CN112785644A - Bucket wheel machine cart walking positioning method based on image processing - Google Patents
Bucket wheel machine cart walking positioning method based on image processing Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a bucket wheel machine cart walking positioning method based on image processing. The method comprises the following steps: acquiring a track picture of the bucket wheel machine during walking by using an image acquisition and processing technology; carrying out real-time enhancement and inclination correction processing on the image to enable the orbit to be positioned in the center of the image; judging whether the cart advances or not through image inter-frame difference operation, and judging that the cart slips when the cart advances but the angle encoder does not output; processing an image when the bucket wheel machine travels and slips, determining the relative position of each pair of bolts through symmetry detection, solving the barycenter coordinate of the bolt image, and solving the slip distance of the bucket wheel machine when the cart travels according to the coordinate change of each pair of bolts in the slip process; and (5) overlapping and compensating the slipping distance and the recorded data of the encoder to obtain the actual running distance of the bucket wheel machine. The method solves the problem of unstable signals of a common positioning method, avoids positioning errors caused by the slipping of the bucket wheel machine, and is more suitable for complex environment places such as coal yards and the like.
Description
Technical Field
The invention belongs to the technical field of coal yard equipment, and particularly relates to a bucket wheel machine cart walking positioning method based on image processing.
Background
The bucket wheel machine is also called a bucket wheel stacker-reclaimer, is high-efficiency equipment for continuously loading and unloading bulk materials in modern industry, and is a rail type loading and unloading machine which continuously takes materials through the bucket wheel on the bucket wheel machine and continuously piles materials by combining a belt conveyor of the bucket wheel machine. The positioning of the bucket wheel machine body has important influence on the real-time control of the bucket wheel machine, and the accurate, high-efficiency and quick stacking of the bucket wheel machine ensures the uniform mixing of pulverized coal, avoids the occurrence of accidents and has important significance.
The method for positioning the bucket wheel machine cart in the traveling process generally comprises various positioning methods such as GPS positioning, laser range finder positioning, UWB positioning, encoder positioning, LBS positioning (base station positioning) and the like.
The accuracy of GPS positioning in actual industrial production can reach centimeter level, but the positioning accuracy of a closed indoor coal yard is reduced.
Laser rangefinder can not have the blockking of foreign object to the middle of the measuring distance, when the foreign matter appears, laser rangefinder will become invalid, is unfavorable for the more complicated actual industry place of production environment, and laser rangefinder's cost still is very high at present.
The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data, and the UWB positioning technology generally considers that the transmission rate is high, the range coverage is Wide, the real-time performance is good, the penetrating power is strong, the transmission capacity is strong, and the transmitting power is small. However, the UWB technology has insufficient accuracy, a plurality of base stations need to be erected for positioning, and the bandwidth occupied by the UWB system is high, which may interfere with other existing wireless communication systems.
An Encoder (Encoder) is a device that compiles, converts, and formats signals or data into a form of signals that can be communicated, transmitted, and stored. The encoder is used for positioning because the encoder converts the rotational displacement into a series of digital pulse signals, and these pulses can be used to control the angular displacement. Thus the encoder, in combination with a rack or screw, can also be used to measure linear displacement. However, mechanical wear of the encoder occurs during long-term use, and the more the work load and the loss are, and further, the longer the encoder is used, the more the error is accumulated. Therefore, the method for positioning the bucket wheel machine by using the encoder is far from enough, and the requirements of practical industrial production on the simplicity, reliability and high efficiency of the positioning method cannot be met.
In addition, short-range positioning measurements, such as WLAN, bluetooth, LBS positioning, etc., are limited to signal transmission. Therefore, the invention provides a bucket wheel machine cart walking positioning method based on image processing, so as to solve the problems.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a method for positioning the walking of a trolley crane based on image processing to solve the above-mentioned problems in the background art.
The method for positioning the walking of the bucket wheel machine cart collects the track picture of the bucket wheel machine during walking by using an image collecting and processing technology, judges whether the cart advances or not through image interframe difference operation, and has a slipping phenomenon when the cart advances but an angle encoder does not output. Processing an image when the bucket wheel machine slides during running, determining the relative position of each pair of bolts through symmetry detection, solving the barycenter coordinate of the bolt image, solving the average value according to the coordinate change of each bolt in the sliding process to obtain the sliding distance of the bucket wheel machine cart during running, and then performing superposition compensation on the sliding distance and the recorded data of the encoder to obtain the actual running distance of the bucket wheel machine.
The method comprises the following specific steps:
in the first step, an image acquisition and processing device, such as an industrial camera, is installed above the track of the bucket wheel machine and is used for acquiring images of the bucket wheel machine during walking.
Second, at installation, the following parameters are set and measured: the distance H between the image acquisition device and the track of the bucket wheel machine, the width B of the track and the distance H between a group of bolts which are symmetrical along the track.
Preferably, the distance H between the image acquisition device and the bucket wheel machine track is 1.2-3 m, and in the range, the image acquisition device can clearly and completely acquire the walking image of the bucket wheel machine cart and the images of three to five groups of bolts, so that the image definition is ensured, and meanwhile, the number of the bolt images is sufficient.
And thirdly, performing real-time enhancement processing on the acquired image, wherein the enhancement processing mainly adopts the following means: the method comprises the steps of carrying out noise reduction and smoothing on an image to reduce noise points on the image, carrying out enhancement processing on the edge of the image, carrying out graying processing and threshold segmentation to reasonably segment an image region and a background region to obtain a clear binary image, carrying out image closing operation, and removing a small blank region in the image. And correcting the image to find out a symmetry axis of the image, placing the symmetry axis in the center of the image to enable a middle axis of the track to be coincident with the symmetry axis, and symmetrically distributing each pair of bolts on two sides of the track.
Preferably, the image is processed by a PSD (Position-sensitive detectors) symmetry detection method, and a symmetry characteristic about the rail symmetry in the image is extracted to obtain a basic image of the rail and the bolt.
Fourthly, judging whether the bucket wheel machine cart moves or not through image interframe difference operation, recording the output condition of an angle encoder when the bucket wheel machine cart moves, and if the angle encoder outputs normally, enabling the bucket wheel machine cart to walk normally; if the angle encoder has no output, the large trolley of the bucket wheel machine slips.
And fifthly, processing an image of the bucket wheel machine cart in the slipping process, accurately positioning the bolts by using the symmetry axis of the image and the symmetry characteristic of each pair of bolts, and then performing contour fitting and centroid calculation to obtain the centroid coordinate distribution of each pair of bolts.
Preferably, the Douglas-Peucker target algorithm is used for contour fitting, and the process is as follows:
connecting a starting point A and an end point B of the curve to construct a straight line AB, wherein the straight line is a chord of the curve; calculating the distance between the straight line AB and any point on the curve to obtain a point C when the maximum distance is d; and comparing the maximum distance with a preset threshold value T, if the maximum distance is smaller than the preset threshold value T, replacing the curve with the straight line, otherwise, keeping the point, equally dividing the curve into two sections from the point, and repeating the process to obtain the outline of the target area.
And calculating the contour of the obtained bolt by utilizing Blob analysis, wherein the Blob analysis is the analysis and calculation of connected blocks in the image, and the connected blocks are called blobs. The Blob analysis method can be used as a means for checking whether the image threshold segmentation is accurate, and the analysis result is to divide the image into a target area and a background area. The most important application of the method is to calculate the pixel area, the shape of the boundary, the centroid of the region and the like of each block in the region. Performing Blob analysis on the target area can obtain the coordinates of the centroid position of the bolt profile.
And sixthly, recording the coordinates of the mass center of each pair of bolts to obtain the relative distance between each pair of bolts and the bucket wheel machine, and obtaining the slipping distance of the bucket wheel machine by using a camera calibration method through the coordinate change of the plurality of bolts in the slipping process of the bucket wheel machine.
The camera calibration in the method is to perform image processing on a calibration object with known shape and size based on specific experimental conditions under a certain camera model, and obtain internal parameters and external parameters of the camera model by using a series of mathematical transformation and calculation methods.
And seventhly, performing superposition compensation on the slipping distance of the bucket wheel machine and the output distance of the distance encoder to obtain the actual advancing distance of the bucket wheel machine.
The invention adopts the bucket wheel machine cart walking positioning method based on image processing, and compared with the common positioning methods such as GPS positioning, laser positioning, UWB, WLAN and the like, the invention overcomes the problem of unstable signal transmission of the common positioning method, avoids the problem of positioning error caused by the skid of the bucket wheel machine cart, is more suitable for the places with complex environment such as coal yards and the like, and has quicker and more accurate positioning.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method for positioning the walking distance of a bucket wheel machine cart
FIG. 2 is a schematic diagram of relative distance measurement between a bolt and a bucket wheel machine
FIG. 3 is a schematic diagram showing the positional relationship between the camera and the track of the bucket wheel machine
FIG. 4 is a schematic view of the walking and shooting conditions of the bucket wheel machine cart
In the figure: 1. a camera; 2. a track; 3. a bolt; distance of H-camera to rail plane
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
The method is used for positioning the bucket wheel machine in the coal yard of a certain power plant. When an industrial camera with 300 ten thousand pixels is adopted, when the camera is 176cm away from the ground, the length of the acquired track is 150cm, three complete bolts (or two complete bolts and partial bolts at two ends) can appear in the acquired image, and the scene shooting condition is shown in fig. 3 and 4.
The specific implementation steps are as follows:
(1) and an image acquisition and processing device is arranged at a position 176cm above the track of the bucket wheel machine, and is used for shooting images of the bucket wheel machine during movement just opposite to the track and enhancing the real-time images. Correcting by a PSD symmetry detection method to find out a symmetry axis of the image, placing the track in the center of the image, and enabling each pair of bolts to be symmetrical relative to the track;
(2) combining the conditions that each pair of bolts is symmetrical about a symmetry axis, performing contour fitting by using a Douglas-Peucker target algorithm, extracting the contour characteristics of each bolt, calculating the contour of the obtained bolt by utilizing Blob analysis, solving the coordinates of the mass center of each bolt, and recording a distribution condition statistical table of the coordinates of the mass centers of a plurality of bolts;
(3) judging whether the bucket wheel machine cart is in a traveling state or not through differential processing, and when the bucket wheel machine moves, if the encoder does not output, a bucket wheel machine slipping phenomenon occurs;
(4) by applying the camera calibration principle and utilizing the principle that the position of each point in the shooting plane corresponds to the coordinate in the image, the relative distance between the bucket wheel machine and the bolt can be obtained, the average value is calculated through the coordinate change of each bolt in the slipping process, and the slipping distance of the bucket wheel machine is obtained, wherein the principle is shown in fig. 2:
when the bucket wheel machine travels on the rail, the horizontal height is unchanged, and the camera is installed above the rail, so that the extraction and the calculation of the barycenter coordinate can be performed through the bolt outline, the barycenter of the bolt is generally on the same straight line, the component in the vertical direction can be ignored, and the relative horizontal distance between the barycenter and the image in the horizontal direction is the relative distance between the bucket wheel machine body and the bolt.
During initial installation, the camera is calibrated, and the internal parameters and the external parameters of the camera are obtained. And then calculating the actual coordinates of the corresponding pixel points according to the similar triangular proportion. Depending on the particular location where the camera is mounted, it is assumed that the measured points are all on the Y-axis, where there is no X-axis component. As shown in FIG. 2, the map has three coordinate systems, namely, an image coordinate system UO1V is represented by O2Camera coordinate system, world coordinate system XO, being the origin3And Y. The points in the world coordinate are proportional to the points of the image coordinate through optical axis imaging, and the proportional medium is a pixel point O of the camera lens center on the image1With its actual point M in world coordinates, O can be solved by derivation3The length of P. Thus O3P can be estimated as the relative distance between the bucket wheel body and the bolt.
(5) And (4) carrying out superposition compensation on the slip distance of the bucket wheel machine and the output of the encoder, thereby obtaining the actual travel distance of the bucket wheel machine.
The image pixels of the 300 ten thousand pixel industrial camera are 2048 x 1536, the focal length of the camera is 50mm, the visual angle is 46 degrees, and the positioning precision of the bucket wheel machine is better than 1 cm.
The above examples are only illustrative of the technical solutions of the invention and not restrictive, and although the invention is described in detail with reference to the examples, those skilled in the art should understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A bucket wheel machine cart walking positioning method based on image processing is characterized by comprising the following steps:
s1: an image acquisition and processing device is arranged above the track of the bucket wheel machine and is used for acquiring images of the bucket wheel machine during walking;
s2: at initial installation, the following parameters were set and measured: the distance H between the image acquisition device and the track of the bucket wheel machine, the track width B and the distance H between a group of bolts which are symmetrical along the track;
s3, performing real-time enhancement processing and inclination correction processing on the acquired image to enable the track to be positioned in the center of the image, wherein each pair of bolts are symmetrically distributed on two sides of the track, and extracting the symmetrical characteristic of the track in the image to obtain basic images of the track and the bolts;
s4, judging whether the bucket wheel machine cart moves or not through image interframe difference, wherein when the bucket wheel machine cart moves, but the angle encoder does not output, the bucket wheel machine cart slips;
s5: processing an image of the bucket wheel machine cart in the slipping process, and performing feature matching extraction on the bolts to obtain coordinates of the mass center of each group of bolts;
s6: calculating the average value of the coordinate changes of each pair of bolts in the image in the slipping process, and calculating the slipping distance of the bucket wheel machine cart;
s7: and (4) carrying out superposition compensation on the slipping distance of the bucket wheel machine and the output distance of the distance encoder to obtain the actual advancing distance of the bucket wheel machine.
2. The method for positioning the walking of the bucket wheel machine cart based on the image processing as claimed in claim 1, wherein the step S3 is a method for performing the enhancement processing on the image, and comprises the following steps:
(1) carrying out noise reduction and smoothing on the image;
(2) performing edge enhancement, graying processing and threshold segmentation;
(3) enhancing the images of the rail and the bolt;
(4) and performing image blocking operation to remove blank areas in the image.
3. The trolley positioning method based on the image processing as claimed in claim 1, wherein the distance between the image acquisition device and the trolley is 1.2-3 m.
4. The method as claimed in claim 1, wherein the number of the image acquisition and processing devices is at least one.
5. The method for positioning the walking of the bucket wheel machine cart based on the image processing as claimed in claim 1, wherein the method for extracting the bolt feature matching is as follows: and accurately positioning the bolts by using the symmetry axis of the image and the symmetry characteristic of each pair of bolts, and then performing contour fitting and centroid calculation to obtain the centroid coordinate of each pair of bolts.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113284114A (en) * | 2021-05-28 | 2021-08-20 | 华能聊城热电有限公司 | Bucket wheel machine rotation angle measurement and coal flow equalization method based on image processing |
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| CN102092591A (en) * | 2010-12-15 | 2011-06-15 | 中国神华能源股份有限公司 | Walking distance correction device of stacker |
| US20140067194A1 (en) * | 2011-05-07 | 2014-03-06 | Vattenfall Europe Mining Ag | Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator |
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| 刘铁: "RFID在斗轮堆取料机行走距离检测上的应用", 《中国设备工程》 * |
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| CN113284114A (en) * | 2021-05-28 | 2021-08-20 | 华能聊城热电有限公司 | Bucket wheel machine rotation angle measurement and coal flow equalization method based on image processing |
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