CN113415727A - Container loading and unloading identification safety guiding device and method - Google Patents
Container loading and unloading identification safety guiding device and method Download PDFInfo
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- CN113415727A CN113415727A CN202110830463.0A CN202110830463A CN113415727A CN 113415727 A CN113415727 A CN 113415727A CN 202110830463 A CN202110830463 A CN 202110830463A CN 113415727 A CN113415727 A CN 113415727A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- Engineering & Computer Science (AREA)
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- Control And Safety Of Cranes (AREA)
Abstract
A rotary swing mechanism drives a data acquisition module to move to the position near a bottom lock hole of a container, the data acquisition module acquires video data of a lock hole and a lock head on the bottom of the container, and a data processing module processes the data acquired by the data acquisition module and calculates and identifies the mutual positions of the lock head and the lock hole. The invention adopts the specially designed rotary swing mechanism to rotate the data acquisition module to the position near the lock hole on the bottom surface of the container, carries out video monitoring and automatic identification on the lock hole on the bottom surface of the container and the lock head, can identify whether the lock hole and the lock head are accurately separated, and alarms in time, thereby realizing intelligent, unmanned and dynamic monitoring and management, saving labor cost, improving operation efficiency, being applicable to preventing the application scene of mistakenly lifting various truck containers, reducing potential safety hazards to the maximum extent, and having great use value for realizing port safety production.
Description
Technical Field
The invention relates to the field of computer vision and the field of safety, in particular to a container loading and unloading identification safety guiding device and a container loading and unloading identification safety guiding method.
Background
With the rapid growth of containers in accordance with the development of global trade, container trucks and cranes play an extremely important role in container transportation. During the transportation process of the container, the container is placed on a container bracket and is transported by being fixed through a lock catch, and when the container arrives at the destination, the container is loaded and unloaded by a crane. During loading and unloading, because crane driver's sight is obstructed, can't clear observation and look over whether the tapered end is opened completely, in case the hoist is mentioned container and container bracket together, then can cause serious accident, destroys devices such as container and bracket, endangers personnel's safety. In the traditional method, whether the lock is completely unlocked is checked manually, but the dock environment is severe, so that the health of personnel is easily damaged. Therefore, in order to improve the intelligentization level of port equipment, the construction of an unmanned, high-speed and automatic container terminal is urgent.
In recent years, in order to solve the above problems, various types of detection such as photoelectric detection and laser radar detection have been proposed. A measurement and control device for preventing a container crane from lifting a container truck by utilizing photoelectric switches is designed by container sharps limited in certain seas, and whether the container truck is lifted can be judged by detecting whether an object signal is detected again after a container is lifted to a set height. The method has low reliability and is easy to miss detection, and when the method detects that the truck rises for a section of height when being lifted, the truck still causes certain damage to vehicles and drivers. The Shanghai university proposes a container truck anti-lift system and method for a rail crane by finding the positions of a container and a truck through a laser scanner and calculating the relative positions of the container and the truck by using geometric constraints to judge whether the truck is lifted. The method has high cost and difficult maintenance, so the method is difficult to popularize.
Disclosure of Invention
The invention aims to provide a container loading and unloading identification safety guiding device and method to realize intelligent, unmanned and dynamic monitoring and management, save labor cost, improve operation efficiency and reduce potential safety hazards.
In order to achieve the above object, the present invention provides a container handling identification security guide apparatus, comprising: the crane lifting device comprises at least four rotary swing mechanisms arranged on a crane lifting appliance, a data acquisition module arranged on the rotary swing mechanisms, and a data processing module for data transmission with the data acquisition module;
the rotary swing mechanism drives the data acquisition module to move to the position close to the bottom surface lock hole of the container, video data acquisition is carried out on the lock hole and the flat lock head on the bottom surface of the container through the data acquisition module, and the data processing module is used for processing the data of the data acquisition module and calculating and identifying the mutual positions of the lock head and the lock hole.
The rotary rocking mechanism includes:
the swing rod can rotate around the rotating shaft, and a data acquisition module is mounted on the swing rod;
and the motor provides power for the swing rod and drives the swing rod to drive the data acquisition module to rotate around the rotating shaft.
The motor is located in the housing.
The rotary swing mechanism further comprises a speed reducer, and the speed reducer drives the swing rod to rotate around the rotating shaft under the driving of the motor.
The data acquisition module adopts a high-definition detection camera.
The data processing module comprises a calculation board card, and the data processing module is arranged in an electric room beside the road junction.
The invention also provides a container loading and unloading identification safety guiding method, wherein a rotary swing mechanism drives a data acquisition module to move to the position near the position of a bottom lock hole of a container, the data acquisition module acquires video data of a lock hole and a lock head on the bottom of the container, a data processing module processes the data acquired by the data acquisition module by adopting an image processing technology, the mutual positions of the lock head and the lock hole are calculated and identified, if the lock head and the lock hole are both identified, the lock head is separated from the lock hole, and if only the lock hole is identified and the lock head is not identified, the lock head is locked with the lock hole.
When the swing rods of the rotary swing mechanisms rotate downwards, the swing rods of the two rotary swing mechanisms positioned at one diagonal of the crane sling are firstly linked to rotate and fall, and when the swing rods rotate to 45 degrees, the swing rods of the two rotary swing mechanisms positioned at the other diagonal of the crane sling are sequentially linked to rotate and fall.
The method for realizing the identification and positioning of the lock hole by the data processing module through adopting the image processing technology comprises the following steps:
for a video image obtained by collection, firstly, a color image is converted into a gray map by adopting a weighted average method, then, a self-adaptive weighted median filtering algorithm is adopted to carry out median filtering on the gray map to remove noise, then, binarization processing is carried out on the image, finally, a Canny operator edge detection algorithm is adopted to segment the image to obtain all contour information in the image, several points with the same slope on the obtained image are marked by Hough transformation detection, two straight lines with the same slope are marked to obtain the contour edge of a lock hole, and the identification and the positioning of the lock hole are realized.
The method for realizing the identification and positioning of the lock head by the data processing module by adopting the image processing technology comprises the following steps:
firstly, converting a color image into a gray image by adopting a weighted average method, then carrying out median filtering on the gray image by adopting a self-adaptive weighted median filtering algorithm to remove noise, then carrying out binarization processing on the image, finally segmenting the image by adopting a Canny operator edge detection algorithm to obtain an edge contour image, extracting feature points by an ORB algorithm, then spreading a 3 x 3 sliding window on the whole image, and comparing the feature points of the image obtained by the data acquisition module with the feature points of a template lock image, thereby realizing the identification and positioning of the flat lock.
The invention adopts the specially designed rotary swing mechanism to rotate the data acquisition module to the position near the lock hole on the bottom surface of the container, carries out video monitoring and automatic identification on the lock hole on the bottom surface of the container and the lock head, can identify whether the lock hole and the lock head are accurately separated, and alarms in time, thereby realizing intelligent, unmanned and dynamic monitoring and management, saving labor cost, improving operation efficiency, being applicable to preventing the application scene of mistakenly lifting various truck containers, reducing potential safety hazards to the maximum extent, and having great use value for realizing port safety production.
Drawings
Fig. 1 is an installation front view of a container handling identification security guide apparatus provided in the present invention.
Fig. 2 is a side view of the installation of the container handling identification security guide apparatus provided in the present invention.
Fig. 3 is a plan view showing the installation of the container handling identification security guide apparatus according to the present invention.
Fig. 4 is a schematic structural view of the rotary rocking mechanism.
Fig. 5 is a side view of fig. 4.
Fig. 6 is a flow chart of a method for secure guidance of container handling identification in an embodiment of the invention.
Fig. 7 is a flow chart of calculating a keyhole for automatic visual recognition.
FIG. 8 is a flow chart of automatic visual identification of a computational lock. FIG. 9 is a schematic view of image position monitoring of the lock hole and the lock cylinder during the separation process.
Fig. 10 is a schematic view of a loading/unloading guide image.
FIG. 11 is a schematic view of image position monitoring of the lock hole and the lock cylinder during a lock-down process.
Detailed Description
The preferred embodiment of the present invention will be described in detail below with reference to fig. 1 to 11.
As shown in fig. 1 to 3, the present invention provides a container handling identification security guide device, comprising: the crane lifting device comprises at least four rotary swing mechanisms 2 arranged on a crane lifting appliance 1, a data acquisition module 3 arranged on the rotary swing mechanisms 2, and a data processing module (not shown in the figure) for data transmission with the data acquisition module 3.
The rotary swing mechanism 2 is arranged at the corner of the crane spreader 1, the specific installation position needs to be ensured, the rotary swing mechanism 2 can drive the data acquisition module 3 to move to the position near the bottom surface lock hole of the container 4, and the data acquisition module 3 carries out video monitoring and automatic identification on the lock hole and the flat lock head on the bottom surface of the container 4.
As shown in fig. 4 and 5, the rotary rocking mechanism 2 includes:
the swing rod 203 can rotate around the rotating shaft 204, and the data acquisition module 3 is installed on the swing rod 203;
and the motor 201 is used for providing power for the swing rod 203 and driving the swing rod 203 to drive the data acquisition module to rotate around the rotating shaft 204.
In this embodiment, the motor is located in the housing 205 to protect the motor from environmental attack. Further, the rotary swing mechanism 2 further comprises a speed reducer 202, the speed reducer 202 is driven by the motor 201 to drive the swing rod 203 to rotate around the rotating shaft 204, and the speed reducer 202 can reduce the rotating speed and increase the torque.
In one embodiment of the present invention, four rotating and swinging mechanisms 2 are arranged on the crane spreader 1, and a data acquisition module 3 is correspondingly installed on each rotating and swinging mechanism 2. The rotary swing mechanism 2 is fixed on the inner side of the crane spreader 1 and is positioned at four corners of the crane spreader 1, the swing rod 203 and the side plane of the container 4 form a tiny included angle, the included angle can be adjusted through actual needs, and the adjusted angle can ensure that a lock hole of the container 4 and a train flat plate are in the visual field range of the data acquisition module 3. Data acquisition module 3 adopts the high definition to detect the camera, the high definition detects the camera and installs on rotatory rocking mechanism 2's pendulum rod 203, the best shooting position on pendulum rod 203 is installed to the high definition detection camera, the mounting height is located the bottom of pendulum rod 203, the visual field of four high definition detection cameras is kept watch on with the vertical direction according to the angle of certain within range adjustable, generally through four tapered end lockholes locking together between container 4 and the train flat board, the tapered end lockhole is located the four corners of container 4 respectively, when container 4 reachs and keeps watch on the position, the pendulum rod 203 is rotatory to be shaken down, detect the state of the lockhole tapered end of camera supervision container 4 through the high definition, the position of high definition detection camera will guarantee that every high definition detection camera can both gather the tapered end lockhole and the high definition image data of container bracket. The data processing module contains the calculation integrated circuit board, data processing module sets up in the other electric room of road junction, and this data processing module is used for handling the data that high definition detected the camera and gathers, calculates tapered end lockhole location and bracket location change amount between them.
The invention also provides a container loading and unloading identification safety guiding method which comprises a box grabbing identification guiding process and a box falling identification guiding process. As shown in fig. 6, the box grabbing identification guidance process includes: after a container is gripped by a crane, a worker starts a rotary swing mechanism, a reducer is driven by a motor, a digital controller controls a swing rod to rotate downwards, when a data acquisition module on the swing rod is aligned with a lock head on the container and a lock hole on a flat plate, the swing rod stops rotating, the data acquisition module starts to acquire video data, the data acquisition module transmits real-time video data to a data processing module and a display in a cab, personnel in the cab can manually observe the state of the lock head and the lock hole through video signals, meanwhile, the data processing module performs automatic visual identification calculation according to the video signals to judge whether the lock head and the lock hole are successfully separated or not, if the separation is successful, the CPS is matched to guide the container to perform box gripping operation, if the separation is unsuccessful, the lock head and the lock hole are separated manually, and after the lock head lock hole state identification is finished, the worker closes the rotary swing mechanism, the swing rod drives the data acquisition module to return to the original position. The box falling identification guide flow comprises the following steps: after the container is placed on the bracket by the crane, the worker starts the rotary swing mechanism to control the swing rod to rotate downwards until the data acquisition module on the swing rod is aligned with the lock hole on the container and the lock head on the flat plate, the swing rod stops rotating, the data acquisition module starts to acquire video data, the data acquisition module transmits real-time video data to the data processing module and a display in the cab, personnel in the cab can manually observe the states of the lock head and the lock hole through video signals, meanwhile, the data processing module carries out automatic visual identification calculation according to the video signal, judges whether the lock head and the lock hole are correctly connected or not, if so, and then the box falling operation is finished, the rotary swing mechanism is closed by a worker, the swing rod drives the data acquisition module to return to the original position, and if the data acquisition module is not correctly connected, the lockhole and the lock head are manually connected, so that the safe box falling is ensured.
Because the length of pendulum rod is longer, if the pendulum rod of same direction falls simultaneously and can cause the pendulum rod collision to damage the pendulum rod, in this embodiment, when the pendulum rod of rotatory rocking mechanism downwardly rotated, the pendulum rod that is arranged in two rotatory rocking mechanisms at a certain diagonal angle of hoist linkage rotation falls down earlier, when rotatory to 45 degrees, the pendulum rod that is arranged in two rotatory rocking mechanisms at another diagonal angle on the hoist also links the rotation in succession and falls down, so operation can effectively avoid the pendulum rod collision. After the video data are collected and judged, the video data are respectively rotated and lifted according to the previous sequence.
In this embodiment, an image processing technique is used to identify and locate the lock hole and the lock head of the container. As shown in fig. 7, the method for identifying and positioning the lock hole of the container and performing automatic visual identification calculation by the data acquisition module according to the video signal includes: for the acquired video image, firstly, a weighted average method is adopted to convert a color image into a gray image, then, a self-adaptive weighted median filtering algorithm is adopted to carry out median filtering on the gray image to remove noise, then, binarization processing is carried out on the image (the selection of the threshold value of the image adopts a discriminant analysis method to automatically determine the threshold value, the method can meet the requirements of real-time performance and automation of the system while the threshold value is selected correctly), finally, a Canny operator edge detection algorithm is adopted to segment the image to obtain all contour information in the image, several points with the same slope on the obtained image are marked through Hough transformation detection, two straight lines with the same slope are marked to obtain the contour edge of the lockhole, and the identification and the positioning of the lockhole are realized.
As shown in fig. 8, the method for implementing identification and positioning of the tablet lock head by using an image processing technology, and the method for performing automatic visual identification calculation by the data processing module according to the video signal includes: firstly, converting a color image into a gray image by adopting a weighted average method, then carrying out median filtering on the gray image by adopting a self-adaptive weighted median filtering algorithm to remove noise, then carrying out binarization processing on the image (the selection of an image threshold value adopts a discriminant analysis method to automatically determine the threshold value, the method can meet the requirements of real-time performance and automation of a system while the threshold value is selected correctly), finally segmenting the image by adopting a Canny operator edge detection algorithm to obtain an edge contour image, extracting feature points by adopting an ORB algorithm, and then spreading a 3 x 3 sliding window on the whole image to reduce the density degree of the extracted feature points, comparing the feature points of the image obtained by the data acquisition module with the feature points of a template lock head image, thereby realizing the identification and the positioning of the flat lock head.
The position of the lock hole and the lock head is monitored on the basis of identification, and the monitoring process can be divided into lock hole and lock head separation, loading and unloading guide and lock hole and lock head lock falling.
Fig. 9 is a schematic diagram illustrating image position monitoring during a lock-hole lock head separating operation. In this embodiment, taking a pair of lock holes as an example, after identifying the lock holes, further calculating: the height difference h between the lock hole and the lock head; separating the falling lock to judge the height H; the identified lock hole is set as A; the identified lock is set as B. Whether the lock hole A and the lock head B are identified is respectively set as a ═ 1,0, and B ═ 1,0, wherein 1 represents identification, and 0 represents that identification is not available; when the separation process starts, the lock hole and the lock head are in butt joint, so the initial H value is smaller than H, and the H value is increased during separation. Let y 11 represents separation, 0 represents no separation; on the basis, the separation process monitoring relation is shown as formula 1:
fig. 10 is a schematic view of the loading and unloading guide. In the process of separating operation and locking operation, partial lock heads are arranged on the container truck in pairs in actual operation, the non-butt lock head in the identified pair of lock heads is set as C in the embodiment, whether the lock heads of the lock holes are correctly butted or not is distinguished by judging the distance h1 between AB and the distance h2 between AC, wherein the lock head to be butted is the lock head with a small distance. In the loading and unloading process, offset displacement delta x between lock heads of the butt lock holes in the horizontal direction in the image is further calculated.
Fig. 11 is a schematic diagram illustrating image position monitoring during a lock-down operation. When the lock falling process starts, the lock hole and the lock head are greatly separated, so that the initial H value is greater than H, and the H value is reduced during separation. Let y 21,0 is a lock drop identifier, 1 table is locked, and 0 table is not locked; on the basis, the lock-down process monitoring relation is shown as formula 2:
the invention adopts the specially designed rotary swing mechanism to rotate the data acquisition module to the position near the lock hole on the bottom surface of the container, carries out video monitoring and automatic identification on the lock hole and the lock head on the bottom surface of the container, can identify whether the lock hole and the lock head are accurately separated, and alarms in time, thereby realizing intelligent, unmanned and dynamic monitoring and management, saving labor cost, improving operation efficiency, being applicable to the application scene of preventing mistaken lifting of various truck containers, reducing potential safety hazards to the maximum extent, and having great use value for realizing port safety production.
It should be noted that, in the embodiments of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship shown in the drawings, and are only for convenience of describing the embodiments, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A container handling identification security guide, comprising: the crane lifting device comprises at least four rotary swing mechanisms arranged on a crane lifting appliance, a data acquisition module arranged on the rotary swing mechanisms, and a data processing module for data transmission with the data acquisition module;
the rotary swing mechanism drives the data acquisition module to move to the position close to the bottom surface lock hole of the container, video data acquisition is carried out on the lock hole and the flat lock head on the bottom surface of the container through the data acquisition module, and the data processing module is used for processing the data of the data acquisition module and calculating and identifying the mutual positions of the lock head and the lock hole.
2. The container handling identification security guide of claim 1, wherein said rotary rocking mechanism comprises:
the swing rod can rotate around the rotating shaft, and a data acquisition module is mounted on the swing rod;
and the motor provides power for the swing rod and drives the swing rod to drive the data acquisition module to rotate around the rotating shaft.
3. The container handling identification security guide of claim 2, wherein said motor is located in the housing.
4. The container handling identification security guide of claim 3, wherein said rotary swing mechanism further comprises a speed reducer, said speed reducer driving said swing link to rotate about a pivot shaft under the drive of said motor.
5. The container handling identification security guide of claim 1, wherein said data acquisition module employs a high definition detection camera.
6. The container handling identification security guide of claim 1, wherein said data processing module comprises a computing board, said data processing module being located in an electrical room adjacent to the crossing.
7. A container handling identification safety guiding method realized by using the container handling identification safety guiding device as claimed in any one of claims 1-6, characterized in that a rotary swing mechanism drives the data acquisition module to move to the position near the bottom surface lock hole of the container, the data acquisition module acquires video data of the lock hole and the lock head on the bottom surface of the container, the data processing module processes the data acquired by the data acquisition module by adopting an image processing technology, the mutual positions of the lock head and the lock hole are calculated and identified, if the lock head and the lock hole are both identified, the lock head and the lock hole are separated, and if the lock head is only identified, the lock head and the lock hole are locked.
8. The container handling recognition security guiding method of claim 7, wherein when the swing links of the swing mechanisms are rotated downward, the swing links of two swing mechanisms located at one diagonal of the crane spreader are rotated in unison and dropped first, and when the swing links are rotated to 45 degrees, the swing links of two swing mechanisms located at the other diagonal of the crane spreader are rotated in unison and dropped one after another.
9. The container handling identification security guidance method of claim 7, wherein the method for realizing the identification and positioning of the lock hole by the data processing module using image processing technology comprises:
for a video image obtained by collection, firstly, a color image is converted into a gray map by adopting a weighted average method, then, a self-adaptive weighted median filtering algorithm is adopted to carry out median filtering on the gray map to remove noise, then, binarization processing is carried out on the image, finally, a Canny operator edge detection algorithm is adopted to segment the image to obtain all contour information in the image, several points with the same slope on the obtained image are marked by Hough transformation detection, two straight lines with the same slope are marked to obtain the contour edge of a lock hole, and the identification and the positioning of the lock hole are realized.
10. The container handling identification security guidance method of claim 7, wherein the method for realizing the identification and positioning of the lock head by the data processing module using image processing technology comprises:
firstly, converting a color image into a gray image by adopting a weighted average method, then carrying out median filtering on the gray image by adopting a self-adaptive weighted median filtering algorithm to remove noise, then carrying out binarization processing on the image, finally segmenting the image by adopting a Canny operator edge detection algorithm to obtain an edge contour image, extracting feature points by an ORB algorithm, then spreading a 3 x 3 sliding window on the whole image, and comparing the feature points of the image obtained by the data acquisition module with the feature points of a template lock image, thereby realizing the identification and positioning of the flat lock.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113979306A (en) * | 2021-10-27 | 2022-01-28 | 上海亥伯智能科技有限公司 | Automatic loading system and method for container crane |
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| CN113979306A (en) * | 2021-10-27 | 2022-01-28 | 上海亥伯智能科技有限公司 | Automatic loading system and method for container crane |
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