CN112489045B - Anti-lifting detection method for integrated circuit card - Google Patents
Anti-lifting detection method for integrated circuit card Download PDFInfo
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- CN112489045B CN112489045B CN202011554711.5A CN202011554711A CN112489045B CN 112489045 B CN112489045 B CN 112489045B CN 202011554711 A CN202011554711 A CN 202011554711A CN 112489045 B CN112489045 B CN 112489045B
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- 238000001514 detection method Methods 0.000 title claims abstract description 73
- 230000003287 optical effect Effects 0.000 claims abstract description 34
- 238000000034 method Methods 0.000 claims description 24
- 230000002265 prevention Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an anti-lifting detection method for a collector card. Through the mode, the anti-lifting detection method for the collector card adopts the optical flow algorithm to carry out real-time detection on the anti-lifting of the collector card, so that the safety and the detection accuracy are ensured, and the working efficiency is improved.
Description
Technical Field
The invention relates to the field of detection of an integrated circuit card, in particular to an anti-lifting detection method for the integrated circuit card.
Background
With the rapid development of the intelligent logistics industry in China, the throughput of the port container is greatly promoted.
In a port yard, the operation of a lifting appliance in the process of lifting a container is not standard, and a collector card is easily lifted or turned over together, so that great potential safety hazards exist, and the working efficiency of lifting the container is reduced.
Disclosure of Invention
The invention mainly solves the technical problem of providing the anti-lifting detection method for the collector card, which has the advantages of high reliability, strong real-time performance and the like, and has wide market prospect in the application and popularization of collector card detection.
In order to solve the technical problems, the invention adopts a technical scheme that:
the anti-lifting detection method for the collector card comprises the following steps:
(1) When the container is lifted by the lifting appliance, the image acquisition equipment starts to continuously acquire images;
(2) Judging and selecting images meeting preset inter-frame differences according to the lifting speed of the container and the processing time of lifting prevention detection, and carrying out real-time lifting prevention detection of the collection card on the selected images by adopting an optical flow algorithm;
(2.1) setting of inter-image frame differences:
obtaining an inter-frame difference according to the formula: Δh > F/v > n > Δh > F/(3 v),
wherein n represents the interframe difference of the images, Δh represents the normal fluctuation distance of the collector card, F represents the image acquisition speed of the camera, and v represents the lifting speed of the container;
(2.2) detection area of the free set collector card
Freely selecting part of the collector card meeting the preset brightness threshold as a detection area to ensure effective detection;
(2.3) mean integration of the dataflow graph
Each picture group meeting the inter-frame difference obtains an optical flow chart, and a distance average value in a detection area on each optical flow chart is obtained through calculation; acquiring a distance average value in the anti-lifting detection process in real time, and accumulating the acquired distance average value in real time;
(2.4) collector State
When the value of the mean integral of the detection area is larger than a preset highest threshold value, the collection card is lifted; and when the value of the mean integral of the detection area is smaller than a preset minimum threshold value, indicating the side turning of the collection card.
(3) And ending the detection when the distance between the container and the collector card meets a preset height threshold value.
In a preferred embodiment of the invention, the image acquisition device is fixed on the upright post at the side of the collector card.
In a preferred embodiment of the present invention, the image acquisition speed of the image acquisition device is 20 to 30 frames/second.
In a preferred embodiment of the present invention, the duration of the anti-lifting detection is 3-5 seconds.
In a preferred embodiment of the present invention, in the step (2.1), the normal fluctuation distance Δh of the header card is 10cm, the lifting speed is 10cm/s, the image acquisition speed is 25 frames/s, and the range of the inter-frame difference n is 9-25.
In a preferred embodiment of the present invention, the inter-frame difference n is 10.
In a preferred embodiment of the present invention, in step (2.2), layout positions of a plurality of cards are freely selected as candidate detection areas, a mean value of brightness variation in each candidate detection area is calculated, and candidate detection areas satisfying a brightness threshold are selected as detection areas.
In a preferred embodiment of the invention, the position of the card carrier in the image is used as the detection area.
In a preferred embodiment of the present invention, the threshold range of the value integral of the detection area is (-5-210).
In a preferred embodiment of the invention, the collector card is lifted when the mean integral is greater than 210; when the mean integral is less than-5, the collector card is turned upside down.
The beneficial effects of the invention are as follows: the optical flow algorithm is adopted to conduct real-time detection of anti-lifting of the collection card, safety and detection accuracy are guaranteed, and working efficiency is improved.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a schematic diagram illustrating an anti-lifting detection method for a card according to a preferred embodiment of the present invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of the present invention includes:
the anti-lifting detection method for the collector card detects the movement condition of the collector card in the height direction in the box taking process, and judges the change around the collector card according to the picture shot in real time, so that the collector card is not lifted or lifted in the box taking process, and the operation safety is ensured.
Optical flow (optical flow) is the movement of an object, scene or camera that causes the object to move between two successive frames of images. The method is a two-dimensional vector field of an image in the translation process, and can represent a speed field of three-dimensional motion of an object point through a two-dimensional image, and reflect image changes formed by motion in a tiny time interval so as to determine the motion direction and the motion rate of the image point.
During normal operation, the collector card has only a small amount of change (10 cm) in the height direction, and the movement process of the collector card can change when the collector card is lifted/turned over, if the height direction is continuously increased, the collector card is lifted, otherwise, the collector card is turned over. Therefore, the optical flow algorithm can be used for anti-lifting detection of the collector card.
The basic assumption that the optical flow algorithm needs to satisfy is:
a) The brightness is constant. I.e. the same object does not change its brightness when moving between different frames. This is an assumption of the basic optical flow method (all optical flow method variants must be satisfied) for deriving the optical flow method basic equation;
b) A time continuous or motion is a "small motion". I.e. the time variation does not cause a drastic change in the target position, the displacement between adjacent frames is relatively small.
Based on the two assumption conditions, the optical flow method is directly used for the fact that the effect is not ideal in the wharf container lifting scene, and is improved.
The anti-lifting detection method for the integrated circuit card comprises the following specific steps of:
(1) When the container is lifted by the lifting appliance, the image acquisition equipment starts to continuously acquire images, wherein the image acquisition equipment is fixed on the upright post on the side face of the collector card, and the image acquisition speed is 20-30 frames/second.
(2) Judging and selecting images meeting the preset inter-frame difference according to the lifting speed of the container and the processing time of lifting prevention detection, and carrying out real-time lifting prevention detection of the collector card on the selected images by adopting an optical flow algorithm.
The optical flow method is similar to image contrast calculation, wherein the duration of anti-lifting detection is about 3-5 seconds, namely 3-5 seconds in the lifting process, and the anti-lifting detection is always carried out in the lifting process.
(2.1) setting of inter-image frame differences (inter-image frame differences, i.e., image frame processing intervals):
according to the formula: Δh F/v > n > Δh F/(3 v)
Wherein n represents a frame processing interval, Δh represents a normal fluctuation distance of the collector card, F represents an image acquisition speed of the camera, and v represents a lifting speed of the container.
For example, the normal fluctuation range deltah of the collector card is 10cm, the lifting speed is 10cm/s, the image acquisition speed is 25 frames/s, the range of the frame processing interval n is 9-25, the data processing efficiency and the accident finding timeliness are comprehensively considered, the frame processing interval is set to be 10, namely the 1 st frame is compared with the 11 th frame, the 2 nd frame is compared with the 12 th frame, and the like.
(2.2) detection area of the free set collector card
In the lifting process of the container, the brightness of a part of the area of the collector card can be changed due to the shielding of the container, but the brightness of a large area is unchanged, so that the detection area of the collector card can be freely set according to the field condition, and the detection is effective. The camera shooting position is fixed, the parking position of the collecting card is basically fixed, the position of the collecting card supporting plate in the image fluctuates within a certain range, and the position (position coordinate) of the collecting card supporting plate in the image can be manually and freely set as a detection area.
In addition, the influence caused by a small amount of brightness change can be eliminated by means of averaging in the detection area, and the robustness of an optical flow algorithm is enhanced.
The specific implementation steps are as follows: and calculating to obtain an optical flow chart according to each picture group with the interframe difference of 10, wherein the optical flow chart is consistent with the size of an image shot by a camera, and calculating the average value of the distance (or the position change quantity) of a detection area (the set card supporting plate) on each optical flow chart.
(2.3) optical flow mean map integration
The real-time optical flow diagram of the collector region feeds back the movement speed of the collector, but has a great problem that when the collector is slowly lifted at a constant speed along with the container, the optical flow diagram is difficult to accurately feed back whether the collector is lifted or turned over. Because the average of the detection areas of each optical flow chart can obtain the distance average of one optical flow chart, and the distance average of a plurality of optical flow charts can be obtained along with the lifting process of the container, the distance average of all the detection areas needs to be integrated in real time (namely, the distance average is accumulated) so as to detect the state of the collector card.
When the value of the optical flow average integral in the detection area is larger than a preset highest threshold value, the collection card is lifted; and when the value of the optical flow average integral in the detection area is smaller than a preset minimum threshold value, indicating the side turning of the collection card.
For example, in normal operation, the integrated value of the optical flow mean value of the detection area fluctuates (-5-210) within a normal range, and when the integrated value of the optical flow mean value of the collection card area is greater than 210, the collection card is lifted; and when the integral of the optical flow mean value graph of the collecting card area is smaller than-5, indicating that the collecting card is turned upside down.
In fig. 1, line 1 indicates a motion state in which the card is pulled up, line 2 indicates a normal motion state of the card, and line 3 indicates a motion state in which the card is turned over.
(3) And finishing detection when the container leaves the collector card by about 0.5 meter, and completing the whole container lifting work.
The anti-lifting detection method for the hub of the hub card has the beneficial effects that: the optical flow algorithm is adopted to conduct real-time detection of anti-lifting of the collection card, safety and detection accuracy are guaranteed, and working efficiency is improved.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (10)
1. The anti-lifting detection method for the collector card is characterized by comprising the following steps of:
(1) When the container is lifted by the lifting appliance, the image acquisition equipment starts to continuously acquire images;
(2) Judging and selecting images meeting preset inter-frame differences according to the lifting speed of the container and the processing time of lifting prevention detection, and carrying out real-time lifting prevention detection of the collection card on the selected images by adopting an optical flow algorithm;
(2.1) setting of inter-image frame differences:
obtaining an inter-frame difference according to the formula: Δh > F/v > n > Δh > F/(3 v),
wherein n represents the interframe difference of the images, Δh represents the normal fluctuation distance of the collector card, F represents the image acquisition speed of the camera, and v represents the lifting speed of the container;
(2.2) detection area of the free set collector card
Freely selecting part of the collector card meeting the preset brightness threshold as a detection area to ensure effective detection;
(2.3) mean integration of the dataflow graph
Each picture group meeting the inter-frame difference obtains an optical flow chart, and a distance average value in a detection area on each optical flow chart is obtained through calculation; acquiring a distance average value in the anti-lifting detection process in real time, and accumulating the acquired distance average value in real time;
(2.4) collector State
When the value of the mean integral of the detection area is larger than a preset highest threshold value, the collection card is lifted; when the value of the mean integral of the detection area is smaller than a preset minimum threshold value, the side turning of the collection card is indicated;
(3) And ending the detection when the distance between the container and the collector card meets a preset height threshold value.
2. The method for anti-lifting detection of a header card according to claim 1, wherein the image acquisition device is fixed to a column on a side of the header card.
3. The anti-lifting detection method for the collector card of claim 1, wherein the image acquisition speed of the image acquisition equipment is 20-30 frames/second.
4. The method for anti-lifting detection of an integrated circuit card according to claim 1, wherein the duration of anti-lifting detection is 3-5 seconds.
5. The anti-lifting detection method for the collector card according to claim 1, wherein in the step (2.1), the normal fluctuation distance deltah of the collector card is 10cm, the lifting speed is 10cm/s, the image acquisition speed is 25 frames/s, and the range of the inter-frame difference n is 9-25.
6. The method for detecting lift-off prevention of a header card according to claim 5, wherein the inter-frame difference n is 10.
7. The anti-lifting detection method for a set card according to claim 1, wherein in step (2.2), layout positions of a plurality of set cards are freely selected as candidate detection areas, a luminance variation average value in each candidate detection area is calculated, and a candidate detection area satisfying a luminance threshold is selected as a detection area.
8. The method of claim 7, wherein the position of the pallet in the image is used as the detection area.
9. The method for detecting the lifting prevention of the integrated circuit card according to claim 1, wherein the threshold range of the value integral of the detection area is (-5-210).
10. The method of claim 9, wherein the collector is lifted when the mean integral is greater than 210; when the mean integral is less than-5, the collector card is turned upside down.
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