JPS602591A - Detector for position in automated crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device in which an ITV camera is mounted on an automated crane to detect the relative position of an object to be transported, such as a steel plate coil, and the automated crane by image processing.

Conventionally, when an ITV camera, which is an input device for image processing, is mounted on a moving object such as a crane, the mounting orientation of the camera changes depending on the traveling position due to the inclination or height difference of the rail on which the moving object runs.

Therefore, when the distance between the camera and the object is long, the detection of the relative position between the moving object and the object becomes worse due to changes in the orientation of the camera. It was not possible to put it to practical use.

The present invention consists of an ITV camera for image processing fixed on a moving trolley of an automated crane, a calibration board fixed on the ground side with light bulbs arranged at a predetermined distance 19i, and an ITV camera fixed on the moving trolley of an automated crane.
It consists of an image processing device that processes images from the TV camera, and when the light bulb on the calibration board is lit from the ITV camera, the #H image is manually input to the image processing device to calculate the bright spot position, The present invention is characterized in that the position of the object is corrected in response to changes in the posture of the ITV camera, taking into account the deviation from the initial setting position manually set in advance.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1, after the trolley 1 of the overhead crane was roughly positioned and stopped above the steel plate coil carried in by the trolley 4, the ITV camera 2 mounted on the trolley 1
An example will be explained in which the position of the center of the coil 5 is calculated by capturing an image and inputting it to the image processing device 3.

Here, the trolley 4 is moved to the target yard or yard.
Its stopping positions are fixed at several locations.

The area where the center of the coil should be placed is almost fixed, so
A calibration board 7 is placed in advance on the trolley or on the ground at that position to obtain correction data for the attitude of the ITV camera 2, which varies depending on the position of the trolley 1.

To do this, ■ Lower the plumb bob (weight) 6 from two points in the plane coordinate system fixed on the trolley (in a fixed positional relationship with the ITV camera 2 in A and B in Figure 2), and calibrate in advance. Adjust the position of the calibration board 7 so that it matches the reference positions AI and Bl written on the calibration board 7.

■On the gear replacement board 7 is multiple (16 in Figure 2) small Light bulb 8 is on and the ITV key is on. Camera 2 captures this image and processes it. It is recognized as a bright spot by the control device 3 and predicted. Camera 2 and Calibre are well known Distance information from the application board 7 e The position of the bright spot is fixed to the trolley by Calculate using the specified coordinate thread.

(Fig.'R3 a-b) ■If the ITV camera is installed vertically downward, the calculated position of the bright spot will match the light bulb position in the coordinate system on the calibration board, which is determined by P. In reality, there is a deviation between the two because the camera is tilted. This deviation is stored as correction data for the current position of the trolley. ° (Fig. 3C) After obtaining the one-way correction data, the coil 5 on the trolley is imaged by the ITV camera 2, inputted to the image processing device 3, the center position is recognized, and if the center position is correct on the digital image. , the correction data is added to this, and the center position of the coil 5 is output in a coordinate system fixed to the trolley 2. (Figure 3 a-d-e
-f) FIG. 4 is a diagram for explaining the storage of correction data on a digital image, where the white circles indicate the positions when the camera 2 is facing vertically downward, the black circles indicate the actually measured bright spot positions, and The arrows are correction data.

In addition, Fig. 5 is for explaining the center position recognition process when actually imaging a fill using digital images (i, j), and the black circle is the coil center position determined by image processing, and the arrow It is shown that by subtracting the correction data indicated by (vector), mark Q can be obtained as the center position of the coil 5 at the coordinates actually fixed to the crane trolley 1.

According to the present invention, (1) By lighting the light bulb on the calibration board from the TV camera, the image is manually inputted to the image processor 61, the bright spot position is calculated, and the bright spot position is compared with the initial setting position manually inputted in advance. Since we decided to correct the position of the object due to the change in the attitude of the ITV camera in order to account for the deviation, even if the distance between the camera and the object is long, the detection of the moving object and the object is possible due to the change in the attitude of the ITV camera. This has the effect of increasing accuracy.

[Brief explanation of drawings]

Figure 1 is a schematic diagram of an apparatus showing an embodiment of the present invention, and Figure 2 is an illustration of an ITV camera and calibration board.
An explanatory diagram showing the relationship, FIG. 3 is a flow for obtaining correction data of an ITV camera, and FIGS. 4 and 5 are digital image diagrams of the present invention. 1 ... Overhead crane trolley 2 ... ITV camera 3 ... Image processing device 4 ... Trolley 5 ... Steel plate coil 6 ... JR weight 7 -...Ki V Replication Bau 1゛8...Light bulb

Claims (1)

[Claims] Image processing ITV fixed on the moving trolley of an automated crane
It consists of a camera, a calibration board that is fixedly installed on the ground side and has light bulbs arranged at predetermined intervals, and an image processing device that processes images from the ITV camera, and the ITV
When the light bulb on the calibration board is turned on from the camera, the image is input to the image processing device, the bright spot position is calculated, and the deviation from the initial setting position input in advance is determined. A position detection device for an automated crane, characterized by correcting the position of a target object.