KR101243848B1 - Device of Hook-Angle Recognition for Unmanned Crane - Google Patents

Abstract

An angle calculating device for a crane hook is disclosed. The present invention provides an infrared emitter for emitting infrared light to a beacon attached to an upper surface of a crane hook, a position analyzer for analyzing a position on a plane of a crane hook from an image of a beacon responding to infrared light emitted from an infrared emitter, and An angle calculation part which calculates the moving angle of a crane hook based on the position value of the crane hook analyzed by the position analyzer is provided. According to the present invention, irrespective of indoor lighting or external disturbance light, it is possible to recognize the angle of the hook of the unmanned crane without lighting at night and is applicable to the angle calculation device of the crane hook applicable even when a plurality of unmanned cranes are operated. do.

Crane hook, beacon, angle, infrared

Description

Device of Hook-Angle Recognition for Unmanned Crane

The present invention relates to an angle calculating device of an unmanned crane hook, and more particularly, to be aware of the angle of the hook of the unmanned crane without the illumination at night, without the illumination of the room or the external disturbance of the outside, the operation of a number of unmanned crane It also relates to an angle calculating device of the unmanned crane hook applicable to the case.

In order for an unmanned crane to move through the workspace, the function of anti-shake control of the hook is needed first. In general, there are three ways to calculate the angle in a crane.

The first method is to use an artificial mark, and the position mark having a specific meaning is installed on a ceiling or a wall, photographed by a camera, and the position mark is extracted from an image to calculate an angle in a coordinate system on the screen.

The second method is to scan light, such as a laser, and use it as a landmark. This method uses the camera to photograph the bottom side, extracts edge information of laser light from an image, and calculates an angle using the same.

The third method is to convert an angle by mechanically attaching a sensor such as an encoder. However, when using an artificial location mark is affected by a lot of illumination, there is a problem that the color information is distorted by sunlight to generate a lot of misrecognition.

Similarly, even when a label such as a laser light is used, the brightness of the surrounding light source is greatly influenced, and in addition, the odometer information and the height information are additionally acquired in the step of recording the position of the feature point. .

That is, in the angle sensor required for the anti-shake control of the conventional unmanned crane, there is a problem that the image signal collection is impossible by the light source of the light attached to the ceiling or the angle detection is completely impossible even by sunlight or ambient light. .

Accordingly, an object of the present invention, irrespective of indoor lighting or external disturbance light, can recognize the angle of the hook of the unmanned crane at night without lighting and can be applied even when a large number of unmanned cranes operate In providing a calculating device.

An angle calculating device of the unmanned crane hook according to the present invention for achieving the above object, the infrared emitter for emitting infrared radiation to the beacon attached to the upper surface of the crane hook; A position analyzer for analyzing a position on a plane of the crane hook from an image of the beacon portion in response to infrared rays emitted from the infrared emitter; And an angle calculator configured to calculate a moving angle of the crane hook based on the position value of the crane hook analyzed by the position analyzer.

Preferably, the position analysis unit, characterized in that for analyzing the position on the plane of the crane hook through the coordinate movement of the center of gravity of the triangular point forming the mark point of the detail on the beacon attached to the upper surface of the crane hook.

The position analyzer may calculate an X-axis movement value and a Y-axis movement value of the center of gravity point.

The angle calculator may calculate the X-direction movement angle and the Y-direction movement angle of the crane hook based on the X-axis movement value and the Y-axis movement value calculated by the position analyzer.

In addition, the beacon unit is characterized in that the identifier of the crane hook is included.

According to the present invention, irrespective of indoor lighting or external disturbance light, it is possible to recognize the angle of the hook of the unmanned crane without lighting at night, and the angle calculating device of the unmanned crane hook applicable to the operation of a plurality of unmanned cranes is Is provided.

In addition, according to the present invention, since the image preprocessing step performed in the angle recognition step of the unmanned crane by the general landmark and the image sensor is omitted, the magnetic position update rate is improved and it is also applicable to the unmanned crane moving at a high speed. .

In addition, since the landmark shape is a combination of circles or spheres, the magnetic position of the driverless crane can be calculated by a very simple and simple vector operation, and thus it is possible to implement in a low-cost microprocessor.

In addition, since the beacon part in the present invention does not require a power supply, it is possible to ensure convenience and durability in installation. In addition, the height is calculated automatically, eliminating the need to obtain additional information from the sensor.

Hereinafter, with reference to the drawings will be described the present invention in more detail. It is to be noted that the same elements among the drawings are denoted by the same reference numerals whenever possible. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is a view for explaining the angle calculation principle of the angle calculation device of the unmanned crane hook according to the present invention. As shown in Figure 1, in order to calculate the angle of the crane hook 100, the top surface of the crane hook 100 is formed with a beacon unit 150 is made of a non-powered beacon that reacts to infrared rays and does not require power supply.

The crane hook 100 is connected to the crane via a cable 170, the angle calculation device 200 of the unmanned crane hook in the present invention is installed at the point where the cable 170 is installed on the crane.

2 is a functional block diagram of the angle calculation device of the unmanned crane hook according to the present invention. Referring to FIG. 2, the angle calculating device 200 of the unmanned crane hook according to the present invention includes an infrared emitter 210, an infrared receiver 230, a position analyzer 270, and an angle calculator 250. do.

First, the infrared emitting unit 210 emits infrared rays to the beacon unit 150 which is attached to the upper surface of the crane hook 100 in parallel. The infrared emitter 210 may be implemented through an infrared projector that can scan infrared rays in a specific wavelength band which is a selected wavelength among the 800 nm to 1200 nm region.

The beacon unit 150 responds to infrared rays, thereby indicating the position of the crane hook 100. That is, since the beacon unit 150 is attached to the landmark point 153, which is a landmark on which a substance for diffusely reflecting infrared rays in a specific wavelength band is applied, the landmark point 153 is an infrared ray from the infrared emitting unit 210. Will be reflected again. In the practice of the present invention, it is preferable that the mark point 153 is formed in the shape of a circle or a sphere.

Specifically, as shown in FIG. 3, the beacon unit 150 formed on the upper surface of the crane hook 100 according to the embodiment of the present invention has three cover points (3) at positions of vertices on the rectangular case 151. 153).

Marking point 153 can be applied to 32 different combinations as shown in Figure 5, the present invention can be applied to a crane equipped with a plurality of hooks.

In addition, the landmark point 153, which is a landmark used in the present invention, has a characteristic of selectively diffusely reflecting near infrared rays having a specific wavelength. That is, in order that the crane hook 100 is shaken, infrared rays are reflected to the mark point 153 which is in an oblique direction and photons are charged to the image sensor. It is preferable to arrange | position a grain uniformly and interpose a mixture with titanium oxide which is excellent in a reflection characteristic.

Meanwhile, as shown in FIG. 4, three cover points 153 are manufactured by attaching the infrared reflecting sheet 154 to the transparent plate 152. That is, the cover point 153 of the beacon unit 150 that receives the infrared radiation emitted from the infrared emitting unit 210 reflects the infrared rays to the angle calculating device 200 of the unmanned crane hook by the reflective sheet 154. Infrared rays reflected by the reflective sheet 154 are received by the infrared receiver 230. On the other hand, the infrared receiver 230 may be provided with an optical filter that can selectively transmit only light of a specific wavelength.

Accordingly, the position analyzer 270 analyzes the position on the plane of the crane hook 100 through an image sensor that selectively acquires only the reflection image of the cover point 153. In other words, by using an image sensor, it is possible to immediately obtain a binarized image that has been preprocessed without an image processing technique.

Specifically, the position analysis unit 270 calculates the coordinates of the center of gravity of the triangle formed by the cover points 153 of the subdivisions on the beacon unit 150. In this case, the coordinates of the center point are detected by only infrared rays of a specific wavelength in the acquired image, so that only the mark point 153 is selectively visible, and thus can be used directly without any special image preprocessing.

The calculated coordinates of the center point are compared with the coordinates before the crane hook 100 is moved, and the position on the plane of the crane hook 100 is the X axis movement value ΔX of the center of gravity, and the Y axis movement value of the center of gravity. It is defined as ΔY, the direction vector is calculated to obtain the moving direction of the crane 190, and the 9-bit binarization code is extracted based on the direction vector.

On the other hand, when the position analyzer 270 calculates the X-axis movement value ΔX of the center of gravity and the Y-axis movement value ΔY of the center of gravity, the angle calculator 250 calculates the length H of the cable 170. ) And the following Equation 1 and Equation 2 to calculate the X-direction moving angle (θ _X ), and Y-direction moving angle (θ _Y ) of the crane hook 100.

tanθ _X = ΔX / H

tanθ _Y = ΔY / H

On the other hand, since the result calculated by the center of gravity is the result of averaging the error of the center coordinates of the three points can minimize the magnetic position error. The calculated information is converted into position / direction / height / angle / area code information and transmitted to the crane 190.

On the other hand, in the practice of the present invention it is preferable that the beacon unit 150 includes the identifier (ID) of the crane hook 100, in this case, the identifier in the beacon unit 150 in the same manner as in FIG. Can be given.

That is, by forming the identification point 157 which marks an identifier in the arbitrary position on the triangular line segment which consists of three cover points 153 on the beacon part 150, in the angle calculation apparatus 200 of an unmanned crane hook, The angle calculation and individual control of the two crane hooks 100 may be enabled.

Specifically, referring to the case when three cover points 153 (blue display circle) are arranged in an L-shape as shown in FIG. 5, three lines horizontally and three lines vertically are used. To the hex 0x1, 0x10, 0x100 from the first line on the left.

The transverse lines are placed at 1, 2, and 4 from the first line at the top. If this is set and each point representing ID is identified as 157 (circle red circle), the value of each line and line is multiplied, and the points constituting each ID have unique values. It is possible to uniquely express the IDs of all the marker points 153 as the sum of the values of the respective ID points.

Specifically, the angle calculation in the position analyzer 270 and the angle calculator 250 is performed through the following process.

First, it is necessary to find the corresponding mark point 153 in the given image. The cover point 153 may be set to be expressed in a bright color close to white in the image.

Therefore, it is necessary to check where the brightly displayed portions of the image are located and to what extent. To do this, labeling is performed. For this purpose, an incoming image is converted into a binary image by selecting a predetermined threshold value brightness value.

If the input image is converted into a binary image, labeling is performed. Here, labeling is a process of recognizing the aggregated chunks one by one and numbering them. Simultaneously with the numbering, the coordinates of the centers of the labels are obtained, and the mark point 153 is recognized in the recognized label.

By determining whether the label is the cover point 153 or not, the cover point 153 is found, and if there is a cover point 153, the ID is recognized. If the mark point 153 is recognized, the ID is recognized very quickly because the position of the mark point 153 is already known. Finally, the direction angle and coordinates are solved using a calibration formula.

When the label is finished, the cover point 153 of the label should be recognized. To this end, it is necessary to delete labels from the label list that are determined to be not the cover point 153. First of all, the label can be easily constrained by the number of pixels forming the label.

Since the mark point 153 has a circular circle shape and a uniform size, it constitutes a mark point 153 candidate as the number of pixels projected on the screen of each label. This is a way of removing any labels that are too small or too large by setting the number of pixels of arbitrary maximum and minimum values.

Another restriction condition is that the mark point 153 is in a circle, so that the label may be removed from the list. This is solved simply by using the variance of the label's center coordinates. Any variance value corresponding to the Threshold value removes the non-binding label.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention.

1 is a view for explaining the angle calculation principle of the angle calculation device of the unmanned crane hook according to the present invention,

2 is a functional block diagram of the angle calculation device of the unmanned crane hook according to the present invention,

3 is a view showing a structure of a beacon unit in an embodiment of the present invention;

4 is a view showing the structure of a beacon point cover point in FIG. 3, and

5 is a view showing the structure of a beacon portion in another embodiment of the present invention.

Claims (5)

An infrared emitting unit for emitting infrared rays to the beacon unit attached to the upper surface of the crane hook; A position analyzer for analyzing a position on a plane of the crane hook from an image of the beacon portion in response to infrared rays emitted from the infrared emitter; And And an angle calculator configured to calculate a moving angle of the crane hook based on the position value of the crane hook analyzed by the position analyzer. The beacon unit is attached with a label point coated with a material that diffusely reflects infrared rays of a specific wavelength band, and receives the infrared rays reflected by the label point to the location analysis unit, The position analysis unit, the angle calculation device of the unmanned crane hook to analyze the position on the plane of the crane hook through the coordinate movement of the center of gravity of the triangular point forming the mark point of the detail on the beacon attached to the upper surface of the crane hook . delete The method of claim 1, The position analysis unit, the angle calculation device of the unmanned crane hook to calculate the X-axis movement value and the Y-axis movement value of the center of gravity. The method of claim 3, The angle calculating unit calculates the X-direction moving angle and the Y-direction moving angle of the crane hook based on the X-axis moving value and the Y-axis moving value calculated by the position analyzer, the angle calculating device of the unmanned crane hook. . The method of claim 1, The beacon unit is an angle calculation device of the unmanned crane hook that includes the identifier of the crane hook.

Images