CN103324198A - Automatic card collecting and positioning booting system based on computer vision technology and application method thereof - Google Patents
Automatic card collecting and positioning booting system based on computer vision technology and application method thereof Download PDFInfo
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- CN103324198A CN103324198A CN2013102840127A CN201310284012A CN103324198A CN 103324198 A CN103324198 A CN 103324198A CN 2013102840127 A CN2013102840127 A CN 2013102840127A CN 201310284012 A CN201310284012 A CN 201310284012A CN 103324198 A CN103324198 A CN 103324198A
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Abstract
The invention discloses an automatic card collecting and positioning booting system based on a computer vision technology. The automatic card collecting and positioning booting system comprises a main control computer provided with image processing software, camera shooting equipment which can connect and shoot in real time, a server which is used for storing and provides information of a box to be operated, and a display board for reminding a driver of operating, wherein the main control computer is connected with the server and can obtain information from the server according to an instruction; the main control computer sets a card collecting vehicle positioning target characteristic and a theoretical position thereof by the image processing software in advance; the camera shooting equipment shoots a spot image obtaining target characteristic and a real-time position thereof and transmits the spot image obtaining target characteristic and the real-time position to the main control computer; the real-time position and the theoretical position of the target characteristic are compared and analyzed through the image processing software in the main control computer; a comparison result is displayed through the display board; a driver can finish the positioning of a card collecting vehicle through the prompt of the display board. The automatic card collecting and positioning booting system disclosed by the invention has the advantages that the computer vision technology is utilized; the equipment is simple, the cost is low and the maintenance is convenient; the promotion is simple and clear; the positioning efficiency is high; the automatic card collecting and positioning booting system can work in all weathers.
Description
Technical field
The present invention relates to the truck field of locating technology under the container crane in container wharf or stockyard, relate in particular to a kind of truck location automated induction systems and using method thereof based on computer vision technique.
Background technology
Computer vision refers to replace human eye as input medium with various imaging systems, and target is identified, followed the tracks of and measures, and is further processed and analyzes obtaining image for brain by computer generation.It and robot vision have a lot of similarities, and the key distinction is, computer vision is relatively high to accuracy requirement, but relatively low to speed and requirement of real-time, and this characteristic just in time meets the automatic orientation direction of truck.
Can truck quick and precisely locate under the container crane, not only affects the operating efficiency of container crane, also has influence on simultaneously the safety work of truck driver and crane.Present existing truck positioning system (being called for short CPS) comprises that laser scanning, central authorities process and three parts of display board prompting, its principle is by the real-time detected set truck of laser scanner position, with truck real time position and theoretical position contrast, comparing result is accurately located by display indication driver.The core component of this system is laser scanner, and only this instrument price is just up to 4 ~ 50,000, and the life-span is not long, uses the repair and maintenance cost all very high; In addition, laser scanner is higher to environmental requirement, fog, rainwater all can exert an influence to the accuracy of laser scanner, and be in outdoor working environment, very easily adhere to dust on the camera lens of laser scanner, thereby affect the normal operation of laser scanner and the accuracy of location, so laser scanner needs regular carry out wiping and maintenance.
The truck positioning system is as inessential composition in the container handling process, the maintenance cost of disposable high cost investment and great number, for its effect that can play, obviously input-output ratio is excessively low, and therefore a kind of cheap truck positioning guidance system has just become a kind of expectation of industry.
Summary of the invention
Technical matters to be solved by this invention is the present situation for prior art, a kind of truck location automated induction systems and using method thereof based on computer vision technique is provided, it utilizes computer vision technique, makes prompting by on-the-spot real time position and the theoretical position of image processing software contrast target signature; Equipment is simple, and is with low cost, easy to maintenance, points out short and sweetly, and location efficiency is high, can all weather operations.
The present invention solves the problems of the technologies described above the technical scheme that adopts:
A kind of truck location automated induction systems based on computer vision technique, include the main control computer that image processing software is installed, the picture pick-up device that can connect in real time shooting, be used for storage and provide the server for the treatment of control box information and the display board that is used for the prompting driver operation, main control computer be connected with server and according to instruction from the server obtaining information, main control computer presets truck localizing objects feature and theoretical position thereof by image processing software, picture pick-up device picked-up image scene obtains target signature and real time position thereof and transfers to main control computer, by the image processing software in the main control computer real time position and the theoretical position of target signature compared analysis, comparative result shows by display board, the driver according to display board prompting finish the truck location.
The technical measures of optimizing also comprise:
Above-mentioned target signature is the lockhole on the case angle before and after case angle or the container before and after lock pin on the truck planker or the container.。
Above-mentioned picture pick-up device is video camera or camera.
Above-mentioned picture pick-up device is installed on the center of crane transverse beam.
Above-mentioned main control computer is industrial computer or PLC controller.
The arrow prompting that forms with LED light on the above-mentioned display board is advanced or is retreated.
Also can be provided with sound prompt device on the above-mentioned display board.
Adopt wireless between above-mentioned picture pick-up device and the main control computer or wire transmission is connected.
Be connected cooperation by data I/O interface between above-mentioned main control computer and the described server.
A kind of using method of locating automated induction systems based on the truck of computer vision technique: it is characterized in that: may further comprise the steps:
Step 1: the driver reaches truck the Bei Weishang of operation under the crane;
Step 2: main control computer is by REID or image recognition technology identification truck license number, this main control computer according to place shellfish item in conjunction with the truck license number, obtain from server and to treat the performance box dimension information, and then the theoretical position under crane of definite target signature;
Step 3: the automatically picture pick-up device work of triggered location automated induction systems, picture pick-up device are absorbed image scene and by the image processing software analysis, are obtained the real time position of target signature wherein and transfer to main control computer;
Step 4: main control computer draws the offset direction of target signature and theoretical position with the analysis of making comparisons of the real time position of the target signature that obtains and theoretical position;
Step 5: the comparative analysis result transfers to display board, and makes the respective direction prompting at display board;
Step 6: the driver finishes the location of truck according to the prompting on the display board.
A kind of truck location automated induction systems based on computer vision technique of the present invention, utilize computer vision technique, by the on-the-spot realtime graphic of the picture pick-up device picked-up that can connect in real time shooting and obtain the real time position of target signature, transfer to the main control computer that image processing software is installed, to obtain view data analysis by image processing software, the target signature and the real time position thereof that obtain wherein analyze with theoretical position, and comparing result transfers to the accurate location that display board guides the driver to finish truck.This automated induction systems is equipped simple, and input cost is low, safeguards simply, and it is high that it has overcome the laser scanner input, and maintenance is frequent, to weather, the higher shortcoming of environmental requirement, can realize all weather operations;
Employing display board prompting driver advances or retreats, and points out simple and clear; Also can be provided with sound prompt device on the display board, to driver's travel direction indication, make guiding more efficient with voice.
Description of drawings
Fig. 1 is framework schematic diagram of the present invention;
Fig. 2 is the process flow diagram of guidance system of the present invention system guiding set truck location;
Fig. 3 is device scheme of installation of the present invention.
Embodiment
Embodiment is described in further detail the present invention below in conjunction with accompanying drawing.
Reference numeral wherein is: main control computer 1, picture pick-up device 2, server 3, display board 4, data I/O interface 5, crossbeam 6, truck 7.
Such as Fig. 1 and shown in Figure 3,
A kind of truck location automated induction systems based on computer vision technique, include the main control computer 1 that image processing software is installed, the picture pick-up device 2 that can connect in real time shooting, be used for storage and provide the server 3 for the treatment of control box information and the display board 4 that is used for the prompting driver operation, main control computer 1 be connected with server 3 and according to instruction from server 3 obtaining informations, and then the theoretical position under crane of the target signature of determining, main control computer 1 is preseted the theoretical position of truck 7 localizing objects features by image processing software, picture pick-up device 2 picked-up image scenes also obtain target signature and real time position and transfer to main control computer 1, by the image processing software in the main control computer 1 real time position and the theoretical position of target signature compared analysis, comparative result is by display board 4 demonstrations, and the driver finishes truck 7 location according to the adjustment direction of display board 4 promptings.
General container is divided into 20 chis and two kinds of dimensions of 40 chis, and when empty set truck 7 entered shellfish position, container crane place, system becomes to obtain from server 3 learnt the dimensions for the treatment of manipulating containers.When treating dimensions 20 chi of manipulating containers, when container is contained in truck 7 planker fronts near pilothouse one end, target signature is the anterior lock pin of truck planker and middle part lock pin, its theoretical position is the lock pin center of the anterior lock pin of planker and middle part lock pin, and both lock pin centre distance crane distances between center line are 2926MM (20 chi container lockhole standard size value); When container is contained in truck planker back away from pilothouse one end, target signature is truck planker middle part lock pin and afterbody lock pin, its theoretical position is the lock pin center of planker middle part lock pin and afterbody lock pin, and both lock pin centre distance crane distances between center line also are 2926MM.When treating dimensions 40 chi of manipulating containers, target signature is the anterior lock pin of truck planker and afterbody lock pin, its theoretical position is the lock pin center of the anterior lock pin of planker and afterbody lock pin, and both lock pin centre distance crane distances between center line are 5992MM (40 chi container lockhole standard size value).
This automated induction systems presets the theoretical position of target signature at main control computer 1 by image processing software, the theoretical position graticule can be drawn on all images of picture pick-up device 2 acquisitions, is convenient to image processing software and more intuitively compares; After truck 7 is in place, picture pick-up device 2 picked-up image scenes obtain the real time position of target signature, and transfer to main control computer 1 and compare with theoretical position, comparing result transfers to display board 4 after processing, and is carried out the quick location of truck 7 by display board 4 guiding drivers, and the input of a picture pick-up device 2 only needs several thousand yuan, the disposable less investment of this guidance system, safeguard simply, be subjected to weather, environmental impact little, can realize all weather operations.
When the truck 7 with case entered shellfish position, container crane place, target signature can be the lockhole at container bottom side two ends; Picture pick-up device 2 can search out target signature automatically by pattern match from image when the picked-up image scene.
Among the embodiment, picture pick-up device 2 is video camera or camera.
Among the embodiment, picture pick-up device 2 is installed on the center of land, crane sea side two crossbeams 6; Picture pick-up device 2 is installed on the center, and the central point of the lockhole at container bottom side two ends can both clearly be come across in the visual field of picture pick-up device 2, thus the accuracy of assurance system guiding.
Among the embodiment, main control computer 1 is industrial computer or PLC controller.
Among the embodiment, the arrow prompting that forms with LED light on the display board 4 is advanced or is retreated, and advances or retreats with the arrow prompting, and simple and clear, the driver can be very clear, thereby improve the location efficiency of truck 7.
Can also be provided with sound prompt device on the display board 4, sound prompt device is set guide better the driver to finish truck 7 positioning actions.
Among the embodiment, adopt wired or wireless transmission to be connected between picture pick-up device 2 and the main control computer 1; Wherein adopt the benefit of wireless transmission to be to avoid between equipment, to set up transmission line, reduce the workload of overhaul of the equipments and the potential safety hazard that may cause.
Among the embodiment, be connected cooperation by data I/O interface 5 between main control computer 1 and the described server 3.
As scheme optimization, install or arrange eye-catching mark on the crane center line, before each automated induction systems work, clap by picture pick-up device 2 first and get the image that contains mark, the mark place is provided as the crane theoretical centerline, with the theoretical position of convenient automatic revise goal feature.
Functions expanding as scheme, can install image recognition software at the main control computer 1 of this guidance system, after truck 7 is in place, picture pick-up device 2 picked-up image scenes obtain the truck license number, compare with the license number in the truck information in the production operation instruction of obtaining in the server 3, correctly then confirm instruction and trigger automatic positioning guidance system, incorrect, warning reminding driver then; And leave by display board 4 prompting trucks 7, with the stop that prevents that incorrect truck under the crane 7 is unnecessary.
As expand can also be on main control computer 1 the installation dimension Survey Software, when image processing software compares analysis to the real time position of target signature and theoretical position, distance between accurate Calculation real time position and the theoretical position, and on display board 4 with the form of numeral to the driver with clearer and more definite prompting, make the driver when adjusting the position, can grasp better the distance of advancing or retreating, thereby improve the efficient of truck 7 location.
This guidance system can also be expanded warning function, when picture pick-up device 2 picked-up image scene, if institute is taken the photograph in the scope, people or the thing of normal running occur affect, immediately warning, and by the sound prompt device prompting of setting out, thus avoid the generation of security incident.
This locates the using method of automated induction systems based on the truck of computer vision technique: may further comprise the steps:
Step 1: the driver reaches truck 7 Bei Weishang of operation under the crane;
Step 2: described main control computer 1 is by REID or image recognition technology identification truck license number, this main control computer 1 according to place shellfish item in conjunction with the truck license number, obtain from server 3 and to treat the performance box dimension information, and then the theoretical position under crane of definite target signature;
Step 3: automatically picture pick-up device 2 work of triggered location automated induction systems, picture pick-up device 2 absorbs image scenes and by the image processing software analysis, obtains the real time position of target signature wherein and transfer to main control computer 1;
Step 4: described main control computer 1 draws the offset direction of target signature and theoretical position with the analysis of making comparisons of the real time position of the target signature that obtains and theoretical position;
Step 5: the comparative analysis result transfers to display board 4, and makes the respective direction prompting at display board 4;
Step 6: the driver finishes the location of truck 7 according to the prompting on the display board 4.
As shown in Figure 2, use the process of this guidance system guiding set truck 7 location as follows:
Driver driving truck 7 reaches the Bei Weishang of required operation under the crane, triggering image pickup signal starts working picture pick-up device 2, picture pick-up device 2 picked-up image scenes also utilize REID or image recognition technology identification truck license number, simultaneously obtain truck information according to place shellfish item from server 3, the truck license number of this shellfish position operation compares in the production operation instruction of obtaining in the truck license number that picture pick-up device 2 is obtained and the server 3, correctly then confirm instruction and trigger automatic positioning guidance system, incorrect, warning reminding driver then; And leave by display board prompting truck 7.
After confirming that truck 7 correctly, positioning system starts automatically, and the Container Dimensions information of this shellfish position operation comprises case number (CN) and dimensions in the production operation instruction that primary controller 1 will obtain from server 3.Determining to treat that the dimensions of performance box is 20 chis or 40 chis, is near pilothouse one end or away from pilothouse one end if the container of 20 chis is further determined the operating position, and then definite target signature and theoretical position.
Picture pick-up device 2 picked-up image scenes obtain target signature and real time position thereof and transfer to main control computer 1, according to the difference of the dimensions for the treatment of manipulating containers, target signature and theoretical position different.When treating dimensions 20 chi of manipulating containers, when container is contained in truck 7 near pilothouse one end, target signature is the anterior lock pin of truck planker and middle part lock pin, when container is contained in truck away from pilothouse one end, target signature is truck planker middle part lock pin and afterbody lock pin, and the theoretical position of above-mentioned target signature thing is 2926MM apart from the crane distance between center line; Same when treating dimensions 40 chi of manipulating containers, the theoretical position of target signature is the anterior lock pin of truck planker and afterbody lock pin, and target signature is 5992MM apart from the crane distance between center line; Above-mentioned target signature theoretical position is drawn on all images of video camera acquisition with the graticule form, is convenient to analyze comparison with target signature thing physical location.
Above-mentioned situation is that truck 7 is got container for empty planker preparation dress.Same truck 7 carries container when preparing to unload case, and the target signature thing is chosen for nowel angle on the header, also can choose the lockhole on the case angle; Empty wagons is all roughly the same with vanning car characteristic body terrain clearance position like this, is beneficial to the unification of image taking angle and installation site.
Image processing software compares analysis with real time position and the theoretical position of the target signature thing in the image of taking, if error surpasses allowed band, then advance by display board 4 prompting or retreat and distance, also can send voice reminder by sound prompt device, the driver carries out the adjustment of parking stall according to the prompting on the display board 4, guidance system is to the prompting of again comparing of the parking stall after adjusting, until error reaches allowed band; If error is in allowed band, finish display board 4 prompting location, can trigger the order that the release container is sent out in suspender decline.
Most preferred embodiment of the present invention is illustrated, and various variations or the remodeling made by those of ordinary skills can not depart from the scope of the present invention.
Claims (10)
1. the truck based on the crane below of computer vision technique is located automated induction systems, it is characterized in that: include the main control computer (1) that image processing software is installed, the picture pick-up device (2) that can connect in real time shooting, be used for storage and provide the server (3) for the treatment of control box information and the display board (4) that is used for the prompting driver operation, described main control computer (1) be connected with server (3) and according to instruction from server (3) obtaining information, described main control computer (1) presets truck (7) localizing objects feature and theoretical position thereof by image processing software, described picture pick-up device (2) picked-up image scene obtains the real time position of target signature and transfers to main control computer (1), by the image processing software in the main control computer (1) real time position and the theoretical position of target signature compared analysis, comparative result is by display board (4) demonstration, and the driver points out according to display board (4) and finishes truck (7) location.
2. a kind of truck location automated induction systems based on computer vision technique according to claim 1 is characterized in that: described target signature is the lockhole on the case angle before and after case angle or the container before and after lock pin on the truck planker or the container.
3. a kind of truck based on computer vision technique according to claim 2 is located automated induction systems, and it is characterized in that: described picture pick-up device (2) is video camera or camera.
4. a kind of truck based on computer vision technique according to claim 3 is located automated induction systems, and it is characterized in that: described picture pick-up device (2) is installed on the center of crane transverse beam (6).
5. a kind of truck based on computer vision technique according to claim 4 is located automated induction systems, and it is characterized in that: described main control computer (1) is industrial computer or PLC controller.
6. a kind of truck based on computer vision technique according to claim 5 is located automated induction systems, it is characterized in that: the upper arrow prompting that forms with LED light of described display board (4) is advanced or is retreated.
7. a kind of truck based on computer vision technique according to claim 6 is located automated induction systems, and it is characterized in that: described display board is provided with sound prompt device on (4).
8. a kind of truck location automated induction systems based on computer vision technique according to claim 7 is characterized in that: the wireless or wire transmission of employing is connected between described picture pick-up device (2) and the main control computer (1).
9. a kind of truck location automated induction systems based on computer vision technique according to claim 8 is characterized in that: be connected cooperation by data I/O interface (5) between described main control computer (1) and the described server (3).
10. the using method of a kind of truck location automated induction systems based on computer vision technique according to claim 1: it is characterized in that: may further comprise the steps:
Step 1: the driver reaches truck (7) Bei Weishang of operation under the crane;
Step 2: described main control computer (1) is by REID or image recognition technology identification truck license number, this main control computer (1) according to place shellfish item in conjunction with the truck license number, obtain from server (3) and to treat the performance box dimension information, and then the theoretical position under crane of definite target signature;
Step 3: the automatically picture pick-up device (2) of triggered location automated induction systems work, picture pick-up device (2) are absorbed image scene and by the image processing software analysis, are obtained the real time position of target signature wherein and transfer to main control computer (1);
Step 4: described main control computer (1) draws the offset direction of target signature and theoretical position with the analysis of making comparisons of the real time position of the target signature that obtains and theoretical position;
Step 5: the comparative analysis result transfers to display board (4), and makes the respective direction prompting at display board (4);
Step 6: the driver finishes the location of truck (7) according to the prompting on the display board (4).
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| CN112184800A (en) * | 2020-09-03 | 2021-01-05 | 北京主线科技有限公司 | Container truck hanger detection method and system |
| CN112764044A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck unloading box |
| CN112764044B (en) * | 2020-12-21 | 2023-11-24 | 宁波大榭招商国际码头有限公司 | Laser radar-based precise alignment method for unmanned integrated card unloading box |
| CN113784087A (en) * | 2021-07-29 | 2021-12-10 | 天津港太平洋国际集装箱码头有限公司 | Automatic change bridge cold box storage yard one deck case operation video monitor system |
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