CN115096178A - Lifting container positioning method based on machine vision - Google Patents
Lifting container positioning method based on machine vision Download PDFInfo
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- CN115096178A CN115096178A CN202210513387.5A CN202210513387A CN115096178A CN 115096178 A CN115096178 A CN 115096178A CN 202210513387 A CN202210513387 A CN 202210513387A CN 115096178 A CN115096178 A CN 115096178A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention discloses a lifting container positioning method based on machine vision, when a lifting machine is started, a container end terminal can identify a container end marker on a lifting container balancing device, a roller end camera is triggered to start working, the number and position information of the roller end marker in real time along with the rotation of a roller are obtained through the roller end camera, the collected information is transmitted to a signal receiver, the signal receiver transmits the information to a terminal server for gray processing and binarization processing, the position of a lifting container in a shaft is obtained in real time after calculation, the position information is displayed on a terminal display, a relevant signal is given to a machine room operator, and further, the relevant operation of starting and stopping of the whole lifting system is controlled. The invention is not influenced by the mine depth, the elastic extension of the steel wire rope, the slipping of the steel wire rope and the like, has no mechanical abrasion, and has the advantages of high positioning precision and strong reliability.
Description
Technical Field
The invention relates to the technical field of mine hoisting, in particular to a hoisting container positioning method based on machine vision.
Background
The main tasks of a mine hoist are to lift minerals, lower materials, transport equipment and personnel, and to play an important role in the whole mining process. The role of the mine hoist determines that the hoist must have the characteristics of safety, reliability, economy, high efficiency and the like. The lifting container is an important load component of the elevator, the position measurement of the lifting container is an important basis for the operation of starting, stopping, decelerating and the like of the mine elevator, the measurement of the position of the lifting container is inaccurate, the production efficiency can be reduced, great inconvenience is brought to personnel and mine cars which enter and exit the container, and the lifting can be blocked, over-speed and over-winding conditions are generated in serious cases, so that accidents such as mine production interruption, equipment damage, personnel injury and the like are caused, and great economic loss is brought to the coal mine production.
Currently, the measurement of the hoist container by the mine hoist is mainly measured by a rotary encoder connected to a main shaft. The main shaft rotates for a circle to drive the encoder to send out a fixed pulse signal, the signal enters the control system and then is converted indirectly to obtain the operation position of the lifting container, and an operator controls the operation of starting, stopping, decelerating and the like of the lifting machine according to the position. However, the connection between the encoder and the main shaft is engaged by a plurality of gears, the encoder generates a large error due to the existence of a tooth side gap, and meanwhile, the hoisting steel wire rope can generate elastic extension, slipping and other problems under the action of self weight and heavy load, so that the positioning accuracy is poor, and the hoisting system cannot operate safely and efficiently.
Aiming at the defects in the prior art, a lifting container positioning method based on machine vision for monitoring the position of a lifting container in real time is urgently needed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a lifting container positioning method based on machine vision, aiming at the defects of the prior art, the method acquires image information of a marker on a lifting container balancing device through a container end camera, acquires the image information of the marker on a roller hub through a roller end camera, obtains the accurate position of a lifting container in a shaft through image processing and related calculation, is not influenced by the conditions of mine depth, elastic elongation of a steel wire rope, slippage of the steel wire rope and the like, has no mechanical abrasion, and has the advantages of high positioning accuracy and strong reliability.
In order to solve the technical problems, the invention adopts the technical scheme that: the lifting container positioning method based on machine vision specifically comprises the following steps:
lifting a lifting container to the top of the shaft, fixing a plurality of container end markers on a balancing device; arranging a container end camera, identifying the positions of the balancing device and the container end marker through the container end camera, and recording the parking position coordinate of the lifted container;
the lifting container continuously descends along with the steel wire rope, and meanwhile, the other lifting container correspondingly ascends; the descending lifting container runs to the bottom of the shaft, the other lifting container rises to the position of the well mouth, the container end camera recognizes the container end marker on the balancing device again, at the moment, the lifting container is in place, and the stopping of the lifting device is controlled;
and 6, the signal receiver transmits the received information to a terminal server for image processing, and the position of the lifting container in the shaft and the parking position are obtained by carrying out image gray processing and binarization processing on the container end camera and calculating, and are displayed on a terminal display in real time.
Further preferably, light supplementing lamps are respectively installed beside the container end camera and the roller end camera, so that the brightness and the precision of image acquisition are improved.
Further preferably, in step 3, a plurality of roller end markers are fixed on the hub of the roller at intervals of an angle theta, wherein theta is more than 10 degrees and less than 20 degrees.
Further preferably, the signal receiver is connected to the terminal server through an optical fiber line or a video line.
Further preferably, in step 4, the method for judging that the lifting container is in place includes: when the lifting container is at an initial position, selecting five images collected by a container end camera as template images, wherein the five images are images of the four corners and the center of the lifting container respectively; when the lifting container is about to reach a parking position, the container terminal camera collects five images at the same position and transmits the images to the terminal server through the signal receiver, and the terminal server compares the received images with the template images; and when the similarity between the received image and the template image is more than 95%, the position at this moment is the position for lifting the container in place.
Further preferably, the process of comparing the received image with the template image by the terminal server is as follows:
setting the size of the template image as a, and the size of the input image to be compared as b, wherein b is larger than a;
first, a piece of temporary image of (0, 0) to (a, a) is cut starting from one corner (0, 0) of the input image;
secondly, comparing the temporary image with the template image, and marking a comparison result as c, wherein the comparison result c is a pixel value of the input image (0, 0);
thirdly, cutting a temporary image of a block (0, 1) to (10, 11), and recording a result image after comparison;
fourthly, the above steps are repeated until the diagonal corners of the input image are cut.
Further preferably, the image processing method of the marker in step 6 is as follows:
6-1, the terminal server performs gray processing on the received image; carrying out binarization processing on the image subjected to gray processing, taking a threshold lambda, and taking the threshold lambda as 1 when the gray value is greater than the threshold lambda; when the gray value is smaller than the threshold lambda, the gray value is taken as 0, and thus a gray value image subjected to binarization processing is obtained;
step 6-2, selecting a fan-shaped area with an angle alpha on the circular side surface of the roller hub, so that the area only contains a roller end marker, and ensuring that the area swept by each frame of the roller end camera only has two conditions: one is that there is a roller end marker in the sector area, the other is that there is no roller end marker in the sector area;
and 6-3, identifying the moving distance by analyzing the change of the gray values of the front frame and the rear frame when the roller rotates: t1 frames are like roller end markers appear, t2, t3, … tn-1 frames are without roller end markers appear, tn frames appear again with roller end markers, thus obtaining that the roller rotates by an angle theta through n-1 frames, and the arc length of the roller rotating at the moment is:
in the formula: r is the length from the center of the roller to the center of the marker;
and 6-4, acquiring images of the roller end continuously, and obtaining arc lengths s1, s2 and s3 … … sn which are separated by a plurality of frames through a process of identifying the roller end marker and identifying no roller end marker in a circulating mode, wherein the moving distance L of the steel wire rope is s1+ s2+ s3+ … … + sn, and therefore the ascending or descending distance of the lifting container in a set time period is obtained.
Further preferably, the method for judging whether the lifting container ascends or descends is as follows: selecting a fan-shaped area with an angle beta on the circular side surface of the roller hub, wherein beta is larger than theta; ensuring that the roller end marker appears in the fan-shaped area in each frame of the roller end camera; the rotating direction of the roller is obtained by comparing the positions of the roller end markers in the adjacent front and back frame images, namely if the position of the roller end marker of the back frame is in the anticlockwise direction of the front frame, the roller rotates anticlockwise; if the position of the mark at the end of the roller of the next frame is in the clockwise direction of the previous frame, the roller rotates clockwise.
The invention has the following beneficial effects:
1. compared with the existing positioning method, the method is not influenced by the conditions of mine depth, elastic extension of the steel wire rope, slippage of the steel wire rope and the like during monitoring, has no mechanical abrasion, and has the advantages of high positioning precision and strong reliability.
2. The invention can achieve uninterrupted work by carrying out visual identification through the cameras at the lifting container end and the roller end, has strong anti-interference capability and is suitable for severe working environments.
3. The invention carries out real-time monitoring on the position of the lifting container based on machine vision, and compared with the prior art, the invention adopts a non-contact working mode to carry out measurement and monitoring, thereby not influencing the transportation and production of the whole lifter.
Drawings
FIG. 1 is a functional block diagram of a machine vision based lift container positioning method of the present invention.
Fig. 2 is a schematic structural diagram of a lifting container positioning method based on machine vision.
Fig. 3 is a schematic view of a container end marker of the machine vision based lift container positioning method of the present invention.
Fig. 4 is a schematic diagram of a roller end marker of the machine vision based lift container positioning method of the present invention.
Fig. 5 is a diagram of the image processing of the roller end marker of the machine vision based method for positioning a lift container of the present invention.
FIG. 6 is a thresholded grayscale image of the machine vision based lift vessel positioning method of the present invention.
FIG. 7 is a schematic view of image processing of a roller end marker during steering of a measuring roller of the machine vision-based method for positioning a lift container according to the present invention.
Fig. 8A is a frame before the first fan-shaped area marker position map.
Fig. 8B is a thresholded gray scale image corresponding to a frame before the first fan-shaped region marker position map.
Fig. 8C is a frame subsequent to the first fan-shaped area marker position map.
Fig. 8D is a thresholded gray scale image corresponding to a frame after the first fan-shaped region marker location map.
Fig. 9A is a frame prior to the second fan-shaped area marker location map.
Fig. 9B is a thresholded gray scale image corresponding to a frame before the second fan-shaped region mark position map.
Fig. 9C is a frame subsequent to the second fan-shaped area marker position map.
Fig. 9D is a thresholded gray scale image corresponding to a frame after the second fan-shaped region marker location map.
Among them are: 1. a drum; 2. lifting the container; 3. a balancing device; 4. a container end marker; 5. a container end camera; 6. a roller end marker; 7. a roller end camera; 8. a signal receiver; 9. a terminal server; 10. a terminal display; 11. a light supplement lamp; 12. a container-end signal box; 13. the cylinder end signal case.
Detailed Description
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, "first", "second", etc., do not represent an important degree of the component parts, and thus, are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
A lifting container positioning method based on machine vision is disclosed, the overall principle is as shown in figure 1, when a lifting machine is started, a container end camera can recognize a container end marker on a lifting container balancing device, a roller end camera is triggered to start working through a signal transmission line, the frequency and position information of the roller end marker on a roller hub along with the rotation of a roller are recorded in real time through the roller end camera, then a container end signal box and a roller end signal box transmit the acquired information to a signal receiver through the signal transmission line, wherein the signal transmission line preferably selects an optical fiber line or a video line; and after the signal receiver receives the signal, the signal receiver performs median filtering operation, transmits the information to the terminal server for processing, obtains the position of the lifting container in the shaft in real time, displays the position information on a terminal display, and then gives out relevant signals of machine room operators through the control system according to the real-time position information of the roller so as to control the relevant operation of starting and stopping the whole lifting system.
After the camera at the lifting container end and the camera at the roller end recognize the information of the marker, the information is processed by the terminal server and fed back to the cameras at the two positions for error adjustment.
Compared with the existing positioning method, the method is not influenced by the conditions of mine depth, elastic extension of the steel wire rope, slipping of the steel wire rope and the like during monitoring, has no mechanical abrasion, and has the advantages of high positioning precision and strong reliability; the camera of container end and cylinder end is promoted to carry out visual identification, uninterrupted work can be achieved, the anti-jamming capability is strong, and the device is suitable for severe working environment.
The specific steps of the present invention will be described in connection with the preferred embodiments
As shown in fig. 3, a lifting vessel 2 is lifted to the top of the shaft, and a plurality of vessel end markers 4 are fixed on the balancing device 3; laying out a container end camera 5, the container end camera 5 being fixable on the derrick, and the container end camera 5 being able to enclose the hoisting container 2 and all container end markers 4 within the field of view; according to the actual light condition of operational environment, install the light filling lamp near container end camera 5, if container end camera 5 adopts infrared camera, then need select the infrared lamp to carry out the light filling to follow-up better image recognition and processing.
The position of the balancing device 3 and the container end marker 4 is recognized by the container end camera 5, which container end camera 5 transmits the information via a matching container end signal box 12 to the signal receiver 8 and records the parking position coordinates of the lifting container 2 at this time.
And 3, as shown in figure 4, fixing a plurality of roller end markers 6 on the hub of the roller 1, wherein the interval angle theta of the plurality of roller end markers 6 is fixed, and the preferable interval angle theta is more than or equal to 10 degrees and less than or equal to 20 degrees.
Arranging a roller end camera 7, wherein the roller end camera 7 can also be fixed on the derrick, and the roller end camera 7 can enclose the roller 1 and all the roller end markers 6 in a visual field; according to the actual light condition of working environment, install the light filling lamp near roller end camera 7, if roller end camera 7 adopts infrared camera, then need select the infrared lamp to carry out the light filling to carry out image recognition and processing better in the follow-up.
The position of the drum 1 and the drum end markers 6 is identified by the drum end camera 7, and the drum end camera 7 transmits signals to the signal receiver 8 through the associated drum end signal box 13.
And 4, starting the lifting container 2, identifying the container end marker 4 on the balancing device 3 by the container end camera 5, triggering the interlocking of the container end camera 5 and the roller end camera 7, and starting the roller end camera 7 to work.
The lifting container 2 continuously descends along with the steel wire rope, and meanwhile, the other lifting container 2 correspondingly ascends; the lowered lifting vessel 2 runs to the bottom of the shaft and the other lifting vessel 2 is raised to the wellhead position, the vessel end camera 5 again recognises the vessel end marker 4 on the counterbalancing means 3, lifting the vessel 2 in place, controlling the stopping of the lifting means.
The method for judging the lifting container 2 is as follows: when the lifting container 2 is at an initial position, selecting five images collected by the container end camera 5 as template images, wherein the five images are images of the four corners and the center of the lifting container 2 respectively; when the lifting container 2 is about to reach the parking position, the container end camera 5 collects five images at the same position and transmits the images to the terminal server 9 through the signal receiver 8, the terminal server 9 compares the received images with the template images, and the comparison process is as follows:
setting the size of the template image as a, and the size of the input image to be compared as b, wherein b > a, and preferably a can divide b completely;
first, a piece of temporary image of (0, 0) to (a, a) is cut starting from one corner (0, 0) of the input image;
secondly, comparing the temporary image with the template image, and marking a comparison result as c, wherein the comparison result c is a pixel value of the input image (0, 0);
thirdly, cutting a temporary image of a block (0, 1) to (10, 11), and recording a result image after comparison;
fourthly, the above steps are repeated until the diagonal corners of the input image are cut.
When the similarity between the received image and the template image is greater than 95%, the position at this time is the position at which the container 2 is lifted into position.
step 6-1, the terminal server 9 carries out gray processing on the received image; carrying out binarization processing on the image subjected to gray processing, and taking a threshold value lambda as 1 when the gray value is greater than the threshold value lambda; when the gray value is smaller than a threshold lambda, the gray value is 0, and therefore a gray value image subjected to binarization processing is obtained;
step 6-2, as shown in fig. 5, a sector area with an angle α is selected on the circular side of the hub of the roller 1, so that the area only contains one roller end marker 6, and the area swept by the roller end camera 7 in each frame is ensured to have only two conditions: one is that there is a roller end marker 6 in the sector area, the other is that there is no roller end marker 6 in the sector area;
and 6-3, identifying the moving distance by analyzing the change of the gray values of the front frame and the rear frame when the roller 1 rotates: as shown in FIG. 6, frame t1 indicates that roller end marker 6 is present, frame t2, frame t3, frame … tn-1 indicates that no roller end marker 6 is present, and frame tn indicates that roller end marker 6 is present again, thus giving that the roller has rotated through an angle θ by n-1 frames, at which time the arc length over which the roller has rotated is:
in the formula: r is the length from the center of the roller to the center of the marker;
and 6-4, continuously acquiring images by the roller end camera 7, and obtaining arc lengths s1, s2 and s3 … … sn which are separated by a plurality of frames through the circulation process of identifying the roller end marker 6 and not identifying the roller end marker 6, wherein the moving distance L of the steel wire rope is s1+ s2+ s3+ … … + sn, so that the ascending or descending distance of the lifting container 2 in a set time period is obtained, the position of the lifting container 2 in the shaft and the parking position are converted, and the position is displayed on the terminal display 10 in real time.
The method for judging the ascending or descending of the lifting container 2 comprises the following steps: as shown in fig. 7, on the circular side of the hub of the roller 1, a sector area with an angle beta is selected, wherein beta is larger than theta; ensuring that roller end markers 6 appear in the sector area for each frame of the roller end camera 7; the rotating direction of the roller 1 is obtained by comparing the positions of the roller end markers 6 in the adjacent front and back frame images; as shown in fig. 8A, 8B, 8C, and 8D, if the drum end marker 6 position of the subsequent frame is in the counterclockwise direction of the previous frame, it means that the drum 1 is rotating counterclockwise; as shown in fig. 9A, 9B, 9C, and 9D, if the position of the drum end marker 6 of the subsequent frame is in the clockwise direction of the preceding frame, it is explained that the drum 1 rotates clockwise.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention.
Claims (8)
1. A lifting container positioning method based on machine vision is characterized in that: the method specifically comprises the following steps:
step 1, when the mine hoisting device works normally, a steel wire rope wound on a roller (1) pulls a hoisting container (2) to move up and down in a shaft; the steel wire rope and the lifting container (2) are fixedly connected through a balancing device (3); two lifting containers (2) are arranged, and after one of the lifting containers is connected with a steel wire rope, the steel wire rope bypasses the roller and is connected with the second lifting container;
lifting a lifting container (2) to the top of the shaft, fixing a plurality of container end markers (4) on a balancing device (3); arranging a container end camera (5), identifying the positions of the balancing device (3) and the container end marker (4) through the container end camera (5), and recording the parking position coordinate of the lifting container (2);
step 2, descending the calibrated lifting container (2) along with the steel wire rope, ascending the other lifting container (2) along with the steel wire rope, repeating the step 1, and completing calibration of the two lifting containers (2); the calibrated two lifting containers (2) are located at the wellhead position and the bottom position of the shaft respectively;
step 3, fixing a plurality of roller end markers (6) on a hub of the roller (1), arranging a roller end camera (7), and identifying the positions of the roller (1) and the roller end markers (6) through the roller end camera (7);
step 4, starting the lifting container (2), identifying a container end marker (4) on the balancing device (3) by the container end camera (5), triggering the linkage of the container end camera (5) and the roller end camera (7), and starting the roller end camera (7) to work;
the lifting container (2) continuously descends along with the steel wire rope, and meanwhile, the other lifting container (2) correspondingly ascends; the descending lifting container (2) runs to the bottom of the shaft, the other lifting container (2) rises to the position of the well head, the container end camera (5) recognizes the container end marker (4) on the balancing device (3) again, and at the moment, the lifting container (2) is in place to control the lifting device to stop;
step 5, in the process of continuous rotation of the roller, identifying the position and the number of the roller end markers (6) through a roller end camera (7), and feeding back information to the container end camera (5) to adjust errors; the roller end camera (7) and the container end camera (5) transmit the identified information to the signal receiver (8);
and 6, transmitting the received information to a terminal server (9) by the signal receiver (8) for image processing, obtaining the position of the lifting container (2) in the shaft and the parking position by carrying out image gray scale processing and binarization processing on the container end camera (5) and calculating, and displaying on a terminal display (10) in real time.
2. The machine-vision-based lift container positioning method of claim 1, wherein: and light supplement lamps (11) are respectively arranged beside the container end camera (5) and the roller end camera (7), so that the brightness and the precision of image acquisition are improved.
3. The machine-vision-based lift container positioning method of claim 1, wherein: in the step 3, a plurality of roller end markers (6) are fixed on the hub of the roller (1) at intervals of an angle theta, wherein the theta is more than or equal to 10 degrees and less than or equal to 20 degrees.
4. The machine-vision based lift vessel positioning method of claim 1, wherein: the signal receiver (8) is connected with the terminal server (9) through an optical fiber line or a video line.
5. The machine-vision-based lift container positioning method of claim 1, wherein: in the step 4, the method for judging that the lifting container (2) is in place comprises the following steps: when the lifting container (2) is at an initial position, selecting five images collected by the container end camera (5) as template images, wherein the five images are images of the four corners and the center of the lifting container (2); when the lifting container (2) is about to reach a parking position, the container end camera (5) collects five images at the same position and transmits the images to the terminal server (9) through the signal receiver (8), and the terminal server (9) compares the received images with the template images; when the similarity between the received image and the template image is more than 95%, the position at this time is the position for lifting the container (2) in place.
6. The machine-vision-based lift container positioning method of claim 5, wherein: the process that the terminal server (9) compares the received image with the template image is as follows:
setting the size of the template image as a, and the size of the input image to be compared as b, wherein b is larger than a;
first, a piece of temporary image of (0, 0) to (a, a) is cut starting from one corner (0, 0) of the input image;
secondly, comparing the temporary image with the template image, and marking a comparison result as c, wherein the comparison result c is a pixel value of the input image (0, 0);
thirdly, cutting a temporary image of a block (0, 1) to (10, 11), and recording a result image after comparison;
fourthly, the above steps are repeated until the diagonal corners of the input image are cut.
7. The machine-vision-based lift container positioning method of claim 3, wherein: the image processing method of the marker in step 6 is as follows:
step 6-1, the terminal server (9) carries out gray processing on the received image; carrying out binarization processing on the image subjected to gray processing, and taking a threshold value lambda as 1 when the gray value is greater than the threshold value lambda; when the gray value is smaller than a threshold lambda, the gray value is 0, and therefore a gray value image subjected to binarization processing is obtained;
step 6-2, selecting a sector area with an angle alpha on the circular side surface of the hub of the roller (1), so that the area only contains a roller end marker (6), and ensuring that only two conditions exist in the area swept by each frame of the roller end camera (7): one is that the sector area has a roller end marker (6), and the other is that the sector area has no roller end marker (6);
and 6-3, identifying the moving distance by analyzing the change of the gray values of the front frame and the rear frame when the roller (1) rotates: t1 frames are like roller end marker (6) appearing, t2, t3, … tn-1 frames are without roller end marker (6) appearing, tn frames are with roller end marker (6) appearing again, thus obtaining that roller has rotated by theta angle by n-1 frames, and the arc length of roller rotation is:
in the formula: r is the length from the center of the roller to the center of the marker;
and 6-4, continuously acquiring images by the roller end camera (7), and obtaining arc lengths s1, s2 and s3 … … sn which are separated by a plurality of frames through the circulation process of identifying the roller end marker (6) and not identifying the roller end marker (6), wherein the moving distance L of the steel wire rope is s1+ s2+ s3+ … … + sn, so that the ascending or descending distance of the lifting container (2) in a set time period is obtained.
8. The machine-vision-based lift container positioning method of claim 7, wherein: the method for judging the ascending or descending of the lifting container (2) comprises the following steps: selecting a fan-shaped area with an angle beta on the circular side surface of the hub of the roller (1), wherein beta is larger than theta; ensuring that the roller end marker (6) appears in the fan-shaped area in each frame of the roller end camera (7); the position of the roller end marker (6) in the adjacent two frames of images is compared to obtain the rotating direction of the roller (1), namely if the position of the roller end marker (6) in the next frame is in the anticlockwise direction of the previous frame, the roller (1) rotates anticlockwise; if the position of the roller end marker (6) of the next frame is clockwise in the previous frame, the roller (1) is indicated to rotate clockwise.
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