor that may receive light back from a spreader by continuously sending light pulses to the spreader using TOF (time of flight) principles and/or using 2-dimensional optical ranging. The distance of the lifting appliance is obtained by detecting the flight (round trip) time of the light pulse, and then 2-dimensional outline, depth data, 3-dimensional point cloud data and the like of the lifting appliance are obtained. The distance measuring module 704 may interact optimized and stabilized data with the first operation module 708 performing operation using a preset database, and then provide operation results (e.g., data such as the zoom amount of the optical zoom movement) to the comparison voter 718 to perform data comparison with other sampling results from the second operation module 710 and/or the third operation module 714, and send the result to the control processor 724 to output results to control the auto-tracking camera optical movement to zoom and focus and/or image to control the height of the locking spreader so as to perform real-time actions. In one embodiment, the first computing module 708 and/or the camera 120 may further include a ROM (not shown) or other storage medium to pre-store the database.
As shown in fig. 7, the camera may further include a CCD imaging module 706 such as a Charge-coupled Device (CCD) sensor. The CCD imaging sensor can identify and compare specific edge patterns of a preset lifting appliance after startup initialization, analyze and lock the lifting appliance for imaging picture videos, and identify, analyze and calculate the pixel point proportion of each frame of image and the previous frame of image imaging of the lifting appliance when the lifting appliance moves. In one embodiment, the second operation module 710 may perform a depth camera self-learning motion detection image processing analysis on the CCD imaging module 706 and/or perform NCAST image differencing and clustering operations. After the proportion of the image of each frame of the image hanger is ensured to be more than 80%, the second operation module 710 transfers the operation result (for example, the data such as the zoom number of the optical zoom movement) to the comparison voter 718 for comparison and voting with other sampling signals. The comparison voter 718 drives the optical zoom camera of the camera 120 to zoom through the comparison result, so as to ensure that the camera 120 tracks the movement of the lifting appliance in real time to zoom in and out.
In yet another embodiment, the PLC 140 may perform an analog algorithm process to convert an analog current signal (e.g., 4-20mA, although the invention is not limited thereto) based on the height of the spreader and provide it to the current signal acquisition/conversion processor 716. The processor 716 can include a current to voltage converter 712 to convert the current signal from the PLC 140 to a voltage signal. After the stable data after the voltage signal optimization is compared with the pre-stored database through the third operation module 714, the operation result is given to the comparison voter 718 to be compared with other sampling signals for voting. For example, the operation result of the third operation module 714 may include data such as the zoom number of the optical zoom movement. The comparison voter 718 uses the comparison result to drive the camera to perform optical zoom shooting to zoom, so as to ensure that the camera tracks the movement of the lifting appliance in real time to zoom in and out. In one embodiment, the third operation module 708 and/or the processor 716 may further include a ROM or other storage medium to pre-store the database.
In one embodiment, the comparison voter 718 may receive the operation result from the first operation module 708, the second operation module 710, and/or the third operation module 714. If the comparison voter 718 detects that the data from the third operation module 714 is the same as other sampling data, the control processor 724 may perform control processing and video analysis to drive the optical zoom movement of the camera to perform corresponding zoom, focusing and/or imaging, thereby achieving automatic tracking of the movement of locking the lifting appliance by the camera. In one embodiment, the control processor 724 may include a module 720 for control processing/video analysis based on the comparison results from the comparison voter and/or a module 722 for controlling zoom/focus/imaging of the camera optics.
In one embodiment, the control Processor 724 may utilize a high speed Digital Signal Processor (DSP) so that it may be independently monitored and operated without establishing data communication with the PLC 140 (e.g., the PLC 140 outputting an analog current Signal). The control Processor 724 may perform an operation process through a Field Programmable Gate Array (FPGA) chip and/or an Image Signal Processor (ISP)/DSP embedded module to penetrate haze, dust, rain, etc., so as to restore a real-time and clear monitoring picture.
As shown in fig. 7, the automatic tracking system 700 includes one or more discrete modules and/or devices, but in some embodiments, the one or more discrete modules may be integrated into one module and/or processor. In another embodiment, at least a portion of the auto-tracking system 700 may be implemented by software, hardware, firmware, or various combinations thereof. In one embodiment, one or more of the modules 704 and 710 may be integrated into one module. In another embodiment, one or more of the modules of the current signal collection/scaling processor 716, the comparison voter 718, and/or the control processor 724 may be integrated, for example, in the video server 150 shown in fig. 1.
Although not shown in fig. 7, in one embodiment, the automatic tracking system 700 may further include a light compensation control module for providing light compensation or turning off light compensation in the event of haze, dust, rain, snow, or other conditions requiring light compensation. In one embodiment, the light compensation control module may be integrated in the video server 150 shown in fig. 1, but the invention is not limited thereto.
Although not shown in fig. 7, in one embodiment, the automated control system 700 may comprise a variety of architectures of integrated circuit chips and/or packages and/or a variety of computing and/or electronic devices, and the like. For example, the automated control system 700 may include one or more processing units (or processors) and one or more memory units (or memories) coupled to the one or more processing units. In one embodiment, the one or more memory units may include various memory devices such as random access memory, dynamic random access memory, or static random access memory. In one embodiment, the one or more storage units may be used to store one or more instructions (e.g., machine-readable instructions and/or computer programs) that may be read and/or executed by the one or more processing units, and/or data or information from the control unit. The one or more instructions may also be stored on a non-transitory machine-readable storage medium. In response to being executed, the one or more instructions cause the one or more processing units to implement an auto-tracking system as described above with reference to fig. 1-7 and/or to perform one or more operations as described with reference to fig. 1-7 and fig. 8 below.
FIG. 8 shows a flow diagram of a method according to one embodiment of the invention. In one embodiment the method may be used for automatic tracking of a crane spreader, but in other embodiments the method may be applied to automatic tracking of other similar machines, automated machines or other applications, etc. as described above.
As shown in fig. 8, on the camera side, the camera may receive an instruction from a video server to initiate image sampling/analysis/comparison, etc., at block 802. At block 804, optical ranging may be performed using TOF techniques. For example, a 2D profile, depth data, and 3D point cloud data of a spreader are acquired by continuously transmitting light pulses to the spreader, receiving light returned from the spreader by a photoelectric sensor, and obtaining a spreader distance by detecting a flight (round trip) time of the light pulses. In one embodiment, the obtained data may also be optimized to obtain stable data. Or may be optimized at block 806.
In one embodiment, optical ranging may be performed using TOF principles. For example, at block 806, the ranging data obtained at block 804 may be computed using a predetermined scaling database to obtain a computation result. For example, a preset scaling database in the ROM may be called up for scaling. In one embodiment, the operation result may include a zoom number of the optical zoom movement obtained through conversion, and the like. Flow then passes to block 822 to be voted for comparison with other sample results.
On the other hand, NCAST image difference and clustering operation can be performed by the depth camera self-learning motion detection image processing technique. For example, at block 808, CCD imaging may be performed after power-on initialization. At block 810, motion detection pixel analysis/image differentiation and clustering operations are performed to identify and compare predetermined edge patterns of the spreader and/or to analyze and lock the spreader for the imaged video. In one embodiment, the pixel point proportion of each frame of image and the last frame of image of the sling can be identified, analyzed and calculated when the sling moves, so as to ensure that the imaging proportion of the sling of each frame of image is more than 80 percent, for example. The analysis operation result may include the zoom number of the optical zoom movement obtained through conversion, and the like. Flow then proceeds to 822 to vote the result of the analysis operation against the other sampled signals.
On the video server side, when the system is powered on or the crane lifting appliance moves, the PLC can send an instruction to the video server to switch the monitoring picture. At block 812, the video server may receive instructions from the PLC to immediately switch the monitor view to the real-time view of the camera auto-tracking spreader. At block 814, the video server may instruct the camera to perform image sampling/analysis/comparison. At block 816, an analog current signal may be received. As mentioned above, in one embodiment, the analog current signal may be scaled by the PLC based on the height of the spreader. At block 818, the collected current signal is subjected to a current-to-voltage conversion process to obtain a voltage signal. In one embodiment, this voltage signal may also be optimized to obtain stable voltage data. At block 820, the voltage data is compared with a pre-stored database to obtain a result. The operation result may include the number of times of zooming of the camera optical lens, and the like.
Flow then proceeds to block 822 to make a comparison vote on the results of the operations obtained at blocks 806, 810, and 818, respectively. For example, if the result of the operation obtained at block 818 is the same as the other sampled signals obtained at blocks 806 or 810, flow proceeds to block 824. Otherwise, flow returns to blocks 806, 810, and 818 to continue sampling.
At block 824, the video server processes and analyzes the spreader position data, video frames, and the like, and video processes and analyses such as frame optimization, based on the received voting results. The video server may also drive the camera optical zoom/focus/image according to the obtained camera optical lens zoom data at block 826, thereby ensuring that the camera tracks the spreader movement in real time to zoom in and out to lock the spreader.
Although not shown in fig. 8, in one embodiment, the method may further include driving the light compensation device to perform light compensation according to the real-time position of the spreader by the video server when the light compensation is required. In addition, the method can also comprise the steps that the video server analyzes whether personnel break into the monitored area and gives an alarm to perform safety early warning, and/or controls the camera through the weather environment condition during operation, and the like, so that the imaging effect is optimized. In addition, the method may further include a/D, D/a conversion of the video signals, the data collected by each sensor, analysis of the data, comparison of the data, control and adjustment thereof, etc., as described above with reference to fig. 1-7.
In the embodiments shown in fig. 1-8, the automatic tracking system and method according to the present invention can utilize NCAST image differencing and clustering operations and TOF laser ranging dual system detection. In one embodiment, 1920 x 1080P high definition low light imaging may be used, and/or the lamp compensation may be automatically adjusted using a laser matrix. In another embodiment, a 128-bit Advanced Encryption Standard (AES) data transfer Encryption algorithm may be utilized. The automatic tracking system and the method have strong expansibility, and can select regional early warning, weather display and hanger speed display. The automatic tracking system can also be designed with a watchdog circuit to achieve no human intervention. The automatic tracking system and the method do not need to be in data communication with a machine PLC, can achieve fog penetration, strong light reflection inhibition, and real-time tracking of 42-time optical zooming and the like. The distance measured by the automatic tracking system and the method can be accurate to 1mm, and mechanical and optical anti-shake can be realized. The automatic tracking system of the invention conforms to the conventional use habit, is plug and play without any arrangement, and is simple and convenient in bracket installation. The automatic tracking system and the method can utilize the monitor to display data and real-time pictures, are full-automatic and intelligent, do not need manual operation, do not cause interference to other equipment, and have strong expansibility of various industrial serial ports. According to one embodiment of the invention, the automatic tracking system and the automatic tracking method can be suitable for various occasions with the working environment temperature between-40 ℃ and +60 ℃, and can customize specific functions according to the requirements of customers.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An automatic tracking system for a spreader, comprising:
the video server is used for converting the analog quantity current signal corresponding to the height of the lifting appliance into a voltage signal and obtaining zoom data for controlling a camera for automatically tracking the lifting appliance through the voltage signal;
the programmable logic controller is used for generating the analog quantity current signal according to the height of a crane lifting appliance;
the camera is used for zooming according to the zooming data so as to automatically track the lifting appliance;
the light compensation equipment is used for carrying out light compensation on the camera;
a power supply for supplying power to the automatic tracking system,
wherein the camera includes: the distance measurement module is used for obtaining distance measurement data of the lifting appliance through flight time distance measurement when an image sampling instruction is received; the first conversion module is used for converting the ranging data and a preset database to obtain a first operation result; the imaging module is used for obtaining a hanger image; the second conversion module is used for processing the hanger image through movement detection and obtaining a second operation result through NCAST image difference and clustering operation,
the video server includes: the analog quantity conversion device comprises a current-voltage conversion module, a third conversion module, a comparison voter and a control processor, wherein the current-voltage conversion module is used for converting the analog quantity current signal into a voltage signal; the third conversion module is used for converting the voltage signal and a preset database to obtain a third operation result; the comparison voter is used for comparing the first to third operation results and sending a zoom instruction for driving the camera to the control processor when the first to third operation results are the same; and the control processor is used for controlling the camera to carry out zooming, focusing and imaging according to the zooming instruction.
2. The automatic tracking system of claim 1,
the programmable logic controller is used for sending a command of switching monitoring pictures to the video server when the system is started or the lifting appliance moves;
and when receiving the command of switching the monitoring picture, the video server switches the monitoring picture to the real-time picture of the camera of the automatic tracking lifting appliance and sends an image sampling command to the camera.
3. The automatic tracking system of claim 1,
the control processor is also used for processing and video analysis of the monitoring picture so as to monitor the early warning area and give an alarm, and is also used for controlling the light compensation equipment to perform light compensation;
the camera comprises a high-definition low-illumination fog-penetrating camera;
the light compensation equipment comprises a laser array light emitting diode;
the camera is arranged right above the lifting appliance;
the ranging module comprises a time-of-flight laser 3-dimensional sensor.
4. A video server for automatic tracking of spreaders, said video server being adapted to convert an analog current signal corresponding to the height of the spreader into a voltage signal from which zoom data are derived for controlling a camera used for automatic tracking of the spreader,
when the system is started or the lifting appliance moves, the monitoring picture is switched to the real-time picture of the camera of the automatic tracking lifting appliance according to the received command for switching the monitoring picture, an image sampling command is sent to the camera, a command for switching the monitoring picture is sent to a video server,
the video server is connected with a camera, and the camera comprises: the distance measurement module is used for obtaining distance measurement data of the lifting appliance through flight time distance measurement when an image sampling instruction is received; the first conversion module is used for converting the ranging data and a preset database to obtain a first operation result; the imaging module is used for obtaining a hanger image; the second conversion module is used for processing the hanger image through movement detection and obtaining a second operation result through NCAST image difference and clustering operation,
the video server includes: the analog quantity conversion device comprises a current-voltage conversion module, a third conversion module, a comparison voter and a control processor, wherein the current-voltage conversion module is used for converting the analog quantity current signal into a voltage signal; the third conversion module is used for converting the voltage signal and a preset database to obtain a third operation result; the comparison voter is used for comparing the first to third operation results and sending a zoom instruction for driving the camera to the control processor when the first to third operation results are the same; and the control processor is used for controlling the camera to carry out zooming, focusing and imaging according to the zooming instruction, processing a monitoring picture and carrying out video analysis so as to monitor an early warning area and give an alarm, and controlling light compensation equipment to carry out light compensation on the camera.
5. A camera for automatically monitoring a spreader, wherein the camera is used for determining a spreader distance by detecting a round-trip flight time of a light pulse transmitted to the spreader to generate a first operation result and generating a second operation result by performing motion detection image processing and image difference and clustering operations on spreader images to control optical zoom of the camera so as to lock the spreader,
the camera includes: the distance measurement module is used for obtaining distance measurement data of the lifting appliance through flight time distance measurement when an image sampling instruction is received; the first conversion module is used for converting the ranging data and a preset database to obtain a first operation result; the imaging module is used for obtaining a hanger image; the second conversion module is used for processing the hanger images through motion detection and obtaining a second operation result through image difference and clustering operation; the camera is arranged right above the lifting appliance; the camera comprises a high-definition low-illumination fog-penetrating camera,
the camera is connected with a video server, and the video server comprises: the lifting appliance height analog quantity conversion device comprises a current-voltage conversion module, a third conversion module, a comparison voter and a control processor, wherein the current-voltage conversion module is used for converting an analog quantity current signal corresponding to the lifting appliance height into a current-voltage conversion module of a voltage signal; the third conversion module is used for converting the voltage signal and a preset database to obtain a third operation result; the comparison voter is used for comparing the first to third operation results and sending a zoom instruction for driving the camera to the control processor when the first to third operation results are the same; and the control processor is used for controlling the camera to carry out zooming, focusing and imaging according to the zooming instruction, processing a monitoring picture and carrying out video analysis so as to monitor an early warning area and give an alarm, and controlling light compensation equipment to carry out light compensation on the camera.
6. A method for automatic tracking of a spreader, characterized by: when the power supply is switched on or the lifting appliance moves, switching the monitor picture to a real-time picture of the lifting appliance automatically tracked by the camera;
the method comprises the steps that a camera is indicated to conduct image sampling, the distance of a lifting appliance is determined to generate a first operation result by detecting the round-trip flight time of light pulses sent to the lifting appliance, and a second operation result is generated by conducting motion detection image processing, image difference and clustering operation on lifting appliance images;
converting an analog current signal corresponding to the height of the lifting appliance into a voltage signal, and obtaining zoom data for controlling a camera for automatically tracking the lifting appliance through the voltage signal; obtaining a third operation result by converting the voltage signal with a preset database;
and comparing the first to third operation results, processing the position data of the lifting appliance, video pictures and the like and optimizing the pictures when the first to third operation results are the same, and controlling the camera to carry out zooming, focusing and imaging according to the zooming data of the camera so as to lock the lifting appliance for automatic tracking.
7. The method as claimed in claim 6, wherein the method further comprises processing and video analyzing the monitoring picture to monitor the early warning area and alarm when someone breaks in; and controlling light compensation equipment to perform light compensation on the camera.
8. A non-transitory machine-readable storage medium comprising one or more instructions, wherein the one or more instructions, in response to execution by a processor, perform the method of claim 6 or 7.
9. A computing device comprising one or more processors; one or more memories coupled with the one or more processors to store one or more instructions, wherein the one or more instructions are executed by the processors to perform the method of claim 6 or 7.
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| CN112850500A (en) * | 2021-02-22 | 2021-05-28 | 博大视野(厦门)科技有限公司 | Vision anti-swing system and method for lifting appliance |
| CN113676775A (en) * | 2021-08-27 | 2021-11-19 | 苏州因塞德信息科技有限公司 | Method for implanting advertisement in video and game by using artificial intelligence |
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| CN102530727B (en) * | 2012-02-02 | 2014-05-21 | 上海成业科技工程有限公司 | Lifting appliance shot automatic tracking and control system |
| FI125689B (en) * | 2012-10-02 | 2016-01-15 | Konecranes Global Oy | Handling a load with a load handler |
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