CN105069420A - Automatic container lockhole identifying-positioning method and system - Google Patents
Automatic container lockhole identifying-positioning method and system Download PDFInfo
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- CN105069420A CN105069420A CN201510447232.6A CN201510447232A CN105069420A CN 105069420 A CN105069420 A CN 105069420A CN 201510447232 A CN201510447232 A CN 201510447232A CN 105069420 A CN105069420 A CN 105069420A
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- lockhole
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/12—Fingerprints or palmprints
- G06V40/13—Sensors therefor
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Abstract
The invention discloses an automatic container lockhole identifying-positioning method and system. A camera collects an image, a container lockhole in the image is positioned, a device coordinate system is obtained and then transmitted to a controller for subsequent control processing, a controller positions the device according to a given position, and a container is grabbed if the position is effective and safe. The method and system can improve the positioning precision, reduce the positioning cost and can expand functions according to requirements.
Description
Technical field
The present invention relates to the technology of the lockhole of container being carried out to identification location, particularly relate to the method and system adopting industrial camera container lockhole to be carried out to automatic Identification location.
Background technology
Need to position the lockhole of container in container crawl process, current location adopts the technology of laser scanning location.The gordian technique of existing laser scanning positioning system all rests in external producer, and price is very expensive, and a lot of big machinery laser scanner technique needs to install multiple equipment ability practical function, the double raising of cost.Such as, the laser sensor positioning system based on cranemate limits due to installation site, and significant cost can be caused to improve.
Therefore, industry is badly in need of reducing the location cost to container lockhole.
Summary of the invention
Below provide the brief overview of one or more aspect to provide the basic comprehension to these aspects.Detailed the combining of this not all aspect contemplated of general introduction is look at, and both not intended to be pointed out out the scope of key or decisive any or all aspect of elements nor delineate of all aspects.Its unique object is the sequence that some concepts that will provide one or more aspect in simplified form think the more detailed description provided after a while.
The object of the invention is to solve the problem, provide a kind of container lockhole automatic Identification localization method and system, improve positioning precision, reduce location cost, Function Extension can also be carried out as required.
Technical scheme of the present invention is: present invention is disclosed a kind of container lockhole automatic Identification positioning system, comprising:
Camera system, the image of shooting container;
Processor, connects camera system, comprises further:
Lockhole identification module, is connected with camera system communication, carries out lockhole identification based on the image photographed, and determines the position at lockhole place;
Image coordinate obtains module, is connected with the communication of lockhole identification module, and the position based on lockhole place obtains the image coordinate of lockhole;
Device coordinate modular converter, obtains module communication with image coordinate and is connected, image coordinate is converted to the device coordinate of capture apparatus;
Controller, positions operation based on device coordinate to capture apparatus.
According to an embodiment of container lockhole automatic Identification positioning system of the present invention, processor also comprises:
Whether Parking range detection module, be in the coverage of camera system for detected set vanning.
The invention also discloses a kind of container lockhole automatic Identification localization method, comprising:
The image of shooting container;
Carry out lockhole identification based on the image photographed, determine the position at lockhole place;
Position based on lockhole place obtains the image coordinate of lockhole;
Image coordinate is converted to the device coordinate of capture apparatus;
Based on device coordinate, capture apparatus is positioned.
According to an embodiment of container lockhole automatic Identification localization method of the present invention, also comprised before the step of lockhole identification:
Whether detected set vanning is in the coverage of camera system.
According to an embodiment of container lockhole automatic Identification localization method of the present invention, also comprised before the step of the image of shooting container:
The biocular systems of video camera is demarcated.
The present invention contrasts prior art following beneficial effect: the present invention's camera acquisition image, and the container lockhole in image is positioned, be transferred to controller after equipment coordinate system and carry out follow-up control treatment, controller carries out equipment location according to the position provided, if effective and safe position then starts to capture container.Compared to prior art, the present invention, owing to have employed the laser scanning positioning equipment of industrial camera instead of costliness, because this reducing cost, improve precision, also improves function expansibility.
Accompanying drawing explanation
Fig. 1 shows the process flow diagram of the preferred embodiment of container lockhole automatic Identification localization method of the present invention.
Fig. 2 shows the schematic diagram of the preferred embodiment of container lockhole automatic Identification positioning system of the present invention.
Embodiment
After the detailed description of reading embodiment of the present disclosure in conjunction with the following drawings, above-mentioned feature and advantage of the present invention can be understood better.In the accompanying drawings, each assembly is not necessarily drawn in proportion, and the assembly with similar correlation properties or feature may have identical or close Reference numeral.
Fig. 1 shows the flow process of the preferred embodiment of container lockhole automatic Identification localization method of the present invention, refers to Fig. 1, and here is the detailed description of each step of method to the present embodiment.
Step S1: the image of shooting container.
Preferably, before shooting, the biocular systems of video camera or camera is demarcated.
Step S2: carry out lockhole identification based on the image photographed, determines the position at lockhole place.
Preferably, before lockhole identification, whether detected set vanning is in the coverage of camera system, if exceed coverage, adjusts it, until container is in normal interval.
Step S3: the position based on lockhole place obtains the image coordinate of lockhole.
Step S4: device coordinate image coordinate being converted to capture apparatus.
Step S5: capture apparatus is positioned based on device coordinate.If effective and safe position then starts to capture container.
Fig. 2 shows the principle of the preferred embodiment of container lockhole automatic Identification positioning system of the present invention.Refer to Fig. 2, the system of the present embodiment comprises camera system 1, processor 2 and controller 3.
Camera system is such as industrial camera, for taking the image of container.
Processor 2 is electrically connected camera system 1, is configured to have following module: lockhole identification module 21, image coordinate obtain module 22 and device coordinate modular converter 23.
Lockhole identification module 21 is connected with camera system communication, carries out lockhole identification based on the image photographed, to determine the position at lockhole place.Preferably, Parking range detection module 24 is set in processor 2, whether is in the coverage of camera system for detected set vanning, if not in coverage, needs instruction again to stop.
Image coordinate obtains module 22 and is connected with lockhole identification module 21 communication, based on identifying that the position at successful lockhole place obtains the image coordinate of lockhole, i.e. the three dimensional local information of lockhole.
Device coordinate modular converter 23 and image coordinate obtain module 22 communication and are connected, and image coordinate are converted to the device coordinate of capture apparatus and are transferred to controller 3.
Finally based on device coordinate, operation is positioned to capture apparatus by controller 3, if effective and safe position then starts unload containers.
Said method illustrated although simplify for making explanation and is described as a series of actions, it should be understood that and understand, these methods not limit by the order of action, because according to one or more embodiment, some actions can occur by different order and/or with from illustrating herein and describe or not shown and to describe but other actions that it will be appreciated by those skilled in the art that occur concomitantly herein.
Those skilled in the art will understand further, and the various illustrative logic plates, module, circuit and the algorithm steps that describe in conjunction with embodiment disclosed herein can be embodied as electronic hardware, computer software or the combination of both.For clearly explaining orally this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step are done vague generalization above with its functional form and are described.This type of is functional is implemented as hardware or software depends on embody rule and puts on the design constraint of total system.Technician can realize described functional by different modes for often kind of application-specific, but such realize decision-making and should not be interpreted to and cause having departed from scope of the present invention.
The various illustrative logic plates, module and the circuit that describe in conjunction with embodiment disclosed herein can realize with general processor, digital signal processor (DSP), special IC (ASIC), field programmable gate array (FPGA) or other programmable logic device (PLD), discrete door or transistor logic, discrete nextport hardware component NextPort or its any combination being designed to perform function described herein or perform.General processor can be microprocessor, but in alternative, and this processor can be the processor of any routine, controller, microcontroller or state machine.Processor can also be implemented as the combination of computing equipment, the combination of such as DSP and microprocessor, multi-microprocessor, with one or more microprocessor of DSP central cooperation or any other this type of configure.
The method described in conjunction with embodiment disclosed herein or the step of algorithm can be embodied directly in hardware, in the software module performed by processor or in the combination of both and embody.Software module can reside in the storage medium of RAM storer, flash memory, ROM storer, eprom memory, eeprom memory, register, hard disk, removable dish, CD-ROM or any other form known in the art.Exemplary storage medium is coupled to processor and can reads and written information from/to this storage medium to make this processor.In alternative, storage medium can be integrated into processor.Processor and storage medium can reside in ASIC.ASIC can be in the user terminal resident.In alternative, it is in the user terminal resident that processor and storage medium can be used as discrete assembly.
In one or more exemplary embodiment, described function can realize in hardware, software, firmware or its any combination.If be embodied as computer program in software, then each function can as one or more bar instruction or code storage on a computer-readable medium or mat its transmit.Computer-readable medium comprises computer-readable storage medium and communication media, and it comprises facilitates computer program from a ground to any medium that another ground shifts.Storage medium can be can by any usable medium of computer access.Exemplarily non-limiting, such computer-readable medium can comprise RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage apparatus, maybe can be used to carry or store instruction or data structure form desirable program code and can by other medium any of computer access.Any connection is also properly termed a computer-readable medium.Such as, if software be use concentric cable, fiber optic cables, twisted-pair feeder, digital subscribe lines (DSL) or such as infrared, radio and microwave and so on wireless technology from web site, server or other remote source transmission, then this concentric cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave and so on wireless technology are just included among the definition of medium.Dish as used herein (disk) and dish (disc) comprise compact disc (CD), laser dish, laser disc, digital versatile dish (DVD), floppy disk and blu-ray disc, its mid-game (disk) is often with the mode rendering data of magnetic, and dish (disc) laser rendering data to be optically.Above-mentioned combination also should be included in the scope of computer-readable medium.
Thering is provided previous description of the present disclosure is for making any person skilled in the art all can make or use the disclosure.To be all apparent for a person skilled in the art to various amendment of the present disclosure, and generic principles as defined herein can be applied to other variants and can not depart from spirit or scope of the present disclosure.Thus, the disclosure not intended to be is defined to example described herein and design, but the widest scope consistent with principle disclosed herein and novel features should be awarded.
Claims (5)
1. a container lockhole automatic Identification positioning system, comprising:
Camera system, the image of shooting container;
Processor, connects camera system, comprises further:
Lockhole identification module, is connected with camera system communication, carries out lockhole identification based on the image photographed, and determines the position at lockhole place;
Image coordinate obtains module, is connected with the communication of lockhole identification module, and the position based on lockhole place obtains the image coordinate of lockhole;
Device coordinate modular converter, obtains module communication with image coordinate and is connected, image coordinate is converted to the device coordinate of capture apparatus;
Controller, positions operation based on device coordinate to capture apparatus.
2. container lockhole automatic Identification positioning system according to claim 1, it is characterized in that, processor also comprises:
Whether Parking range detection module, be in the coverage of camera system for detected set vanning.
3. a container lockhole automatic Identification localization method, comprising:
The image of shooting container;
Carry out lockhole identification based on the image photographed, determine the position at lockhole place;
Position based on lockhole place obtains the image coordinate of lockhole;
Image coordinate is converted to the device coordinate of capture apparatus;
Based on device coordinate, capture apparatus is positioned.
4. container lockhole automatic Identification localization method according to claim 3, is characterized in that, also comprised before the step of lockhole identification:
Whether detected set vanning is in the coverage of camera system.
5. container lockhole automatic Identification localization method according to claim 4, is characterized in that, also comprises before the step of the image of shooting container:
The biocular systems of video camera is demarcated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510447232.6A CN105069420A (en) | 2015-07-27 | 2015-07-27 | Automatic container lockhole identifying-positioning method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510447232.6A CN105069420A (en) | 2015-07-27 | 2015-07-27 | Automatic container lockhole identifying-positioning method and system |
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| CN105069420A true CN105069420A (en) | 2015-11-18 |
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| CN201510447232.6A Pending CN105069420A (en) | 2015-07-27 | 2015-07-27 | Automatic container lockhole identifying-positioning method and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105668418A (en) * | 2016-04-08 | 2016-06-15 | 湖南中铁五新重工有限公司 | Automatic hoisting device and method |
| CN106096606A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container profile localization method based on fitting a straight line |
| CN106097332A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container profile localization method based on Corner Detection |
| CN106097331A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container localization method based on lockhole identification |
| CN107381356A (en) * | 2017-06-30 | 2017-11-24 | 海航创新科技研究有限公司 | The operating method and cloud box hanger of cloud box hanger |
| CN111273704A (en) * | 2020-01-21 | 2020-06-12 | 上海悦易网络信息技术有限公司 | Method and device for automatically inserting external equipment hole |
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| CN2821530Y (en) * | 2005-08-10 | 2006-09-27 | 高旭 | Automatic locator under container truck field bridge |
| CN102923578A (en) * | 2012-11-13 | 2013-02-13 | 扬州华泰特种设备有限公司 | Automatic control system of efficient handing operation of container crane |
| CN202924613U (en) * | 2012-11-13 | 2013-05-08 | 扬州华泰特种设备有限公司 | Automatic control system for efficient loading and unloading work of container crane |
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2015
- 2015-07-27 CN CN201510447232.6A patent/CN105069420A/en active Pending
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| CN2603058Y (en) * | 2002-09-12 | 2004-02-11 | 上海外高桥保税区港务公司 | Positioning device for container truck entering bridge type crane working area |
| CN2821530Y (en) * | 2005-08-10 | 2006-09-27 | 高旭 | Automatic locator under container truck field bridge |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105668418A (en) * | 2016-04-08 | 2016-06-15 | 湖南中铁五新重工有限公司 | Automatic hoisting device and method |
| CN105668418B (en) * | 2016-04-08 | 2017-11-24 | 湖南中铁五新重工有限公司 | A kind of automatic hoisting device and method |
| CN106096606A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container profile localization method based on fitting a straight line |
| CN106097332A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container profile localization method based on Corner Detection |
| CN106097331A (en) * | 2016-06-07 | 2016-11-09 | 浙江工业大学 | A kind of container localization method based on lockhole identification |
| CN106097332B (en) * | 2016-06-07 | 2018-09-21 | 浙江工业大学 | A kind of container profile localization method based on Corner Detection |
| CN107381356A (en) * | 2017-06-30 | 2017-11-24 | 海航创新科技研究有限公司 | The operating method and cloud box hanger of cloud box hanger |
| CN111273704A (en) * | 2020-01-21 | 2020-06-12 | 上海悦易网络信息技术有限公司 | Method and device for automatically inserting external equipment hole |
| CN111273704B (en) * | 2020-01-21 | 2023-09-15 | 上海万物新生环保科技集团有限公司 | Method and device for automatically inserting external equipment hole |
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Application publication date: 20151118 |