DE29511254U1 - Device for high-energy lighting for automatic image processing tasks for position detection or quality assessment of objects for automatic docking, in particular in sunlight outdoors - Google Patents
Device for high-energy lighting for automatic image processing tasks for position detection or quality assessment of objects for automatic docking, in particular in sunlight outdoorsInfo
- Publication number
- DE29511254U1 DE29511254U1 DE29511254U DE29511254U DE29511254U1 DE 29511254 U1 DE29511254 U1 DE 29511254U1 DE 29511254 U DE29511254 U DE 29511254U DE 29511254 U DE29511254 U DE 29511254U DE 29511254 U1 DE29511254 U1 DE 29511254U1
- Authority
- DE
- Germany
- Prior art keywords
- lighting
- illumination
- automatic
- energy
- flash
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000003032 molecular docking Methods 0.000 title claims description 6
- 238000001514 detection method Methods 0.000 title claims description 4
- 238000001303 quality assessment method Methods 0.000 title claims description 3
- 238000005286 illumination Methods 0.000 claims description 15
- DGAQECJNVWCQMB-PUAWFVPOSA-M Ilexoside XXIX Chemical compound C[C@@H]1CC[C@@]2(CC[C@@]3(C(=CC[C@H]4[C@]3(CC[C@@H]5[C@@]4(CC[C@@H](C5(C)C)OS(=O)(=O)[O-])C)C)[C@@H]2[C@]1(C)O)C)C(=O)O[C@H]6[C@@H]([C@H]([C@@H]([C@H](O6)CO)O)O)O.[Na+] DGAQECJNVWCQMB-PUAWFVPOSA-M 0.000 claims description 4
- 229910052708 sodium Inorganic materials 0.000 claims description 4
- 239000011734 sodium Substances 0.000 claims description 4
- 238000001228 spectrum Methods 0.000 claims description 4
- 230000003595 spectral effect Effects 0.000 claims description 2
- 229910052724 xenon Inorganic materials 0.000 claims description 2
- FHNFHKCVQCLJFQ-UHFFFAOYSA-N xenon atom Chemical compound [Xe] FHNFHKCVQCLJFQ-UHFFFAOYSA-N 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 2
- 238000005516 engineering process Methods 0.000 claims 1
- 238000003908 quality control method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Description
Vorrichtung zur hochenergetischen Beleuchtung für automatische Bildverarbeitungsaufgaben zur Positionserkennung oder Qualitätsbeurteilung von Gegenständen für automatischen Andockbetrieb, insbesondere bei Sonnenlicht im Freien.Device for high-energy illumination for automatic image processing tasks for position detection or quality assessment of objects for automatic docking operation, especially in sunlight outdoors.
Die automatische Erkennung z.B. der Position eines Containers ist Voraussetzung für automatischen Container-Andockbetrieb (siehe Fig. 1). Fig. 1 zeigt die grundsätzliche Aufgabe: Ein Kran (1) mit Laufkatze (2) hat einen am Spreader (3) hängenden Container (5) durch 4 Videokameras (4) gesteuert auf einen Containerstapel (7) positionsgerecht zu den Container-Andockecken (6) aufzusetzen, bzw. hat einen Container (5) von einem Stapel (6) abzuheben. Das zugehörige Signalflußschema (8) zeigt, daß aus den 4 Kamera-Videobilder (K1 .... K4) mittels Bildverarbeitung (BV) laufend Positionsablagesignale &Dgr;&khgr;, Äy und &Dgr;&Rgr;&EEgr;&Igr; gewonnen werden, die auf die Kransteuerung (KRST)einwirken und die Bewegungsstellantriebe MOT steuern.The automatic detection of, for example, the position of a container is a prerequisite for automatic container docking operation (see Fig. 1). Fig. 1 shows the basic task: A crane (1) with trolley (2) has to place a container (5) hanging on the spreader (3) on a container stack (7) in the correct position relative to the container docking corners (6) controlled by 4 video cameras (4), or has to lift a container (5) from a stack (6). The associated signal flow diagram (8) shows that position offset signals Δχ, Äy and Δχ�R and Δχ�R are continuously obtained from the 4 camera video images (K1 .... K4) using image processing (BV), which act on the crane control (KRST) and control the motion actuators MOT.
Wie im Detailschema (11) gezeigt, beleuchtet eine Kurzzeit-Blitzlampe (14) über halbdurchlässigen Spiegel (13) synchron zur Kamera (12) mit Kurzzeitverschluß das Aufnahmefeld.As shown in the detailed diagram (11), a short-time flash lamp (14) illuminates the recording field via a semi-transparent mirror (13) synchronously with the camera (12) with a short-time shutter.
Bei der Erkennung mitteis Bildverarbeitung stellen die unterschiedlichen Lichtverhältnisse, Schlagschatten, Regen, Tag/Nacht die Bildverarbeitungsrechenverfahren vor unzählige Sonderfälle, d.h. Probleme und Fehlermöglichkeiten. Diese Sonderfälle entfalten, wenn es gelingt eine hochenergetische Beleuchtung herzustellen, die das Sonnenlicht um eine Größenordnung überstrahlt.When detecting using image processing, the different lighting conditions, shadows, rain, day/night, present the image processing calculation methods with countless special cases, i.e. problems and potential errors. These special cases arise when it is possible to produce high-energy lighting that outshines sunlight by an order of magnitude.
Da das Sonnenlicht ca. 1 KW Lichtenergie/m2 abstrahlt und Solarsimulationsanlagen zur Erzeugung dieser Energiedichte ca. 6 KW/m2 elektrische Leistung benötigen, sind hier wirtschaftlichere Lösungen erforderlich, um in 5 m Entfernung mit 4 Videokameras die Position von 4 Containerecken zu erfassen.Since sunlight radiates approximately 1 KW of light energy/m 2 and solar simulation systems require approximately 6 KW/m 2 of electrical power to generate this energy density, more economical solutions are required to record the position of 4 container corners at a distance of 5 m using 4 video cameras.
Die dem Antrag zugrundeliegende Vorrichtung besteht darin, die Videokameras auf kürzeste Verschiußzeit zu setzen z.B. 1/10.000 sek. und mit synchronisierten Gasentladungs-Blitzrohren nur für diese kurze Zeit die benötigte Energie zu erzeugen.The device underlying the application consists of setting the video cameras to the shortest shutter speed, e.g. 1/10,000 sec. and using synchronized gas discharge flash tubes to generate the required energy only for this short time.
Die theoretisch notwendige Energie zur Beleuchtung wäre dann pro Blitz 1/10.000 der Sonnenenergie also 0.1 Watt.The theoretical energy required for lighting would then be 1/10,000 of the solar energy per flash, or 0.1 watts.
Praktisch sind für 10-fache Überstrahlung 50 % Wirkungsgrad von Xenon Blitzröhren und 1ms als typische Leuchtdauer etwa 26 W/sek pro Blitz anzusetzen. Ein 50 % Graufilter vor der Kamera erzeugt immer noch ein 5-fach überstrahltes Bild, während ohne Blitz das Kamerabild dunkel bleibt.In practice, for 10x overexposure, 50% efficiency of xenon flash tubes and 1ms as a typical lighting duration of about 26 W/sec per flash should be assumed. A 50% gray filter in front of the camera still produces an image that is 5x overexposed while without a flash the camera image remains dark.
Eine Variante zur hochenergetischen Beleuchtung benutzt z.B. Natriumdampflampen als Scheinwerfer und Schmalband-Interferenzfilter vor der Kamera die genau auf die Natriumspektrallinien 589 nm abgestimmt sind.A variant of high-energy lighting uses, for example, sodium vapor lamps as spotlights and narrow-band interference filters in front of the camera that are precisely tuned to the sodium spectral lines 589 nm.
Die übliche Halbwertsbreite von Interferenzfiltern von ca. 13 nm im Verhältnis zum sichtbaren Bereich von 400 nm gesetzt, ergibt ebenfalls ein günstiges Beleuchtungs-Energieverhäitnis. The usual half-width of interference filters of approx. 13 nm in relation to the visible range of 400 nm also results in a favorable illumination-energy ratio.
'Mit ca. 13/400 von 1.0 KW also mit ca. 42 W Lichtieistung entspr. ca. 200 W
elektrischer Leistung von Natriumdampflampen erhält man schmalspektral eine der Sonne ebenbürtige Beleuchtung bei geringerem Leistungseinsatz zu Bildverarbeitungszwecken
im Freien.'With approx. 13/400 of 1.0 KW, i.e. with approx. 42 W light output, corresponding to approx. 200 W
The electrical output of sodium vapor lamps provides narrow-spectrum illumination equivalent to that of the sun with lower power consumption for outdoor image processing purposes.
Eine Kombination von Kurzzeit-Biitzbeieuchtung und Schmalspektralbeleuchtung
wie sie z.B. mit Laser-Blitzen möglich ist, in Verbindung mit Kurzzeit-Verschluß und
Schmalbandfilter vor der Kamera reduziert sich die nötige Beleuchtungsenergie
weiter.A combination of short-term flash illumination and narrow-spectrum illumination, such as is possible with laser flashes, in conjunction with a short-term shutter and narrow-band filter in front of the camera, reduces the required lighting energy
further.
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29511254U DE29511254U1 (en) | 1995-07-12 | 1995-07-12 | Device for high-energy lighting for automatic image processing tasks for position detection or quality assessment of objects for automatic docking, in particular in sunlight outdoors |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29511254U DE29511254U1 (en) | 1995-07-12 | 1995-07-12 | Device for high-energy lighting for automatic image processing tasks for position detection or quality assessment of objects for automatic docking, in particular in sunlight outdoors |
Publications (1)
Publication Number | Publication Date |
---|---|
DE29511254U1 true DE29511254U1 (en) | 1996-09-12 |
Family
ID=8010420
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE29511254U Expired - Lifetime DE29511254U1 (en) | 1995-07-12 | 1995-07-12 | Device for high-energy lighting for automatic image processing tasks for position detection or quality assessment of objects for automatic docking, in particular in sunlight outdoors |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE29511254U1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6880712B2 (en) * | 2001-07-18 | 2005-04-19 | Mitsubishi Heavy Industries, Ltd. | Crane and method for controlling the crane |
US7137771B2 (en) | 2002-09-30 | 2006-11-21 | Siemens Aktiengesellschaft | Method and device for recognition of a load on a lifting gear |
CN103043535A (en) * | 2013-01-06 | 2013-04-17 | 莱芜钢铁集团有限公司 | Stacking system and stacking method for steel plate |
-
1995
- 1995-07-12 DE DE29511254U patent/DE29511254U1/en not_active Expired - Lifetime
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6880712B2 (en) * | 2001-07-18 | 2005-04-19 | Mitsubishi Heavy Industries, Ltd. | Crane and method for controlling the crane |
US7137771B2 (en) | 2002-09-30 | 2006-11-21 | Siemens Aktiengesellschaft | Method and device for recognition of a load on a lifting gear |
DE10245970B4 (en) * | 2002-09-30 | 2008-08-21 | Siemens Ag | Method and device for detecting a load of a hoist |
CN103043535A (en) * | 2013-01-06 | 2013-04-17 | 莱芜钢铁集团有限公司 | Stacking system and stacking method for steel plate |
CN103043535B (en) * | 2013-01-06 | 2014-10-08 | 莱芜钢铁集团有限公司 | Stacking system and stacking method for steel plate |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R207 | Utility model specification |
Effective date: 19961024 |
|
R150 | Utility model maintained after payment of first maintenance fee after three years |
Effective date: 19990315 |
|
R157 | Lapse of ip right after 6 years |
Effective date: 20020501 |