CN114189629A - Image acquisition method, image acquisition device and intelligent scrap steel grading system - Google Patents

Image acquisition method, image acquisition device and intelligent scrap steel grading system Download PDF

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Publication number
CN114189629A
CN114189629A CN202111481077.1A CN202111481077A CN114189629A CN 114189629 A CN114189629 A CN 114189629A CN 202111481077 A CN202111481077 A CN 202111481077A CN 114189629 A CN114189629 A CN 114189629A
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China
Prior art keywords
unloading
blanking
image acquisition
image
scrap steel
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Chinese (zh)
Inventor
赵东伟
张江
陈双喜
程晓娟
班泽宇
王金玺
郭云鹏
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Yonyou Network Technology Co Ltd
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Yonyou Network Technology Co Ltd
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Priority to CN202111481077.1A priority Critical patent/CN114189629A/en
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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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8914—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the material examined
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • 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
    • H04N23/675—Focus control based on electronic image sensor signals comprising setting of focusing regions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8914—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the material examined
    • G01N2021/8918—Metal
    • 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
    • G06T2207/10004—Still image; Photographic image
    • 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

Abstract

The invention provides an image acquisition method, an image acquisition device and an intelligent scrap steel grading system, wherein the image acquisition method comprises the following steps: after the vehicle parking position of the scrap steel transport vehicle conforms to a preset parking standard, the bolt machine determines an effective area, and the effective area comprises an unloading area and/or a blanking area; after the unloading is started, when the gun machine determines that the unloading device enters the visual range of the gun machine, the image acquisition device tracks the unloading device, the gun machine determines the unloading position and/or the blanking position of the unloading device according to the point number change in the effective area, the unloading position and/or the blanking position of the unloading device are sent to the image acquisition device, and after the image acquisition device receives the unloading position and/or the blanking position, the image acquisition device photographs the unloading position and/or the blanking position to acquire a scrap steel image of the unloading position and/or the blanking position until the unloading is finished. This application is fixed a position through the rifle bolt, and image acquisition device shoots, has realized the scrap steel image and has acquireed for get the accurate and high efficiency of looks process.

Description

Image acquisition method, image acquisition device and intelligent scrap steel grading system
Technical Field
The invention relates to the field of intelligent identification of scrap steel, in particular to an image acquisition method, an image acquisition device and an intelligent scrap steel grading system.
Background
With the promotion of the intelligent process, industrial intelligence will be the trend of future industrial manufacturing development. The steel scrap input proportion is increased year by year in steel enterprises, and the problems of strong subjectivity, non-standardized judgment rules, low accuracy and the like exist in the steel scrap acceptance stage. The intelligent scrap steel grading system fundamentally solves the problems, adopts an image processing technology and takes pictures collected by a camera as a basis for judgment, so that an image collection method is particularly important.
Therefore, how to provide a scheme capable of achieving accurate and efficient phase taking becomes a problem to be solved urgently at present.
Disclosure of Invention
In order to solve the above technical problem, a first aspect of the present invention provides an image acquisition method.
The second aspect of the present invention also provides an image capturing apparatus.
The third aspect of the invention also provides an intelligent steel scrap judging system.
In view of this, the first aspect of the present invention provides an image acquisition method, including: after the vehicle parking position of the scrap steel transport vehicle conforms to a preset parking standard, the bolt machine determines an effective area, and the effective area comprises an unloading area and/or a blanking area; after the unloading is started, when the gun machine determines that the unloading device enters the visual range of the gun machine, the image acquisition device tracks the unloading device, the gun machine determines the unloading position and/or the blanking position of the unloading device according to the point number change in the effective area, the unloading position and/or the blanking position of the unloading device are sent to the image acquisition device, and after the image acquisition device receives the unloading position and/or the blanking position, the image acquisition device photographs the unloading position and/or the blanking position to acquire a scrap steel image of the unloading position and/or the blanking position until the unloading is finished.
The image acquisition method provided by the invention is used for an intelligent steel scrap judging system. According to the image acquisition method, after the scrap steel transport vehicle stops in the unloading area and meets the preset stopping specification, the gun machine starts to determine the effective area according to the unloading area and the blanking area; after the unloading is started, if the unloading device appears in the visual field range of the gun, the gun tracks the unloading device by using the tracking model, then the gun can determine the position of the unloading device according to the point number change position in the unloading area and/or the blanking area, and sends the position of the unloading device to the image acquisition device, and after the image acquisition device receives the unloading position and/or the blanking position, the image acquisition device shoots the unloading position and/or the blanking position until the unloading process is finished. This application trails and sends discharge apparatus's position to image acquisition device through the rifle bolt, communication between rifle bolt and the image acquisition device is passed through promptly, realized confirming discharge apparatus's tracking and discharge apparatus's when grabbing material and blowing to discharge apparatus position, image acquisition device shoots discharge position and/or blanking position, the steel scrap of grabbing at every turn to discharge apparatus carries out twice and shoots, the unloading point is once promptly, the blanking point is once, ensure that the steel scrap that discharge apparatus snatched every time can both be accurate discern, and then improved the security of steel unloading process, guarantee not to contain in the steel scrap and retreat goods and dangerous. This application passes through the rifle bolt location promptly, and image acquisition device shoots, has realized the steel scrap image acquisition of unloading position and/or blanking position for when getting the accurate and efficient of looks process, still provide original image data for steel scrap appraisal system, solved not fine enough problem when putting in order car steel scrap settlement.
The image acquisition method can be only used for acquiring images during blanking, and at the moment, the effective area is a blanking area. Of course, the image acquisition method can also be used for image acquisition only during material grabbing, and at the moment, the effective area is the unloading area. Preferably, images of the discharging position and the blanking position can be acquired simultaneously to provide finer image data for scrap settlement.
In addition, the image acquisition method in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, preferably, the step of taking a picture of the discharging position and/or the blanking position after the image capturing device receives the discharging position and/or the blanking position includes: determining the image magnification factor and the sight distance required by photographing according to the unloading position and/or the blanking position; and focusing and photographing the unloading position and/or the blanking position according to the image magnification factor and the sight distance.
According to the technical scheme, before focusing and photographing, the image magnification and the visual distance of the discharging position and/or the blanking position are determined, and then the position is focused and photographed according to the image magnification and the visual distance of the position to obtain a scrap steel image.
Compared with the method for acquiring the images in the prior art, the method for acquiring the images of the scrap steel is clearer, so that each image keeps the same quality, and a subsequent scrap steel grading system can conveniently utilize the acquired scrap steel images to grade.
In the above technical solution, preferably, determining the image magnification factor required for photographing according to the discharging position and/or the blanking position includes: and matching the required image amplification factor according to the unloading position and/or the blanking position and the position multiple association table.
In the technical scheme, the image magnification is after knowing the discharge position and/or blanking position, match out in position multiple correlation table, look up the table and obtain the different magnification that different positions correspond, make image acquisition device carry out the image of shooting according to this magnification clear and accurate more, subsequent steel scrap classification system of being convenient for handles this steel scrap image and analyzes, meanwhile, because different positions all correspond an optimal magnification, make image acquisition device can follow the multiangle, diversely gather the steel scrap image, and then guaranteed that the steel scrap that discharge device snatched each time can both be accurate discerned, and then improved the security of steel discharge process, guarantee not to contain goods returned spare and dangerous spare in the steel scrap.
The position multiple association table can be stored in the system in advance after being preset and verified according to the erection height of the image acquisition device, the vehicle parking position and the blanking position.
In the above technical solution, preferably, the step of determining the sight distance required for photographing according to the discharging position and/or the blanking position includes: and calculating the sight distance required by photographing according to the erection height, the vehicle parking position, the unloading position and/or the blanking position of the image acquisition device.
In the technical scheme, the visual range is determined by calculating the erection height, the vehicle stop position, the discharge position and/or the blanking position of the image acquisition device, and the visual range is different from the image acquisition device due to different distances between different positions and the image acquisition device, so that the visual range can be calculated by the erection height, the vehicle stop position, the discharge position and/or the blanking position of the image acquisition device, and the image acquisition device can conveniently focus and photograph according to the visual range.
In any one of the above technical solutions, preferably, the step of calculating the sight distance required for photographing according to the erection height of the image capturing device, the vehicle parking position, the discharging position, and/or the blanking position includes: determining the discharging shooting angle A1 and/or the blanking shooting angle A2 of the image acquisition device according to the discharging position and/or the blanking position, and then calculating the sight distance according to the following mode, wherein:
when focusing photographing is carried out on the discharging position, the formula of the visual distance L1 of the discharging position is as follows:
Figure BDA0003394926000000041
when focusing photographing is carried out on the blanking position, the formula of the sight distance L2 of the blanking position is as follows:
Figure BDA0003394926000000042
wherein H is the erection height of the image acquisition device, H1The bottom cleaning line height of the scrap steel transport vehicle.
In this technical scheme, calculate the stadia of unloading position and blanking position through above-mentioned formula, at first will determine image acquisition device's shooting angle according to unloading position and/or blanking position, and then calculate the stadia that different positions correspond according to shooting angle, the clear bottom line height of steel scrap transport vechicle and image acquisition device's the frame height, calculate the bevel edge that obtains right triangle through the pythagorean theorem, stadia promptly, the image acquisition device of being convenient for carries out the steel scrap and shoots according to the stadia.
The height of the bottom cleaning line of the vehicle is the height from the bottom plate of the carriage of the scrap steel transportation vehicle to the ground.
In any of the above technical solutions, preferably, the image obtaining method further includes: after the scrap steel transport vehicle enters the unloading area, the stopping position of the scrap steel transport vehicle is identified, and the stopping position of the scrap steel transport vehicle is adjusted according to the current stopping position and the preset stopping specification of the scrap steel transport vehicle until the stopping position of the scrap steel transport vehicle meets the preset stopping specification.
In this technical scheme, get into the regional back of unloading at the steel scrap transport vechicle, before unloading begins, still need discern the stop position of steel scrap transport vechicle through the rifle bolt, according to the current stop position of steel scrap transport vechicle, compare with the preset stop standard, when the stop position of steel scrap transport vechicle is not conform to the stop standard, adjust its position, stop adjusting when the adjustment is for being accorded with the preset stop standard, begin to unload, make the steel scrap transport vechicle be in the regional mid portion of unloading as far as through adjusting the vehicle position, so that follow-up rifle bolt is to the discernment of discharge apparatus position.
In any one of the above technical solutions, the step of adjusting the stop position of the scrap steel transportation vehicle according to the current stop position of the scrap steel transportation vehicle and the preset stop specification includes: when the proportion of the left side of the preset unloading area at the parking position of the scrap steel transport vehicle is less than 3% or the proportion of the coordinate of the center point is less than 40%, prompting to move the vehicle to the right side of the image; when the right side proportion of the parking position of the scrap steel transport vehicle in the preset unloading area is less than 5% or the coordinate proportion of the center point is more than 60%, prompting to move the vehicle to the left side of the image; and when the stop position of the scrap steel transport vehicle occupies more than 80% of the preset unloading area, judging that the stop position of the scrap steel transport vehicle meets the preset stop standard.
In the technical scheme, when the parking position of the scrap steel transport vehicle is less than 3% of the left side proportion of the preset unloading area or the central point coordinate proportion is less than 40%, the vehicle is prompted to move to the right side of the image; when the right side proportion of the parking position of the scrap steel transport vehicle in the preset unloading area is less than 5% or the coordinate proportion of the center point is more than 60%, prompting to move the vehicle to the left side of the image; when the stop position of the scrap steel transport vehicle occupies more than 80% of the preset unloading area, the stop position of the scrap steel transport vehicle is judged to meet the preset stop standard, the position of the vehicle is adjusted according to the rule, and the scrap steel transport vehicle is located in the middle of the unloading area as far as possible, so that the position of the unloading device can be conveniently identified by a follow-up gun.
A second aspect of the present invention provides an image pickup apparatus comprising: the gun machine is used for determining an effective area, the effective area comprises an unloading area and/or a blanking area and is used for determining whether the unloading device enters the visual field range of the gun machine or not, determining the unloading position and/or the blanking position of the unloading device according to the point number change in the effective area and sending the unloading position and/or the blanking position of the unloading device to the image acquisition device; and the image acquisition device is used for tracking the unloading device, and photographing the unloading position and/or the blanking position after receiving the unloading position and/or the blanking position so as to acquire a scrap steel image of the unloading position and/or the blanking position.
The image acquisition device provided by the technical scheme of the invention comprises a gun camera and an image acquisition device. The method comprises the steps that an effective area is determined and dotting is carried out through a gun, after the gun recognizes that a discharging device enters the visual field range of the gun, a tracking model is called to track the discharging device, the position of the discharging device is determined according to the position of point change in the effective area, and the determined positions of the discharging device in the discharging area and the blanking area are sent to an image acquisition device, so that the image acquisition device can shoot waste steel images at the discharging device in the discharging area and the blanking area; the discharging device is tracked through the image acquisition device, and after the discharging device receives the position sent by the gunlock, the discharging device is shot to obtain a scrap steel image of the position. The image acquisition device comprises a discharging point ball machine and a blanking point ball machine, and is respectively responsible for shooting the discharging point/the blanking point so as to acquire the scrap steel image of the discharging point/the blanking point. Meanwhile, according to the image obtaining apparatus provided in the technical solution of the present invention, since it is used for implementing the steps of the image obtaining method provided in the first aspect of the present invention, the image obtaining apparatus has all technical effects of the image obtaining method, and details are not described herein again.
In any of the above technical solutions, preferably, the image acquisition device is specifically configured to determine an image magnification factor and a visual distance required for photographing according to the unloading position and/or the blanking position after receiving the unloading position and/or the blanking position; and the image acquisition device focuses and photographs the unloading position and/or the blanking position according to the image magnification factor and the sight distance.
According to the technical scheme, before focusing and photographing, the image magnification and the visual distance of the discharging position and/or the blanking position are determined, and then the position is focused and photographed according to the image magnification and the visual distance of the position to obtain the scrap steel image, so that the obtained scrap steel image is clearer compared with the method for obtaining the image in the prior art, each image keeps the same quality, and a subsequent scrap steel grading system can conveniently utilize the obtained scrap steel image for grading.
In any one of the above technical solutions, preferably, the image capturing apparatus further includes: and the memory is used for storing the position multiple association table so as to determine the picture magnification according to the discharging position and/or the blanking position.
In the technical scheme, the position multiple association table is stored in the system in advance after being preset and verified according to the erection height of the image acquisition device, the vehicle parking position and the blanking position. Image magnification is after having learnt the discharge position and/or blanking position, match out in position multiple correlation table, look up the different magnification that obtains different positions and correspond, make image acquisition device carry out more clear and accurate of the image of shooting according to this magnification, subsequent steel scrap appraisal system of being convenient for handles the analysis to this steel scrap image, meanwhile, because different positions all correspond a best magnification, make image acquisition device can follow the multiaspect, diversely gather the steel scrap image, and then ensured that the steel scrap that discharge apparatus snatched each time can both be accurate discerned, and then improved the security of steel discharge process, it does not contain goods returned spare and dangerous piece to ensure in the steel scrap.
In any one of the above technical solutions, preferably, the image capturing apparatus further includes: and the processor is used for calculating the sight distance required by photographing according to the erection height of the image acquisition device, the vehicle parking position, the unloading position and/or the blanking position.
In the technical scheme, the visual range is determined by calculating the erection height, the vehicle parking position, the unloading position and/or the blanking position of the image acquisition device, the distances from different positions to the image acquisition device are different, so that the visual range is different, the visual range is calculated by the erection height, the vehicle parking position, the unloading position and/or the blanking position of the image acquisition device, and the image acquisition device can conveniently focus and photograph according to the visual range.
In any of the above technical solutions, preferably, the step of calculating the sight distance required for photographing according to the erection height of the image capturing device, the vehicle parking position, the unloading position, and/or the blanking position includes: the processor determines the discharging shooting angle A1 and/or the blanking shooting angle A2 of the image acquisition device according to the discharging position and/or the blanking position, and then calculates the sight distance according to the following mode, wherein:
when focusing photographing is carried out on the discharging position, the formula of the visual distance L1 of the discharging position is as follows:
Figure BDA0003394926000000071
when focusing photographing is carried out on the blanking position, the formula of the sight distance L2 of the blanking position is as follows:
Figure BDA0003394926000000072
wherein H is the erection height of the image acquisition device, H1The bottom cleaning line height of the scrap steel transport vehicle.
In this technical scheme, calculate the stadia of unloading position and blanking position through above-mentioned formula, at first will determine image acquisition device's shooting angle according to unloading position and/or blanking position, and then calculate the stadia that different positions correspond according to shooting angle, the clear bottom line height of steel scrap transport vechicle and image acquisition device's the frame height, calculate the bevel edge that obtains right triangle through the pythagorean theorem, stadia promptly, the image acquisition device of being convenient for carries out the steel scrap and shoots according to the stadia.
In any of the above technical solutions, preferably, the bolt face is further configured to identify a parking position of the scrap steel transportation vehicle after the scrap steel transportation vehicle enters the unloading area; the image acquisition device further comprises a processor, and the processor is used for adjusting the stopping position of the scrap steel transport vehicle according to the current stopping position of the scrap steel transport vehicle and the preset stopping standard until the stopping position of the scrap steel transport vehicle meets the preset stopping standard.
In this technical scheme, get into the regional back of unloading at the steel scrap transport vechicle, before unloading begins, still need discern the stop position of steel scrap transport vechicle through the rifle bolt, the present stop position of steel scrap transport vechicle of treater according to rifle bolt feedback, compare with preset stop standard, stop the position when the stop position of steel scrap transport vechicle is not conform to stop standard, adjust its position, stop adjusting when adjusting for according with preset stop standard, begin to unload, make the steel scrap transport vechicle be in the regional mid portion of unloading as far as through adjusting the vehicle position, so that follow-up rifle bolt is to the discernment of discharge apparatus position.
In any one of the above technical solutions, preferably, the step of adjusting the parking position of the scrap steel transportation vehicle according to the current parking position of the scrap steel transportation vehicle and the preset parking specification further includes:
when the proportion of the left side of the preset unloading area at the parking position of the scrap steel transport vehicle is less than 3% or the proportion of the coordinate of the center point is less than 40%, prompting to move the vehicle to the right side of the image;
when the right side proportion of the parking position of the scrap steel transport vehicle in the preset unloading area is less than 5% or the coordinate proportion of the center point is more than 60%, prompting to move the vehicle to the left side of the image;
and when the stop position of the scrap steel transport vehicle occupies more than 80% of the preset unloading area, judging that the stop position of the scrap steel transport vehicle meets the preset stop standard.
In the technical scheme, when the parking position of the scrap steel transport vehicle is less than 3% of the left side proportion of the preset unloading area or the central point coordinate proportion is less than 40%, the vehicle is prompted to move to the right side of the image; when the right side proportion of the parking position of the scrap steel transport vehicle in the preset unloading area is less than 5% or the coordinate proportion of the center point is more than 60%, prompting to move the vehicle to the left side of the image; when the stop position of the scrap steel transport vehicle occupies more than 80% of the preset unloading area, the stop position of the scrap steel transport vehicle is judged to meet the preset stop standard, the position of the vehicle is adjusted according to the rule, and the scrap steel transport vehicle is located in the middle of the unloading area as far as possible, so that the position of the unloading device can be conveniently identified by a follow-up gun.
The third aspect of the invention provides an intelligent scrap steel grading system which comprises the image acquisition device in any one of the technical schemes.
According to the intelligent steel scrap grading system provided by the technical scheme of the invention, as the intelligent steel scrap grading system comprises the image acquisition device in any one of the technical schemes, the intelligent steel scrap grading system has all the technical effects of the image acquisition device, and the details are not repeated herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a schematic flow diagram of an image acquisition method according to an embodiment of the invention;
FIG. 2 shows a block diagram of an image acquisition apparatus according to yet another embodiment of the invention;
FIG. 3 is a diagram showing the overall layout of the hardware of the image capturing apparatus according to the present invention;
FIG. 4 is a schematic diagram showing another hardware overview of the image capturing apparatus according to the present invention;
FIG. 5 is a schematic diagram showing yet another hardware overview of the image capture device of the present invention;
FIG. 6 shows a flow diagram of an image acquisition method of an embodiment.
Wherein, the correspondence between the reference numbers and the part names in fig. 2 to 5 is:
200 image acquisition devices, 202 gun cameras, 204 image acquisition devices, 2042 discharging area ball machines, 2044 discharging area ball machines, 206 scrap steel transport vehicles, 208 discharging areas, 210 bottom line clearing and 212 discharging devices.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Image acquisition methods, apparatus and systems in some embodiments of the invention are described below with reference to fig. 1-6.
Example 1
An embodiment of a first aspect of the present invention provides an image acquiring method, as shown in fig. 1, the image acquiring method includes:
s102, after the vehicle parking position of the scrap steel transport vehicle meets a preset parking standard, the gun machine determines an effective area, and the effective area comprises a discharging area and/or a blanking area.
S104, after the discharging is started, when the gun machine determines that the discharging device enters the visual field range of the gun machine, the image acquisition device tracks the discharging device, the gun machine determines the discharging position and/or the blanking position of the discharging device according to the point number change in the effective area, the discharging position and/or the blanking position of the discharging device are sent to the image acquisition device, and after the image acquisition device receives the discharging position and/or the blanking position, the image acquisition device photographs the discharging position and/or the blanking position to acquire a scrap steel image of the discharging position and/or the blanking position until the discharging is finished.
The image acquisition method provided by the embodiment of the invention is used for an intelligent steel scrap judging system. According to the image acquisition method, after the scrap steel transport vehicle stops in the unloading area and meets the preset stopping specification, the gun machine starts to determine the effective area according to the unloading area and the blanking area; after the unloading is started, if the unloading device appears in the visual field range of the gun, the gun tracks the unloading device by using the tracking model, then the gun can determine the position of the unloading device according to the point number change position in the unloading area and/or the blanking area, and sends the position of the unloading device to the image acquisition device, and after the image acquisition device receives the unloading position and/or the blanking position, the image acquisition device shoots the unloading position and/or the blanking position until the unloading process is finished. This application trails and sends discharge apparatus's position to image acquisition device through the rifle bolt, communication between rifle bolt and the image acquisition device is passed through promptly, realized confirming discharge apparatus's tracking and discharge apparatus's when grabbing material and blowing to discharge apparatus position, image acquisition device shoots discharge position and/or blanking position, the steel scrap of grabbing at every turn to discharge apparatus carries out twice and shoots, the unloading point is once promptly, the blanking point is once, ensure that the steel scrap that discharge apparatus snatched every time can both be accurate discern, and then improved the security of steel unloading process, guarantee not to contain in the steel scrap and retreat goods and dangerous. This application passes through the rifle bolt location promptly, and image acquisition device shoots, has realized the steel scrap image acquisition of unloading position and/or blanking position for when getting the accurate and efficient of looks process, still provide original image data for steel scrap appraisal system, solved not fine enough problem when putting in order car steel scrap settlement.
The image acquisition method can be only used for acquiring images during blanking, and at the moment, the effective area is a blanking area. Of course, the image acquisition method of the application can also be used for image acquisition only during material grabbing, and at the moment, the effective area is the unloading area. Preferably, the images of the discharging position and the blanking position can be acquired simultaneously to provide more image data for scrap settlement.
In the above embodiment, preferably, after the image capturing device receives the discharging position and/or the blanking position, the step of taking a picture of the discharging position and/or the blanking position includes: determining the image magnification factor and the sight distance required by photographing according to the unloading position and/or the blanking position; and focusing and photographing the unloading position and/or the blanking position according to the image magnification factor and the sight distance.
In the embodiment, before focusing and photographing, the magnification and the visual distance of the image at the discharging position and/or the blanking position are determined, and then the position is focused and photographed according to the magnification and the visual distance of the image at the position to obtain the scrap steel image.
Compared with the method for acquiring the images in the prior art, the method for acquiring the images of the scrap steel is clearer, so that each image keeps the same quality, and a subsequent scrap steel grading system can conveniently utilize the acquired scrap steel images to grade.
In the above embodiment, preferably, determining the image magnification factor required for photographing according to the discharging position and/or the blanking position includes: and matching the required image amplification factor according to the unloading position and/or the blanking position and the position multiple association table.
In this embodiment, the image magnification is after having learnt the position of unloading and/or blanking position, match out in position multiple correlation table, the different magnification that the different positions correspond is obtained in the table lookup, make image acquisition device carry out the image of shooting according to this magnification clear and accurate more, subsequent steel scrap classification system of being convenient for handles the analysis to this steel scrap image, meanwhile, because the position of difference all corresponds a best magnification, make image acquisition device can be from the multiaspect, diversely gather the steel scrap image, and then guaranteed that the steel scrap that the discharge apparatus snatched each time can both be accurate discerned, and then improved the security of steel unloading process, ensure not containing goods returned spare and dangerous spare in the steel scrap.
The position multiple association table can be stored in the system in advance after being preset and verified according to the erection height of the image acquisition device, the vehicle parking position and the blanking position.
In the above embodiment, preferably, the step of determining the sight distance required for photographing according to the discharging position and/or the blanking position includes: and calculating the sight distance required by photographing according to the erection height, the vehicle parking position, the unloading position and/or the blanking position of the image acquisition device.
In the embodiment, the apparent distance is determined by calculating according to the erection height, the vehicle parking position, the discharging position and/or the blanking position of the image acquisition device, and the apparent distances are different due to the fact that the distances from different positions to the image acquisition device are different, so that the apparent distance can be calculated through the erection height, the vehicle parking position, the discharging position and/or the blanking position of the image acquisition device, and the image acquisition device can conveniently focus and photograph according to the apparent distance.
In any of the above embodiments, preferably, the step of calculating the sight distance required for photographing according to the erection height, the vehicle parking position, the discharging position and/or the blanking position of the image capturing device includes: determining the discharging shooting angle A1 and/or the blanking shooting angle A2 of the image acquisition device according to the discharging position and/or the blanking position, and then calculating the sight distance according to the following mode, wherein:
when the focused photograph is taken of the discharge position, as shown in fig. 4, the formula of the visual distance L1 of the discharge position is:
Figure BDA0003394926000000111
when focusing photographing is carried out on the blanking position, the formula of the visual distance L2 of the discharging position is as follows:
Figure BDA0003394926000000112
wherein H is the erection height of the image acquisition device, H1The bottom cleaning line height of the scrap steel transport vehicle.
The derivation of the above equation is as follows: as shown in fig. 4, the height of the ball machine is a fixed height H (unit m), the height of the carriage of the transport vehicle is a known amount H2 (unit m), and the height of the clear bottom line is a known amount H1 (unit m) set according to the size of the scrap transport vehicle. After the ball machine determines the position of the material losing point in the carriage, the ball machine returns the angle parameter A (unit degree). Through actual measurement, the height of the scrap steel transportation vehicle-mounted steel exceeding the carriage is very small and can be ignored, so the sight distance is calculated as follows:
S＝h2-h1
Figure BDA0003394926000000121
wherein S is the lost material difference, and L is the sight distance, because along with the increase of the number of times of unloading, the lost material difference is also changing, but the change can be ignored. Therefore h2 in the formula can be replaced by h 1. And actually verified that the method has no influence.
In this embodiment, calculate the stadia of unloading position and blanking position through above-mentioned formula, at first will determine image acquisition device's shooting angle according to unloading position and/or blanking position, and then calculate the stadia that different positions correspond according to shooting angle, the clear bottom line height of steel scrap transport vechicle and the frame height of image acquisition device, calculate through the pythagorean theorem and obtain right triangle's bevel edge, stadia promptly, the image acquisition device of being convenient for shoots according to the stadia.
The height of the bottom cleaning line of the vehicle is the height from the bottom plate of the carriage of the scrap steel transportation vehicle to the ground.
In any of the above embodiments, preferably, the image acquisition method further includes: after the scrap steel transport vehicle enters the unloading area, the stopping position of the scrap steel transport vehicle is identified, and the stopping position of the scrap steel transport vehicle is adjusted according to the current stopping position and the preset stopping specification of the scrap steel transport vehicle until the stopping position of the scrap steel transport vehicle meets the preset stopping specification.
In this embodiment, after the scrap steel transport vechicle gets into the region of unloading, before unloading begins, still need discern the parking position of scrap steel transport vechicle through the rifle bolt, according to the current parking position of scrap steel transport vechicle, compare with preset parking standard, when the parking position of scrap steel transport vechicle is not conform to parking standard, adjust its position, stop adjusting when the adjustment is for being accorded with preset parking standard, begin to unload, make the scrap steel transport vechicle be in the regional mid portion of unloading as far as through adjusting the vehicle position, so that follow-up rifle bolt is to the discernment of discharge apparatus position.
In any of the above embodiments, the step of adjusting the parking position of the scrap steel transportation vehicle according to the current parking position of the scrap steel transportation vehicle and the preset parking specification includes: when the proportion of the left side of the preset unloading area at the parking position of the scrap steel transport vehicle is less than 3% or the proportion of the coordinate of the center point is less than 40%, prompting to move the vehicle to the right side of the image; when the right side proportion of the parking position of the scrap steel transport vehicle in the preset unloading area is less than 5% or the coordinate proportion of the center point is more than 60%, prompting to move the vehicle to the left side of the image; and when the stop position of the scrap steel transport vehicle occupies more than 80% of the preset unloading area, judging that the stop position of the scrap steel transport vehicle meets the preset stop standard.
In the embodiment, when the parking position of the scrap steel transport vehicle is less than 3% of the left side occupation ratio of the preset unloading area or the center point coordinate occupation ratio is less than 40%, the vehicle is prompted to move to the right side of the image; when the right side proportion of the parking position of the scrap steel transport vehicle in the preset unloading area is less than 5% or the coordinate proportion of the center point is more than 60%, prompting to move the vehicle to the left side of the image; when the stop position of the scrap steel transport vehicle occupies more than 80% of the preset unloading area, the stop position of the scrap steel transport vehicle is judged to meet the preset stop standard, the position of the vehicle is adjusted according to the rule, and the scrap steel transport vehicle is located in the middle of the unloading area as far as possible, so that the position of the unloading device can be conveniently identified by a follow-up gun. A second aspect of the present invention provides an image capture device 200, as shown in fig. 2, including a bolt face 202 and an image capture device 204. Specifically, the bolt 202 is used for determining an effective area, the effective area includes an unloading area and/or a blanking area 208, determining whether the unloading device 212 enters the visual field range of the bolt 202, then determining the unloading position and/or the blanking position of the unloading device 212 according to the point number change in the effective area, and sending the unloading position and/or the blanking position of the unloading device 212 to the image acquisition device 204. The image acquisition device 204 is configured to track the discharging device 212, and after receiving the discharging position and/or the blanking position, take a picture of the discharging position and/or the blanking position to obtain a scrap image of the discharging position and/or the blanking position.
An image capture device 200 according to an embodiment of the present invention includes a bolt face 202 and an image capture device 204. The effective area is determined and dotted through the bolt face 202, after the bolt face 202 recognizes that the discharging device 212 enters the visual field range of the bolt face 202, a tracking model is called to track the discharging device 212, the position of the discharging device 212 is determined according to the position of point change in the effective area, and the determined positions of the discharging device 212 in the discharging area and the blanking area 208 are sent to the image acquisition device 204, so that the image acquisition device 204 can shoot waste steel images on the discharging device 212 in the discharging area and the blanking area 208; the image acquisition device 204 tracks the discharging device 212, and after receiving the position of the discharging device 212 sent by the bolt face 202, the image acquisition device shoots the discharging device 212 to acquire a scrap image of the position. The image acquisition device 204 comprises a discharging point ball machine and a blanking point ball machine, and is respectively responsible for shooting the discharging point/the blanking point so as to acquire the scrap steel image of the discharging point/the blanking point. Meanwhile, according to the image obtaining apparatus 200 provided by the embodiment of the present invention, since it is used for implementing the steps of the image obtaining method provided by the first aspect of the present invention, the image obtaining apparatus 200 has all technical effects of the image obtaining method, and details are not repeated herein.
In any of the above embodiments, preferably, the image capturing device 204 is specifically configured to determine, after receiving the unloading position and/or the blanking position, an image magnification and a viewing distance required for photographing according to the unloading position and/or the blanking position; and the focusing and photographing device is used for focusing and photographing the unloading position and/or the blanking position according to the image magnification and the sight distance.
In the embodiment, before focusing and photographing, the image magnification and the visual distance at the discharging position and/or the blanking position are determined, and then the position is focused and photographed according to the image magnification and the visual distance of the position to obtain the scrap steel image, so that the obtained scrap steel image is clearer compared with the method for obtaining the image in the prior art, each image keeps the same quality, and a subsequent scrap steel grading system can conveniently utilize the obtained scrap steel image for grading.
In any of the above embodiments, preferably, the image capturing apparatus 200 further includes: and the memory is used for storing the position multiple association table so as to determine the picture magnification according to the discharging position and/or the blanking position.
In this embodiment, the position multiple association table is stored in the system in advance after being preset and verified according to the erection height of the image capturing device 204, the vehicle parking position, and the blanking position. Image magnification is after having learnt the position of unloading and/or blanking position, match out in position magnification correlation table, the different magnification that the different positions correspond is obtained in the table lookup, make image acquisition device 204 carry out the image of shooting according to this magnification more clear and accurate, subsequent steel scrap appraisal system of being convenient for handles the analysis to this steel scrap image, meanwhile, because the position of difference all corresponds a best magnification, make image acquisition device 204 can be from the multiaspect, diversely gather the steel scrap image, and then guaranteed that the steel scrap that unloading device 212 snatched each time can both be accurate discerned, and then improved the security of steel unloading process, guarantee not to contain in the steel scrap and retreat goods and dangerous piece.
In any of the above embodiments, preferably, the image capturing apparatus 200 further includes: and the processor is used for calculating the sight distance required by photographing according to the erection height, the vehicle parking position, the unloading position and/or the blanking position of the image acquisition device 204.
In this embodiment, the apparent distance is determined by calculating according to the erection height, the vehicle parking position, the discharging position and/or the blanking position of the image capturing device 204, and the distances from different positions to the image capturing device 204 are different, so that the apparent distances are different, and the apparent distances are calculated according to the erection height, the vehicle parking position, the discharging position and/or the blanking position of the image capturing device 204, so that the image capturing device 204 can conveniently focus and photograph according to the apparent distances.
In any of the above embodiments, preferably, the step of calculating the sight distance required for photographing according to the erection height, the vehicle parking position, the unloading position and/or the blanking position of the image capturing device 204 by the processor includes: the processor determines the discharging shooting angle A1 and/or the blanking shooting angle A2 of the image acquisition device 204 according to the discharging position and/or the blanking position, and then calculates the sight distance according to the following mode, wherein:
when focusing photographing is carried out on the discharging position, the formula of the visual distance L1 of the discharging position is as follows:
Figure BDA0003394926000000151
when focusing photographing is carried out on the blanking position, the formula of the sight distance L2 of the blanking position is as follows:
Figure BDA0003394926000000152
wherein H is the erection height of the image acquisition device 204, H1Is the clear bottom line 210 height of the scrap steel transport vehicle 206.
The derivation of the above equation is as follows: the height of the ball machine is a fixed height H (unit m), the height of the carriage of the transport vehicle is a known amount H2 (unit m), and the height of the bottom cleaning line 210 is set according to the size of the scrap transport vehicle 206 and is a known amount H1 (unit m). After the ball machine determines the position of the material losing point in the carriage, the ball machine returns the angle parameter A (unit degree). Through actual measurement, the height of the scrap steel transportation vehicle-mounted steel exceeding the carriage is very small and can be ignored, so the sight distance is calculated as follows:
S＝h2-h1
Figure BDA0003394926000000153
wherein S is the lost material difference, and L is the sight distance, because along with the increase of the number of times of unloading, the lost material difference is also changing, but the change can be ignored. Therefore h2 in the formula can be replaced by h 1. And actually verified that the method has no influence.
In this embodiment, the apparent distances of the discharging position and the blanking position are calculated by the above formula, the shooting angle of the image acquisition device 204 is determined according to the discharging position and/or the blanking position, the apparent distances corresponding to different positions are calculated according to the shooting angle, the height of the bottom cleaning line 210 of the scrap steel transport vehicle 206 and the erection height of the image acquisition device 204, and the oblique angle side of the right triangle, i.e., the apparent distance, is calculated by the pythagorean theorem, so that the image acquisition device 204 can photograph the scrap steel according to the apparent distances.
In any of the above embodiments, preferably, the bolt face 202 is further configured to identify a parking position of the scrap car 206 after the scrap car 206 enters the unloading area, and the image capturing apparatus 200 further includes a processor configured to adjust the parking position of the scrap car 206 according to the current parking position of the scrap car 206 and the preset parking specification until the parking position of the scrap car 206 meets the preset parking specification.
In this embodiment, after the scrap steel transportation vehicle 206 enters the unloading area, before the unloading operation starts, the stopping position of the scrap steel transportation vehicle 206 needs to be identified through the bolt 202, according to the current stopping position of the scrap steel transportation vehicle 206, the comparison is performed with the preset stopping standard, when the stopping position of the scrap steel transportation vehicle 206 does not conform to the stopping standard, the position of the scrap steel transportation vehicle is adjusted, the adjustment is stopped when the adjustment is in accordance with the preset stopping standard, the unloading operation is started, and the scrap steel transportation vehicle 206 is located in the middle part of the unloading area as much as possible through the adjustment of the vehicle position, so that the subsequent bolt 202 identifies the position of the unloading device 212.
In any of the above embodiments, preferably, the step of adjusting the parking position of the scrap steel carrier 206 according to the current parking position of the scrap steel carrier 206 and the preset parking specification further includes:
when the parking position of the scrap steel transport vehicle 206 is less than 3% of the left side proportion of the preset unloading area or the central point coordinate proportion is less than 40%, prompting to move the vehicle to the right side of the image;
when the parking position of the scrap steel transport vehicle 206 is less than 5% of the right side of the preset unloading area or the coordinate ratio of the center point is more than 60%, prompting to move the vehicle to the left side of the image;
and when the parking position of the scrap steel transport vehicle 206 occupies more than 80% of the preset discharging area, judging that the parking position of the scrap steel transport vehicle 206 meets the preset parking standard.
In the embodiment, when the parking position of the scrap steel transport vehicle 206 is less than 3% of the left side proportion of the preset unloading area or the central point coordinate proportion is less than 40%, the vehicle is prompted to move to the right side of the image; when the parking position of the scrap steel transport vehicle 206 is less than 5% of the right side of the preset unloading area or the coordinate ratio of the center point is more than 60%, prompting to move the vehicle to the left side of the image; when the stop position of the scrap steel transport vehicle 206 occupies more than 80% of the preset unloading area, the stop position of the scrap steel transport vehicle 206 is judged to meet the preset stop specification, and the vehicle position is adjusted according to the rule, so that the scrap steel transport vehicle 206 is located in the middle of the unloading area as much as possible, and the position of the unloading device 212 can be conveniently identified by the following gun machine 202.
The third aspect of the invention provides an intelligent scrap steel grading system which comprises the image acquisition device in any one of the technical schemes.
According to the intelligent steel scrap grading system provided by the embodiment of the invention, as the intelligent steel scrap grading system comprises the image acquisition device in any one of the technical schemes, the intelligent steel scrap grading system has all the technical effects of the image acquisition device, and the details are not repeated herein.
The image capturing method and the image capturing apparatus 200 provided by the present application are further described below with reference to an embodiment.
In another aspect of the present invention, an image capturing method is provided for an image capturing apparatus 200, as shown in fig. 3 to 5, the image capturing apparatus 200 includes a bolt 202 and an image capturing device 204. The image acquisition device 204 includes a discharge area ball machine 2042 and a blanking area ball machine 2044, which are respectively used for acquiring the scrap steel images of the discharge area and the blanking area. The method collects the scrap steel images of the unloading area and the blanking area, and specifically comprises the following steps
S602, after the scrap steel transport vehicle enters the discharging area, the rifle bolt identifies the stop position of the scrap steel transport vehicle, and the stop position of the scrap steel transport vehicle is adjusted according to the current stop position and the preset stop standard of the scrap steel transport vehicle until the stop position of the scrap steel transport vehicle meets the preset stop standard.
And S604, after the vehicle parking position of the scrap steel transport vehicle meets the preset parking standard, determining an unloading area and a blanking area by the bolt.
And S606, after the unloading is started, when the gun machine determines that the unloading device enters the visual field range of the gun machine, the unloading area ball machine and the blanking area ball machine track the unloading device, the gun machine determines the unloading position and the blanking position of the unloading device according to the point number change in the effective area, and the unloading position and the blanking position of the unloading device are sent to the unloading area ball machine and the blanking area ball machine.
S608, after receiving the unloading position, the ball machine in the unloading area matches the required image magnification according to the unloading position and the position magnification correlation table, determines an unloading shooting angle A1 of the ball machine in the unloading area according to the unloading position, and calculates the visual distance required by shooting of the ball machine in the unloading area according to the erection height of the ball machine in the unloading area, the parking position of the vehicle and the shooting angle A1; after receiving the blanking position, the ball machine in the blanking area matches required image magnification according to the blanking position and the position magnification association table, determines a blanking shooting angle A2 of the ball machine in the blanking area according to the blanking position, and calculates a visual distance required by shooting of the ball machine in the blanking area according to the erection height of the ball machine in the blanking area, the vehicle parking position and the shooting angle A2.
S610, the discharging area ball machine carries out focusing shooting on the discharging position according to the sight distance and the multiple required by shooting by the discharging area ball machine so as to obtain a scrap steel image of the discharging position; and the ball machine in the blanking area performs focusing shooting on the blanking position according to the sight distance and the multiple required by the ball machine in the blanking area to obtain a scrap steel image of the blanking position.
In this embodiment, trail discharge apparatus and send discharge apparatus's position to discharge region ball machine and the regional ball machine of blanking through the rifle bolt, communication between the regional ball machine of rifle bolt and discharge region ball machine and the regional ball machine of blanking promptly through the rifle bolt, realized that trail discharge apparatus and the discharge apparatus when grabbing material and blowing of discharge apparatus confirm the position, discharge region ball machine and the regional ball machine of blanking take a picture to discharge position and blanking position, take a picture twice to the steel scrap that discharge apparatus snatched at every turn, the discharge point is once promptly, the blanking point is once, ensure that the steel scrap that discharge apparatus snatched each time can both be accurate discern, and then improved the security of steel discharge process, ensure not to contain in the steel scrap and withdraw goods and dangerous. This application is through rifle bolt location promptly, and the regional ball machine of unloading and the regional ball machine of blanking shoot have realized the steel scrap image acquisition of position of unloading and blanking position for get accurate and the efficient of looks process simultaneously, still for steel scrap appraisal level system provides original image data, solved not fine enough problem when putting in order car steel scrap settlement.
Certainly, the image obtaining method in this application is not limited to obtaining the steel scrap image of the unloading area and the blanking area, but also can obtain the steel scrap image of the unloading area or the steel scrap image of the blanking area separately, for example, to obtain the steel scrap image of the unloading area (the blanking area and the unloading area are the same, and therefore no further description is given), and the method includes:
after the scrap steel transport vehicle enters the discharging area, the rifle bolt identifies the stopping position of the scrap steel transport vehicle, and the stopping position of the scrap steel transport vehicle is adjusted according to the current stopping position and the preset stopping specification of the scrap steel transport vehicle until the stopping position of the scrap steel transport vehicle meets the preset stopping specification.
And after the vehicle stopping position of the scrap steel transport vehicle meets the preset stopping specification, starting to unload.
After the discharging is started, when the gunlock 202 determines that the discharging device enters the visual field range of the gunlock 202, the discharging area ball machine 202 tracks the discharging device, the gunlock 202 determines the discharging position of the discharging device according to the point number change in the discharging area, and sends the discharging position of the discharging device to the discharging area ball machine.
After the unloading area ball machine 202 receives the unloading position, the required image magnification factor is matched according to the unloading position and the position magnification factor association table, the unloading shooting angle A1 of the unloading area ball machine 202 is determined according to the unloading position, and the visual distance required by shooting is calculated according to the erection height, the vehicle parking position and the shooting angle of the unloading area ball machine 202.
And the discharging area ball machine 202 focuses and photographs the discharging position according to the image magnification and the visual distance to obtain a scrap steel image of the discharging position.
In this embodiment, through the communication between rifle bolt and the regional ball machine 202 of unloading, realized confirming discharge apparatus's tracking and discharge apparatus's when discharge apparatus grabs the material position, the regional ball machine 202 of unloading shoots the discharge position, guarantees that the steel scrap that discharge apparatus grabbed each time can both be accurate discernment, and then has improved the security of the steel unloading process, does not contain in the steel scrap back piece and dangerous. This application is through rifle bolt location promptly, and regional ball machine 202 of unloading shoots, has realized the steel scrap image acquisition of the position of unloading for when getting the accurate and efficient of looks process, still for steel scrap appraisal system provides original image data, solved not meticulous problem when putting in order car steel scrap settlement.
An embodiment of another aspect of the present invention provides an image acquisition method, including:
after a scrap steel truck is detected by a radioactive source (a detection means before steel enterprises unload scrap steel), the truck is stopped to a discharge point, and a grading system and a camera are started in a card swiping mode. The method comprises the steps that firstly, the rifle bolt verifies the parking position of a vehicle and the effective area of a carriage, a common discharging point is provided with a set parking mark, and if the vehicle cannot be parked, the rifle bolt returns a picture and prompts the moving direction.
After the vehicle is parked reasonably, a car grabbing/crown block driver starts to unload materials, meanwhile, the ball machine is started, the claw machine/sucker recognition model and each scrap steel intelligent judgment model are systematically called to carry out successive judgment along with the car grabbing claws/suckers, and the judgment basis of all models is the pictures acquired by the ball machine until the unloading point is finished.
When the claw machine/sucker unloads one by one, the ball machine at the blanking point also can carry out secondary verification and classification on the scrap steel at the blanking point every time, namely the claw machine/sucker can obtain 2 high-definition scrap steel pictures every time when grabbing and blanking. The parameters and functions of the ball machine of the blanking point are the same as those of the ball machine of the unloading point, and the ball machine of the blanking point analyzes the unloading all-around and all-angle. The significance lies in ensuring the safety and data accuracy of the steel scrap grabbed each time.
During the unloading period, the ball machine collects the shot pictures to find the alarm object, the returned object and the overlong part, the system sends out an alarm, and the claw machine and the overhead crane stop working and wait for processing. After the treatment is finished, the alarm is finished, the ball machine is started, and the claw machine and the crown block start to unload materials again.
In another aspect, an embodiment of the present invention provides an image capturing device, which includes a gun camera, a blanking area ball camera, and a discharging area ball camera. Specifically, after the gun machine detects that the scrap steel transport vehicle enters an effective area, the tracking model is called to track the unloading device, the unloading position and the blanking position are sent to an unloading area ball machine and a blanking area ball machine respectively, and the unloading area ball machine and the blanking area ball machine take pictures according to the unloading position and the blanking position sent by the gun machine, so that a scrap steel image is obtained. Wherein the gunlock, the ball machine in the blanking area and the ball machine in the discharging area are arranged on the same bracket. Meanwhile, according to the image obtaining apparatus provided in the technical solution of the present invention, since it is used for implementing the steps of the image obtaining method provided in the first aspect of the present invention, the image obtaining apparatus has all technical effects of the image obtaining method, and details are not described herein again.
In this specification, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present specification, the description of the terms "one embodiment," "some embodiments," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (15)

1. An image acquisition method, characterized in that the image acquisition method comprises:
after the vehicle parking position of the scrap steel transport vehicle conforms to a preset parking standard, determining an effective area by a bolt machine, wherein the effective area comprises a discharging area and/or a blanking area;
after the unloading is started, when the gunlock determines that the unloading device enters the field range of the gunlock, the image acquisition device tracks the unloading device, the gunlock determines the unloading position and/or the blanking position of the unloading device according to the point number change in the effective area, and sends the unloading position and/or the blanking position of the unloading device to the image acquisition device, and after receiving the unloading position and/or the blanking position, the image acquisition device photographs the unloading position and/or the blanking position to acquire a scrap steel image of the unloading position and/or the blanking position until the unloading is finished.
2. The image acquisition method according to claim 1, wherein the step of photographing the discharging position and/or the blanking position by the image acquisition device after receiving the discharging position and/or the blanking position comprises:
determining the image magnification factor and the visual range required by photographing according to the unloading position and/or the blanking position;
and focusing and photographing the discharging position and/or the blanking position according to the image magnification factor and the sight distance.
3. The image acquisition method according to claim 2, wherein determining the image magnification factor required for photographing according to the unloading position and/or the blanking position comprises:
and matching the required image amplification factor according to the unloading position and/or the blanking position and the position multiple association table.
4. The image acquisition method according to claim 2, wherein the step of determining the viewing distance required for photographing according to the discharging position and/or the blanking position comprises:
and calculating the sight distance required by photographing according to the erection height of the image acquisition device, the parking position of the vehicle, the unloading position and/or the blanking position.
5. The image acquisition method according to claim 4, wherein the step of calculating the sight distance required for photographing according to the erection height of the image acquisition device, the vehicle parking position, the discharging position and/or the blanking position comprises:
determining an unloading shooting angle A1 and/or a blanking shooting angle A2 of the image acquisition device according to the unloading position and/or the blanking position, and then calculating the sight distance according to the following mode, wherein:
when focusing photographing is carried out on the discharging position, the formula of the visual distance L1 of the discharging position is as follows:
Figure FDA0003394925990000021
when focusing photographing is carried out on the blanking position, the formula of the sight distance L2 of the blanking position is as follows:
Figure FDA0003394925990000022
wherein H is the erection height of the image acquisition device, H1The bottom cleaning line height of the scrap steel transport vehicle.
6. The image acquisition method according to claim 1, further comprising:
after the scrap steel transport vehicle enters the discharging area, the stopping position of the scrap steel transport vehicle is identified, and the stopping position of the scrap steel transport vehicle is adjusted according to the current stopping position of the scrap steel transport vehicle and the preset stopping standard until the stopping position of the scrap steel transport vehicle meets the preset stopping standard.
7. The image acquisition method according to claim 6, wherein the step of adjusting the parking position of the scrap transporter according to the current parking position of the scrap transporter and a preset parking specification comprises:
when the parking position of the scrap steel transport vehicle is less than 3% of the left side proportion of a preset unloading area or the central point coordinate proportion is less than 40%, prompting to move the vehicle to the right side of the image;
when the right side proportion of the parking position of the scrap steel transport vehicle in a preset unloading area is less than 5% or the coordinate proportion of a center point is more than 60%, prompting to move the vehicle to the left side of the image;
and when the stop position of the scrap steel transport vehicle occupies more than 80% of a preset unloading area, judging that the stop position of the scrap steel transport vehicle meets the preset stop standard.
8. An image acquisition apparatus, characterized by comprising:
the gun machine is used for determining an effective area, wherein the effective area comprises an unloading area and/or a blanking area, determining whether an unloading device enters the visual field range of the gun machine, determining the unloading position and/or the blanking position of the unloading device according to the point number change in the effective area, and sending the unloading position and/or the blanking position of the unloading device to the image acquisition device;
and the image acquisition device is used for tracking the discharging device, and after receiving the discharging position and/or the blanking position, photographing the discharging position and/or the blanking position to acquire the scrap steel image of the discharging position and/or the blanking position.
9. The image acquisition device according to claim 8, wherein the image acquisition device is specifically configured to:
after the discharging position and/or the blanking position are/is received, determining an image magnification factor and a visual distance required by photographing according to the discharging position and/or the blanking position;
and the image acquisition device focuses and photographs the unloading position and/or the blanking position according to the image magnification factor and the sight distance.
10. The image capturing apparatus according to claim 8, characterized in that the image capturing apparatus further comprises:
and the memory is used for storing the position multiple association table so as to determine the picture magnification according to the discharging position and/or the blanking position.
11. The image capturing apparatus according to claim 8, characterized in that the image capturing apparatus further comprises:
and the processor is used for calculating the sight distance required by photographing according to the erection height of the image acquisition device, the vehicle parking position, the unloading position and/or the blanking position.
12. The image capturing device of claim 11, wherein the processor is specifically configured to:
determining an unloading shooting angle A1 and/or a blanking shooting angle A2 of the image acquisition device according to the unloading position and/or the blanking position, and then calculating the sight distance according to the following mode, wherein:
when focusing photographing is carried out on the discharging position, the formula of the visual distance L1 of the discharging position is as follows:
Figure FDA0003394925990000031
when focusing photographing is carried out on the blanking position, the formula of the sight distance L2 of the blanking position is as follows:
Figure FDA0003394925990000032
wherein H is the erection height of the image acquisition device, H1The bottom cleaning line height of the scrap steel transport vehicle.
13. The image capturing apparatus according to claim 8,
the gun machine is also used for identifying the stopping position of the scrap steel transport vehicle after the scrap steel transport vehicle enters the discharging area;
the image acquisition device further comprises a processor, and the processor is used for adjusting the stopping position of the scrap steel transport vehicle according to the current stopping position of the scrap steel transport vehicle and the preset stopping standard until the stopping position of the scrap steel transport vehicle meets the preset stopping standard.
14. The image capturing device of claim 8, wherein the processor is specifically configured to: when the parking position of the scrap steel transport vehicle is less than 3% of the left side proportion of a preset unloading area or the central point coordinate proportion is less than 40%, prompting to move the vehicle to the right side of the image;
when the right side proportion of the parking position of the scrap steel transport vehicle in a preset unloading area is less than 5% or the coordinate proportion of a center point is more than 60%, prompting to move the vehicle to the left side of the image;
and when the stop position of the scrap steel transport vehicle occupies more than 80% of a preset unloading area, judging that the stop position of the scrap steel transport vehicle meets the preset stop standard.
15. An intelligent steel scrap grading system is characterized by comprising:
an image acquisition apparatus as claimed in any one of claims 8 to 14.
CN202111481077.1A 2021-12-06 2021-12-06 Image acquisition method, image acquisition device and intelligent scrap steel grading system Pending CN114189629A (en)

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