CN205397910U - Crane cart direction fine positioning device based on machine vision - Google Patents
Crane cart direction fine positioning device based on machine vision Download PDFInfo
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- CN205397910U CN205397910U CN201620156518.9U CN201620156518U CN205397910U CN 205397910 U CN205397910 U CN 205397910U CN 201620156518 U CN201620156518 U CN 201620156518U CN 205397910 U CN205397910 U CN 205397910U
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Abstract
The utility model discloses a crane cart direction fine positioning device based on machine vision, including main control computer and the camera equipment that is used for shoot containing the real -time image of object, camera equipment installs on the hoist, camera equipment with main control computer transport connection, the main control computer is connected with being used for the PLC controller signal who controls cart travelling mechanism or hoist sideslip mechanism, and the object is for laying or establish the marking plate that runs roadside hazard in the cart. The utility model has the advantages of: equipment is simple, low cost, and it is convenient to maintain, can improve the location efficiency of crane cart direction greatly.
Description
Technical field
This utility model relates to the container crane field of locating technology in container terminal or stockyard, particularly relates to a kind of crane direction accurate positioning device based on machine vision.
Background technology
Machine vision replaces human eye measure and judge with machine exactly.Vision Builder for Automated InspectionRefer to that will be ingested Target Transformation by machine vision product becomes picture signal, sends to specialImage processing system, obtain the shape information of target subject, according to pixel distribution and the information such as brightness, color, be transformed into digitized signal；These signals are carried out various computing to extract the feature of object by picture system, and then identify measurement object coordinate, according to its real-time coordinates and theoretical principle coordinate result of the comparison, control equipment corresponding mechanism action, it is achieved equipment is accurately positioned automatically, para-position.
When container terminal or storage yard operation, container crane is accurately positioned in process realizing cart, driver be usually sitting in drivers' cab curved waist, hang down head operation equipment；During operation, equipment itself rocks just relatively larger, adds croucs always, and driver is easy to fatigue, and easily suffers from the occupation disease of the aspect such as lumbar vertebra or cervical spine injury.If able to realize being automatically positioned of equipment will be substantially reduced the labor intensity of hoister.
When on container crane, the center of suspender central point and the object (until box or wait emplacing as top container or truck sweep or ground tank bit-identify line) needing para-position is completely superposed in earth absolute coordinate system, the accurate pick-and-place case of lifting function, the object now recorded from camera coordinates system is theoretical principle coordinate figure at the coordinate figure of cart direct of travel, and the pinpoint target in container lifting cart direction is that to realize object measured value consistent with theoretical principle value.
Current gantry crane cart direction is automatically positioned and is realized by the mode encoded typically by installation location magnetic nail, Gray bus etc. on stockyard, also have and realized by DGPS technology, linear precision can ensure, the positional precision of dress magnetic nail or Gray bus side can ensure that, these localization methods are on the one hand owing to magnetic nail is pre-buried, the construction cost of Gray bus erection own is just high, plus read write line, magnetic nail, the high hardware cost of Gray bus, overall cost is very high.And these schemes there is also positioning precision and cannot meet instructions for use, need other mechanisms auxiliary location further.Such as use Gray bus, crane and truck lane departure detection angle cannot be measured, and RTG running deviation value is bigger, angle is very big, this error can cause that RTG is when this shellfish position operation, and the deviation of the central point fore-and-aft direction of each row case that crane hanger central point is to be hung with this Bei Weishang exceedes the international standard (38mm) of heap case.When pick-and-place case, cart direction deviations can not meet above-mentioned standard, needs crawl cart to eliminate this deviations, and cart crawl, suspender often acutely rocks, and causes para-position difficulty, can sacrifice case and working performance.
Bridge crane positions the basic experience relying on hoister at present manually to carry out, crawl fine setting when location does not need to adjust on time, affects the efficiency of loading and unloading of whole piece ship.
Summary of the invention
Technical problem to be solved in the utility model is the present situation for prior art, it is provided that equipment is simple, with low cost, easy to maintenance, it is possible to be greatly improved a kind of crane direction accurate positioning device based on machine vision of the location efficiency of crane.
The technical scheme that the above-mentioned technical problem of this utility model solution adopts is:
A kind of crane direction accurate positioning device based on machine vision, include main control computer and for shooting the picture pick-up device of the real-time pictures containing object, picture pick-up device is installed on crane, picture pick-up device is connected with the transmission of described main control computer, described main control computer is connected with the PLC signal being used for controlling cart walking mechanism or suspender transverse-moving mechanism, and object is lay or establish in the mark plate on cart runway side.
The technical measures optimized also include:
Above-mentioned picture pick-up device is monocular picture pick-up device or binocular camera shooting equipment, and binocular camera shooting equipment is the active picture pick-up device of twin-lens or paired single-lens active picture pick-up device.
Above-mentioned main control computer is connected with the server signal being used for storing the production operation instruction system containing shellfish item information.
It is connected cooperation by data I/O interface between above-mentioned main control computer with described server.
Above-mentioned mark plate is rectangular configuration, and the mark plate of rectangle is made up of the shellfish item of white background plate and black or the Quick Response Code or bar code containing shellfish item information.
Above-mentioned cart walking mechanism includes cart converter, motor, decoder, shaft coupling, reduction box and cart wheel；Motor is connected transmission through shaft coupling, reduction box, cart converter, decoder with described cart wheel.
Above-mentioned suspender transverse-moving mechanism includes sling upper rack, cross sliding rail or pendency arm and push rod, and suspender is arranged at the lower section of described sling upper rack by cross sliding rail or pendency arm, and push rod is connected between described sling upper rack and suspender.
Above-mentioned picture pick-up device is industrial camera or monitoring camera, and picture pick-up device is provided with light compensating apparatus.
Above-mentioned main control computer is industrial computer or single-chip microcomputer.
A kind of crane direction accurate positioning device based on machine vision of the present utility model, utilize machine vision technique, shot real time imaging by picture pick-up device and transmit to main control computer, by main control computer according to target characteristic obtain object real time position, and obtaining the grid deviation value of object compared with theoretical principle position, PLC controls cart walking mechanism in conjunction with the real time position of cart with the deviation value of theoretical principle position according to coordinate modification value or suspender transverse-moving mechanism completes to be accurately positioned；Its equipment is simple, with low cost, easy to maintenance, it is possible to substantially increase the location efficiency of crane.
It addition, main control computer is also connected with the server signal being used for storing the production operation instruction system containing shellfish item information, the contrast verification of the shellfish item with the storage of production ordering system by surveying, confirm to carry out subsequent operation again after correctly；Checking by shellfish item, it is ensured that the correctness of operation.
Accompanying drawing explanation
Fig. 1 is block schematic illustration of the present utility model；
Fig. 2 is device scheme of installation one of the present utility model；
Fig. 3 is the left view in Fig. 2 after the amplification of A portion；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is device scheme of installation two of the present utility model；
Fig. 6 is the top view of Fig. 5.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, this utility model is described in further detail.
Accompanying drawing therein is labeled as: main control computer 1, picture pick-up device 2, light compensating apparatus 21, PLC 3, cart walking mechanism 4, object 5, Crane Beam 6, server 7, data I/O interface 71, suspender transverse-moving mechanism 8, sling upper rack 81, pendency arm 82, push rod 83, suspender 84, container 9.
A kind of crane direction accurate positioning device based on machine vision, include main control computer 1 and for shooting the picture pick-up device 2 of the real-time pictures containing object 5, picture pick-up device 2 is installed on crane, picture pick-up device 2 is connected with the transmission of described main control computer 1, described main control computer 1 is connected with PLC 3 signal being used for controlling cart walking mechanism 4 or suspender transverse-moving mechanism 8, and object 5 is lay or establish in the mark plate on cart runway side.
In embodiment, picture pick-up device 2 is monocular picture pick-up device or binocular camera shooting equipment, and binocular camera shooting equipment is the active picture pick-up device of twin-lens or paired single-lens active picture pick-up device.
Picture pick-up device 2 may be mounted on Crane Beam 6, on the saddle beam of crane, it is also possible to be arranged in car frame, as long as ensureing that picture pick-up device 2 can photograph object 5.
In embodiment, main control computer 1 is connected with server 7 signal being used for storing the production operation instruction system containing shellfish item information.
In embodiment, between main control computer 1 with described server 7, it is connected cooperation by data I/O interface 71.
In embodiment, mark plate is rectangular configuration, and the mark plate of rectangle is made up of the shellfish item of white background plate and black.Mark plate also can be made up of white background plate and Quick Response Code or bar code containing shellfish item information.
Mark plate is prone to picture pick-up device 2 and identifies, concrete size, specification and pattern can designed, designeds as required.
In embodiment, cart walking mechanism 4 includes cart converter, motor, decoder, shaft coupling, reduction box and cart wheel；Motor is connected transmission through shaft coupling, reduction box, cart converter, decoder with described cart wheel.
In embodiment, suspender transverse-moving mechanism 8 includes sling upper rack 81, cross sliding rail or pendency arm 82 and push rod 83, suspender 84 is arranged at the lower section of described sling upper rack 81 by cross sliding rail or pendency arm 82, and push rod 83 is connected between described sling upper rack 81 and suspender 84.
In embodiment, picture pick-up device 2 is industrial camera or monitoring camera, and picture pick-up device 2 is provided with light compensating apparatus 21.
In embodiment, main control computer 1 is industrial computer or single-chip microcomputer.
This, based on the localization method of the crane direction accurate positioning device of machine vision, comprises the following steps:
Job instruction received by step one, crane, and cart has moved coarse positioning to target shellfish displacement, makes object 5 enter in the coverage of picture pick-up device 2；
Step 2, picture pick-up device 2 are actuated for captured in real-time, and transmit the real-time pictures containing object to main control computer 1；
Step 3, main control computer 1 identify the shellfish item on object 5, contrast with shellfish item correct in job instruction on server 7, and faulty operation stops, and correctly operates continuation；
Step 4, main control computer 1 are according to target characteristic identification object 5, and measure the real time position of object, extrapolate the real-time coordinates of object central point, and the real time position of this central point and theoretical principle position are compared, draw the object coordinate modification value at cart direct of travel, and by this coordinate modification value transmission to PLC 3；
Step 5, PLC 3 control cart walking mechanism 4 according to the coordinate modification value obtained or suspender transverse-moving mechanism 8 is adjusted, and repeats step 4, obtain new coordinate modification value after adjustment；
Step 6, the error permissible value of the coordinate modification value in step 5 Yu setting is compared, then repeat step 5 more than error permissible value, then stop circulation less than or equal to error permissible value, complete crane direction and be accurately positioned.
Such as: the theoretical principle position that object records is X1, the real time position of the object recorded is X2, both difference Y1 (coordinate modification value) are calculated according to real time position X2 and theoretical principle position X1, PLC 3 controls cart walking mechanism 4 or suspender transverse-moving mechanism 8 along the cart direction corresponding distance of transverse shifting according to coordinate modification value Y1, completes to be accurately positioned.
Owing to the mobile meeting of cart causes rocking of suspender, when therefore moving in little scope, suspender transverse-moving mechanism 8 is selected to complete to be accurately positioned as far as possible.
Before completing to be accurately positioned, by the contrast of shellfish item is confirmed, it is ensured that the accuracy of pick-and-place container 9 operation, it is to avoid maloperation.
As shown in Figure 5 and Figure 6, furthermore it is also possible to by arranging arrow indicator board 51 in crane, directly having compared being accurately positioned of cart direction by arrow indicator board 51 and object 5 real time position, its method is as follows:
Job instruction received by step one, crane, and cart has moved coarse positioning to target shellfish displacement, makes object enter in the coverage of picture pick-up device 2；
Step 2, picture pick-up device 2 are actuated for captured in real-time, and transmit the real-time pictures containing object to main control computer 1；
Step 3, main control computer 1 identify the shellfish item on object, contrast with shellfish item correct in job instruction on server 7, and faulty operation stops, and correctly operates continuation；
Step 4, main control computer 1 identify arrow indicator board 51 and the real time position of object 5 respectively according to the target characteristic of object, draw the real-time coordinates of both central points, and the real-time coordinates according to arrow indicator board 51 and object 5 central point compares, draw the coordinate difference of both central points, and by this coordinate difference transmission to PLC 3；
Step 5, PLC 3 control cart walking mechanism 4 according to the coordinate difference obtained or suspender transverse-moving mechanism 8 is adjusted, and obtains new coordinate difference after adjustment；
Step 6, the error permissible value of the coordinate difference in step 5 Yu setting is compared, then repeat step 5 more than error permissible value, then stop circulation less than or equal to error permissible value, complete crane direction and be accurately positioned.
This crane direction Precise Position System is applicable not only to gantry crane, is also applied for bridge crane.When being applied to bridge crane, object 5 is laid or is established near ship side.
Most preferred embodiment of the present utility model illustrates, those of ordinary skill in the art the various changes made or remodeling are all without departing from scope of the present utility model.
Claims (9)
1. the crane direction accurate positioning device based on machine vision, include main control computer (1) and for shooting the picture pick-up device (2) of the real-time pictures containing object (5), it is characterized in that: described picture pick-up device (2) is installed on crane, described picture pick-up device (2) is connected with described main control computer (1) transmission, described described main control computer (1) is connected with PLC (3) signal being used for controlling cart walking mechanism (4) or suspender transverse-moving mechanism (8), described object (5) is lay or establish in the mark plate on cart runway side.
2. a kind of crane direction accurate positioning device based on machine vision according to claim 1, it is characterized in that: described picture pick-up device (2) is monocular picture pick-up device or binocular camera shooting equipment, the described active picture pick-up device that binocular camera shooting equipment is twin-lens or paired single-lens active picture pick-up device.
3. a kind of crane direction accurate positioning device based on machine vision according to claim 2, is characterized in that: described main control computer (1) is connected with server (7) signal being used for storing the production operation instruction system containing shellfish item information.
4. a kind of crane direction accurate positioning device based on machine vision according to claim 3, is characterized in that: be connected cooperation by data I/O interface (71) between described main control computer (1) and described server (7).
5. a kind of crane direction accurate positioning device based on machine vision according to claim 4, is characterized in that: described mark plate is that pattern by the shellfish item of white background plate and black or is constituted containing the bar code of shellfish item information, Quick Response Code.
6. a kind of crane direction accurate positioning device based on machine vision according to claim 5, it is characterized in that: described cart walking mechanism (4) includes cart converter, motor, decoder, shaft coupling, reduction box and cart wheel, described motor is connected transmission through shaft coupling, reduction box, cart converter, decoder with described cart wheel.
7. a kind of crane direction accurate positioning device based on machine vision according to claim 6, it is characterized in that: described suspender transverse-moving mechanism (8) includes sling upper rack (81), cross sliding rail or pendency arm (82) and push rod (83), suspender (84) is arranged at the lower section of described sling upper rack (81) by cross sliding rail or pendency arm (82), and described push rod (83) is connected between described sling upper rack (81) and suspender (84).
8. a kind of crane direction accurate positioning device based on machine vision according to claim 7, it is characterized in that: described picture pick-up device (2) is industrial camera or monitoring camera, described picture pick-up device (2) is provided with light compensating apparatus (21).
9. a kind of crane direction accurate positioning device based on machine vision according to claim 8, is characterized in that: described main control computer (1) is industrial computer or single-chip microcomputer.
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| CN201620156518.9U CN205397910U (en) | 2016-03-02 | 2016-03-02 | Crane cart direction fine positioning device based on machine vision |
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| CN201620156518.9U CN205397910U (en) | 2016-03-02 | 2016-03-02 | Crane cart direction fine positioning device based on machine vision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107572373A (en) * | 2017-08-31 | 2018-01-12 | 武汉理工大学 | The anti-oblique pull control system of Novel crane active and its control method based on machine vision |
| CN109231011A (en) * | 2018-09-26 | 2019-01-18 | 北京起重运输机械设计研究院有限公司 | A kind of crane travel mechanism positioning device and localization method based on two dimensional code |
| CN110271967A (en) * | 2019-07-10 | 2019-09-24 | 上海海事大学 | The bridge crane automatic control system of four suspender of double trolley based on smart camera detection |
| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
| CN113800396A (en) * | 2021-09-16 | 2021-12-17 | 中远海运科技股份有限公司 | Remote automatic control system for container tyre crane based on 5G network |
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2016
- 2016-03-02 CN CN201620156518.9U patent/CN205397910U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107572373A (en) * | 2017-08-31 | 2018-01-12 | 武汉理工大学 | The anti-oblique pull control system of Novel crane active and its control method based on machine vision |
| CN107572373B (en) * | 2017-08-31 | 2019-08-23 | 武汉理工大学 | The anti-oblique pull control system of Novel crane active and its control method based on machine vision |
| CN109231011A (en) * | 2018-09-26 | 2019-01-18 | 北京起重运输机械设计研究院有限公司 | A kind of crane travel mechanism positioning device and localization method based on two dimensional code |
| CN109231011B (en) * | 2018-09-26 | 2020-07-28 | 北京起重运输机械设计研究院有限公司 | Crane operation mechanism positioning device and method based on two-dimensional code |
| CN110271967A (en) * | 2019-07-10 | 2019-09-24 | 上海海事大学 | The bridge crane automatic control system of four suspender of double trolley based on smart camera detection |
| CN110271967B (en) * | 2019-07-10 | 2020-06-02 | 上海海事大学 | Intelligent camera detection-based automatic control system for bridge crane with four lifting appliances of double trolleys |
| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
| CN113800396A (en) * | 2021-09-16 | 2021-12-17 | 中远海运科技股份有限公司 | Remote automatic control system for container tyre crane based on 5G network |
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Inventor after: Liu Da Inventor after: Geng Honghai Inventor after: Bai Jingtao Inventor after: Huang Liangfeng Inventor after: Yang Geng Inventor after: Li Yisheng Inventor before: Liu Da Inventor before: Geng Honghai Inventor before: Huang Liangfeng Inventor before: Yang Geng Inventor before: Li Yisheng |