CN208282814U - The ranging localization device of unmanned container truck under gantry crane - Google Patents
The ranging localization device of unmanned container truck under gantry crane Download PDFInfo
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- CN208282814U CN208282814U CN201820715278.0U CN201820715278U CN208282814U CN 208282814 U CN208282814 U CN 208282814U CN 201820715278 U CN201820715278 U CN 201820715278U CN 208282814 U CN208282814 U CN 208282814U
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Abstract
The utility model relates to a kind of ranging localization devices of unmanned container truck under gantry crane, including visual tag and camera review acquisition system, the visual tag is fixed in the support construction of gantry crane left or right side, camera review acquisition system acquisition label image is simultaneously transferred to detection by Ethernet and calculates receiver, detect the label of label, determine that gantry crane is numbered, detect the picture position of four angle points of label, obtain coordinate position of the angle point under image coordinate system, distance and bearing by CAN bus by truck with respect to gantry crane left or right side support construction is transferred to control device.The utility model has the advantages that position and orientation of the unmanned container truck with respect to gantry crane bridge crane under the ranging alignment device accurate positioning gantry crane of the utility model view-based access control model label.The image tag of use is able to solve deficiency of the Conventional visual tag location system under illumination variation and night dim environment.
Description
Technical field
The utility model belongs to a kind of ranging localization of unmanned container truck under measuring technique more particularly to gantry crane
Device.
Background technique
The handling of existing harbour container ship mainly utilize quayside container crane bridge crane.Bridge crane suspender and container truck
Accurate positionin be the key that restrict container handling efficiency.Currently, the contraposition between bridge crane suspender and container truck, mainly
Driver and dispatcher's range estimation are relied on, automation, quantitative distance and location information auxiliary driver's operation are lacked.And for
Automatic driving vehicle, although having autonomous control, the ability of locational decision, under the gantry crane of harbour, GPS, the Beidou equipped
Etc. positioning devices can not provide high-precision location information since gantry crane is blocked.Existing bridge crane and container truck contraposition lack
The problems such as quantitative information, accuracy be low, inefficiency,
Utility model content
The utility model is in order to overcome the shortcomings in the prior art, to provide unmanned container truck under a kind of gantry crane
Ranging localization device, under gantry crane to unmanned container truck provide high accuracy positioning information, realize with gantry crane bridge crane
Automation precisely align.
The utility model to achieve the above object, is achieved through the following technical solutions, unmanned packaging under a kind of gantry crane
The ranging localization device of case truck, including visual tag and camera review acquisition system, the visual tag are fixed on gantry crane
In the support construction of left or right side, camera review acquisition system acquisition label image and by Ethernet be transferred to detection with
Receiver is calculated, the label of label is detected, determines that gantry crane is numbered, detects the picture position of four angle points of label, obtain angle point and exist
Coordinate position under image coordinate system, distance and side by CAN bus by truck with respect to gantry crane left or right side support construction
Position is transferred to control device.
The visual tag is perpendicular to the ground, is 3 meters apart from ground level.
The visual tag is tessellated in conjunction with 9 × 7 based on visual tag uses tag36h11 having a size of 1 × 1 meter
Visional reference system.
The image sensor resolutions of the camera review acquisition system are 1920 × 1200 pixels, and 16 millimeters of focal length are taken the photograph
Camera is mounted on immediately ahead of container truck headstock, is 0 ° with vehicle body side angle, and field angle is 60 degree；Two 6 millimeters of short focus
Video camera is mounted on above container truck left and right side rearview mirror, and 90 ° of vehicle body angle, field angle is 90 °.
The utility model has the advantages that compared with prior art, the ranging alignment device of the utility model view-based access control model label is accurately positioned
Unmanned container truck can effectively eliminate GPS, Beidou navigation with respect to the position and orientation of gantry crane bridge crane under gantry crane
Equipment is due to blocking the problem of can not being accurately positioned.The image tag of use is able to solve Conventional visual tag location system in light
According to the deficiency under variation and night dim environment.
Detailed description of the invention
Fig. 1 is the structure connection block diagram of the utility model；
Fig. 2 is the contraposition process flow diagram of the utility model；
Fig. 3 is outdoor label product process figure；
Fig. 4 is video camera acquisition system scheme of installation.
In figure: 1, visual tag, 2, the support construction in left side, 3, the support construction on right side, 4, long focus video camera, 5, short focus
Video camera, 6, container truck headstock.
Specific embodiment
In conjunction with the preferred embodiment, to according to specific embodiment provided by the utility model, details are as follows:
It is detailed in attached drawing 1, present embodiment discloses a kind of ranging localization device of unmanned container truck under gantry crane, packets
Visual tag and camera review acquisition system are included, the visual tag is fixed in the support construction of gantry crane left or right side,
Camera review acquisition system acquisition label image is simultaneously transferred to detection by Ethernet and calculates receiver, detects the mark of label
Number, it determines that gantry crane is numbered, detects the picture position of four angle points of label, obtain coordinate position of the angle point under image coordinate system,
Distance and bearing by CAN bus by truck with respect to gantry crane left or right side support construction is transferred to control device.The view
Feel that label is perpendicular to the ground, is 3 meters apart from ground level.Having a size of 1 × 1 meter, visual tag uses the visual tag
Based on tag36h11, in conjunction with 9 × 7 tessellated visional reference systems.
As shown in Fig. 2, visual tag detection device ranging aligns process flow: carrying out adaptive two-value to the image of acquisition
Change processing, extracts edge, and label angle point in detection image identifies the type and label of label；With the central point of label in image
According to right-hand screw rule upwards it is Y-axis positive direction with label plane for origin, is to the right X-axis positive direction with label plane,
Update the corner location (two-dimensional coordinate) detected in label image；Each angle point of known label gantry crane coordinate system (as
World coordinate system, X-axis and Y-axis be respectively label both horizontally and vertically, the vertical label plane of Z axis, origin be gantry crane support
The midpoint of structure and ground intersection) under coordinate position (three-dimensional coordinate)；According to the 2 d-3 d of foundation point pair, point pair is utilized
Projection relation (PNP) solves spin matrix and translation vector between image coordinate system and gantry crane coordinate system, camera shooting is calculated
Machine obtains packaging then in conjunction with the fixation transformation relation of video camera and body gesture with respect to the position and orientation of gantry crane coordinate system
Position and orientation of the case truck relative to gantry crane coordinate system, and by CAN bus by truck with respect on the left of gantry crane (or) right side props up
The distance and bearing of support structure is transferred to unmanned container truck control system, realizes the automation of vehicle and gantry crane bridge crane
Contraposition.
As shown in figure 3, using outdoor label product process outdoor images label, based on tag36h11, in conjunction with 9 × 7
Gridiron pattern, label sizes are as follows: 1 × 1 meter, using in HUV color space, the channel the UV property insensitive to illumination condition will be black
White label image is converted to YUV color space color label, and makes image tag using reflectorized material, guarantees not share the same light daytime
According under condition and night poor light condition, video camera is to label image recognition capability；Each gantry crane is distributed different image tags and is added
To distinguish.
As shown in figure 4, video camera acquisition system installs and uses video camera by being mounted on gantry crane Left-side support structure 2 or the right side
The visual tag 1 of the support construction 3 of side acquires image, and image sensor resolutions are 1920 × 1200 pixels, 16 millimeters of focal length
Video camera 4 is mounted on 6 front of container truck headstock, is 0 ° with vehicle body side angle, and field angle is 60 degree；Two 6 millimeters
Short focus video camera 5 is mounted on above container truck left and right side rearview mirror, and 90 ° of vehicle body angle, field angle is 90 °.When
When container truck distance is greater than 20 meters or more, using long focus video camera, when distance is less than 20 meters, using short focus video camera,
Guarantee that the imaging size of image tag 1 is greater than 400 × 400 pixels.
It is above-mentioned carried out referring to ranging localization device of the embodiment to unmanned container truck under a kind of gantry crane it is detailed
Thin description, is illustrative without being restrictive, several embodiments can be enumerated according to limited range, therefore do not taking off
From the change and modification under the utility model general plotting, should belong within the protection scope of the utility model.
Claims (4)
1. the ranging localization device of unmanned container truck under a kind of gantry crane, it is characterized in that: including visual tag and camera shooting
Machine image capturing system, the visual tag are fixed in the support construction of gantry crane left or right side, camera review acquisition system
System acquisition label image is simultaneously transferred to detection by Ethernet and calculates receiver, detects the label of label, determines that gantry crane is numbered,
The picture position for detecting four angle points of label, obtains coordinate position of the angle point under image coordinate system, by CAN bus by truck
The distance and bearing of opposite gantry crane left or right side support construction is transferred to control device.
2. the ranging localization device of unmanned container truck under gantry crane according to claim 1, it is characterized in that: described
Visual tag is perpendicular to the ground, is 3 meters apart from ground level.
3. the ranging localization device of unmanned container truck under gantry crane according to claim 1 or 2, it is characterized in that:
The visual tag is having a size of 1 × 1 meter, based on visual tag uses tag36h11, in conjunction with 9 × 7 tessellated visional references
System.
4. the ranging localization device of unmanned container truck under gantry crane according to claim 1, it is characterized in that: described
The image sensor resolutions of camera review acquisition system are 1920 × 1200 pixels, and 16 millimeters of long focus video cameras are mounted on collection
It cases immediately ahead of truck headstock, is 0 ° with vehicle body side angle, field angle is 60 degree；Two 6 millimeters of short focus video cameras are mounted on
Above container truck left and right side rearview mirror, and 90 ° of vehicle body angle, field angle is 90 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820715278.0U CN208282814U (en) | 2018-05-15 | 2018-05-15 | The ranging localization device of unmanned container truck under gantry crane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521745A (en) * | 2018-12-26 | 2019-03-26 | 北京主线科技有限公司 | The interconnection method of container terminal management system and automatic Pilot container truck |
| CN112102396A (en) * | 2020-08-31 | 2020-12-18 | 杭州飞步科技有限公司 | Method, device and equipment for positioning vehicle under bridge crane and storage medium |
| CN113808195A (en) * | 2021-08-26 | 2021-12-17 | 领翌技术(横琴)有限公司 | Visual positioning method, device and storage medium |
-
2018
- 2018-05-15 CN CN201820715278.0U patent/CN208282814U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521745A (en) * | 2018-12-26 | 2019-03-26 | 北京主线科技有限公司 | The interconnection method of container terminal management system and automatic Pilot container truck |
| CN112102396A (en) * | 2020-08-31 | 2020-12-18 | 杭州飞步科技有限公司 | Method, device and equipment for positioning vehicle under bridge crane and storage medium |
| CN112102396B (en) * | 2020-08-31 | 2023-09-22 | 杭州飞步科技有限公司 | Method, device, equipment and storage medium for positioning vehicle under bridge crane |
| CN113808195A (en) * | 2021-08-26 | 2021-12-17 | 领翌技术(横琴)有限公司 | Visual positioning method, device and storage medium |
| CN113808195B (en) * | 2021-08-26 | 2024-04-12 | 领翌技术(横琴)有限公司 | Visual positioning method, device and storage medium |
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