CN108675142A - More height calibration measuring methods and the anti-oblique pull of crane based on monocular camera and accurate positioning method - Google Patents
More height calibration measuring methods and the anti-oblique pull of crane based on monocular camera and accurate positioning method Download PDFInfo
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- CN108675142A CN108675142A CN201810222013.1A CN201810222013A CN108675142A CN 108675142 A CN108675142 A CN 108675142A CN 201810222013 A CN201810222013 A CN 201810222013A CN 108675142 A CN108675142 A CN 108675142A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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Abstract
The more height calibration measuring methods and the anti-oblique pull of crane and accurate positioning method that the invention discloses a kind of based on monocular camera, it is based on machine vision technique, it is demarcated by more height, realize accurate measurement of the monocular camera in different height target location, more height calibration process are specially that camera field depth is divided into multistage, camera fields of view is equally divided into multistage according to horizontal and vertical in every section of altitude range, by transversely multiple with longitudinal moving target mark respectively in every section of depth of field variation range during camera calibration, to establish the mathematical model of pixel distance and actual range in different height.High sensitivity of the present invention, easy to implement, robustness is strong, will greatly improve the safety in operation and working efficiency of crane, promotes the automation, digitlization and intelligent development of crane.
Description
Technical field
The invention belongs to crane safety control technology fields, and in particular to a kind of more height calibration based on monocular camera
Measurement method and the anti-oblique pull of crane and accurate positioning method.
Background technology
The lifting and transport of cargo, especially large cargo may be implemented as a kind of logistics transportation tool in crane
Lifting and transport, save man power and material, greatly improve working efficiency, promote expanding economy.Meanwhile with
The electric automatization level of the application of the development of industrial automation and level of digital, especially frequency converter, crane obtains not
It is disconnected to improve, further increase operation stability and the safety of crane.Meanwhile the reality according to frequency converter on crane
For border applicable cases it is found that in crane travel mechanism moderating process, frequency converter passes through the variation for changing the operating mechanism speed of service
Rate realizes the slow stopping of operating mechanism, to reduce the impact of operating mechanism velocity variations, improves the operation of crane
Stability.Meanwhile crane, during raising, askew hang of the oblique pull of cargo will increase the load of lifting mechanism, reduce lifting machine
The service life of structure reel, steel wire rope etc..The oblique pull raising of cargo may cause the dangerous working conditions such as the sliding, overturning and beat of cargo,
Seriously threaten surrounding devices and the safety of staff.The present anti-oblique drawing control technology of crane is mainly by limit switch, such as
Optoelectronic switch, resistance switch etc. limit the raising of cargo oblique pull state.It is rapid that this mode cannot meet crane
With intelligentized demand.Further by analyzing, crane open loop is anti-to shake algorithm it is found that the anti-algorithm that shakes of open loop is by controlling lifting
The big trolley of machine runs to inhibit the beat of load, i.e., during inhibiting to load beat, there will be certain decelerations for big trolley
Braking distance.However the presence of deceleration distance will increase the uncertainty of crane stop position, conventional hoist controls process
In, worker constantly adjusts to realize being accurately positioned for load with low speed control crane, seriously reduces the work effect of crane
Rate.
The developing direction of factory of the future is digitlization workshop and unmanned factory, and digitlization workshop and intelligence are realized to the year two thousand twenty
Factory's popularity rate 20%, crane will be a wherein vital rings, thus realize crane it is pinpoint automation and
Digitlization will seem more important.Meanwhile to inhibit the beat of load, crane open loop to prevent that shaking control algolithm obtains largely
Research and application.The anti-control algolithm control law of shaking of open loop is to inhibit the beat of load by controlling the movement of big trolley, i.e.,
Inhibit the beat of load by controlling big one section in-migration of trolley Accelerating running in crane accelerator, or in crane
Accelerator inhibits the beat of load by controlling big one section in-migration of trolley travelling.Therefore it is the beat of inhibition load, size
Vehicle, which will run one section, to be prevented shaking distance, this will limit the anti-application range for shaking control algolithm of crane open loop.
Invention content
The more height calibration measuring methods and crane that the purpose of the present invention is to provide a kind of based on monocular camera are anti-oblique
Drawing and accurate positioning method, it is based on machine vision technique, the calibration by more height and measurement method, realizes monocular camera
In the accurate measurement of different height target location, the safety in operation and working efficiency of crane are improved, promotes lifting
Automation, digitlization and the intelligent development of machine.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of more height calibration measuring methods based on monocular camera, include the following steps：
S1, selected monocular camera, and obtain its following parameter：Maximum height Δ l, camera in camera field depth are most
Big transverse direction visual field 2X, camera maximum longitudinal direction visual field 2Y and camera maximum functional distance lH；
S2, target is positioned in the field range and field depth of monocular camera, by Δ, l points are H sections, and every section of height is
Δlh, h=1,2,3...H, it is m sections to divide half maximum transversal visual field X in every section of height, and every section of lateral distance is Δ Xhi,
I=1,2,3...m, it is n sections to divide half maximum longitudinal direction visual field Y in every section of height, and every section of fore-and-aft distance is Δ Yhj, j=1,
2,3...n；
S3, in every section of height, according to transverse movement direction from Δ Xh1To Δ XhmIt is mobile, target image is obtained respectively
Lateral distance delta uhi, according to longitudinal movement direction from Δ Yh1To Δ YhnIt is mobile, the fore-and-aft distance Δ of target image is obtained respectively
vhj；
S4, the calibration formula according to monocular camera
Solve scale factor b, camera internal parameter kxhiAnd kyhj, initial seat in the image coordinate that is indicated with physical unit
Mark u0And v0, according to the measurement of the calibration formula of the monocular camera after solution positioned at the monocular camera field depth and within sweep of the eye
Determinand lateral distance delta X and fore-and-aft distance Δ Y,
Wherein, lhFor the distance between monocular camera and target, l is the distance between monocular camera and determinand, Δ u with
Δ v is respectively the lateral distance and fore-and-aft distance for the object image to be measured that monocular camera measures.
According to the above technical scheme, the target is square, and four vertex of square target are diagonally connected, and with even
Make center circle centered on line intersection point, pastes round small target respectively using center circle and two cornerwise four intersection points as the center of circle.
Correspondingly, the present invention also provides a kind of more height calibration measuring methods and the anti-oblique pull of crane based on monocular camera
And accurate positioning method, include the following steps：
S1, the small car bottom that monocular camera is mounted on to crane, the target that anti-oblique pull controls are placed on suspension hook, essence
True positioning target is moving target mark；
S2, according to above-mentioned more height calibration measuring methods based on monocular camera, according to the rope length l of crane, monocular phase
The lateral distance delta u and fore-and-aft distance Δ v for the target image that machine measures acquire trolley shifting in conjunction with the calibration formula of monocular camera
Dynamic distance, delta X and cart displacement distance Δ Y.
According to the above technical scheme, the monocular camera is configured with light source.
According to the above technical scheme, described hoist roller one end is equipped with the encoder for measuring rope length.
According to the above technical scheme, setting trolley accelerates to after setting speed deceleration situations immediately during the control of anti-oblique pull
Under, trolley maximum accelerates and the resultant displacement of deceleration displacementAs Δ X>scmaxWhen, trolley experience adds
Speed, at the uniform velocity with deceleration three phases, at this time trolley at the uniform velocity timeAs Δ X≤scmaxWhen, trolley experience accelerates
With two stages of slowing down, at this time trolley acceleration time t1With deceleration time t2Meet following formula：
According to the above technical scheme, setting cart accelerates to after setting speed deceleration situations immediately during the control of anti-oblique pull
Under, cart maximum accelerates and the resultant displacement of deceleration displacementAs Δ Y>stmaxWhen, the acceleration of cart experience,
At the uniform velocity with deceleration three phases, at this time cart at the uniform velocity timeAs Δ Y≤stmaxWhen, cart experience accelerate and
Slow down two stages, at this time cart acceleration time t3With deceleration time t4Meet following formula：
Root according to the above technical scheme, sets trolley and is accurately positioned displacement as Spc, trolley is accurately positioned to be undergone at the uniform velocity in the process
With two stages of slowing down, at this time trolley at the uniform velocity time
According to the above technical scheme, it sets cart and is accurately positioned displacement as Spt, cart be accurately positioned during experience at the uniform velocity and
Slow down two stages, at this time the cart at the uniform velocity time
The beneficial effect comprise that：The present invention is based on machine vision techniques, are demarcated by more height, realize monocular
For camera in the accurate measurement of different height target location, which is specially by camera field depth
It is divided into multistage, camera fields of view is equally divided into multistage according to horizontal and vertical in every section of altitude range, passes through during camera calibration
It is transversely multiple with longitudinal moving target mark respectively in every section of depth of field variation range, to establish in different height pixel away from
From the mathematical model with actual range.In addition, more height calibration measuring methods based on monocular camera are prevented applied to crane
It oblique pull and is accurately positioned, realizes the anti-oblique pull control during crane hoisting, realize the vertical raising of load to improve
The processing safety of crane and the anti-control accuracy for shaking control algolithm of open loop, are guided based on machine vision, pass through crane
The anti-accurate unloading shaken control and realize target location of open loop.
The present invention is based on more height of monocular camera calibration and measurement method realize target location measurement, high sensitivity,
Easy to implement, robustness is strong, will greatly improve the safety in operation and working efficiency of crane, promotes crane oneself
Dynamicization, digitlization and intelligent development.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the anti-oblique pull of crane guided based on machine vision and Precise Position System schematic diagram；
Fig. 2 is the anti-oblique pull of crane guided based on machine vision and Precise Position System camera calibration schematic diagram；
Fig. 3 is the target schematic diagram of the anti-oblique pull of crane and Precise Position System that are guided based on machine vision；
Trolley control process schematic when Fig. 4 is anti-oblique pull control；
Cart control process schematic when Fig. 5 is anti-oblique pull control；
Trolley control process schematic when Fig. 6 is without anti-shake；
Cart control process schematic when Fig. 7 is without anti-shake.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, and
It is not used in the restriction present invention.
As shown in Fig. 2, a kind of more height calibration measuring methods based on monocular camera, include the following steps：
S1, selected monocular camera, and obtain its following parameter：Maximum height Δ l, camera in camera field depth are most
Big transverse direction visual field 2X, camera maximum longitudinal direction visual field 2Y and camera maximum functional distance lH；
S2, target is positioned in the field range and field depth of monocular camera, by Δ, l points are H sections, and every section of height is
Δlh, h=1,2,3...H, it is m sections to divide half maximum transversal visual field X in every section of height, and every section of lateral distance is Δ Xhi, i
=1,2,3...m, it is n sections to divide half maximum longitudinal direction visual field Y in every section of height, and every section of fore-and-aft distance is Δ Yhj, j=1,
2,3...n；
S3, in every section of height, according to transverse movement direction from Δ Xh1To Δ XhmIt is mobile, target image is obtained respectively
Lateral distance delta uhi, according to longitudinal movement direction from Δ Yh1To Δ YhnIt is mobile, the fore-and-aft distance Δ of target image is obtained respectively
vhj；
S4, the calibration formula according to monocular camera：
Solve scale factor b, camera internal parameter kxhiAnd kyhj, initial seat in the image coordinate that is indicated with physical unit
Mark u0And v0, according to the measurement of the calibration formula of the monocular camera after solution positioned at the monocular camera field depth and within sweep of the eye
Determinand lateral distance delta X and fore-and-aft distance Δ Y, i.e. Δ X=f (l, Δ u), Δ Y=f (l, Δ v),
Wherein, lhFor the distance between monocular camera and target, l is the distance between monocular camera and determinand, Δ u with
Δ v is respectively the lateral distance and fore-and-aft distance for the object image to be measured that monocular camera measures.
In a preferred embodiment of the invention, as shown in figure 3, target is square, by four vertex of square target
It is diagonal to be connected, and make center circle centered on line intersection point, distinguished using center circle and two cornerwise four intersection points as the center of circle
The round small target of patch, to improve the measurement accuracy and robustness of vision measurement system.
A kind of anti-oblique pull of crane and accurate positioning method based on machine vision guiding, as shown in Figure 1 and Figure 2, including with
Lower step：
S1, the small car bottom that monocular camera is mounted on to crane, the target that anti-oblique pull controls are placed on suspension hook, essence
True positioning target is moving target mark；
S2, according to above-mentioned more height calibration measuring methods based on monocular camera, according to the rope length l of crane, monocular phase
The lateral distance delta u and fore-and-aft distance Δ v for the target image that machine measures acquire trolley shifting in conjunction with the calibration formula of monocular camera
Dynamic distance, delta X and cart displacement distance Δ Y.
In a preferred embodiment of the invention, as shown in Figure 1, monocular camera is configured with light source.
In a preferred embodiment of the invention, as shown in Figure 1, hoist roller one end is equipped with the volume for measuring rope length
Code device.
In a preferred embodiment of the invention, as shown in figure 4, setting trolley accelerates to after setting speed deceleration situations immediately
Under, trolley maximum accelerates and the resultant displacement of deceleration displacementAs Δ X>scmaxWhen, trolley experience adds
Speed, at the uniform velocity with deceleration three phases, at this time trolley at the uniform velocity timeAs Δ X≤scmaxWhen, trolley experience accelerates
With two stages of slowing down, at this time trolley acceleration time t1With deceleration time t2Meet following formula：
In a preferred embodiment of the invention, as shown in figure 5, setting cart accelerates to after setting speed deceleration situations immediately
Under, cart maximum accelerates and the resultant displacement of deceleration displacementAs Δ Y>stmaxWhen, the acceleration of cart experience,
At the uniform velocity with deceleration three phases, at this time cart at the uniform velocity timeAs Δ Y≤stmaxWhen, cart experience accelerate and
Slow down two stages, at this time cart acceleration time t3With deceleration time t4Meet following formula：
In a preferred embodiment of the invention, as shown in fig. 6, setting trolley is accurately positioned displacement as Spc, trolley is accurately fixed
During position experience at the uniform velocity with two stages of slowing down, at this time trolley at the uniform velocity time
In a preferred embodiment of the invention, as shown in fig. 7, setting cart is accurately positioned displacement as Spt, cart is accurately fixed
During position experience at the uniform velocity with two stages of slowing down, at this time cart at the uniform velocity time
When the present invention is applied to the anti-oblique pull of crane and is accurately positioned, as shown in Figure 1, vision measurement system includes encoder
8, industrial personal computer 9, industrial camera 10 and light source 11, target 12, crane system includes PLC controller 1, cart frequency converter 2, big
Vehicle 5, trolley frequency converter 3, trolley 6, raising frequency converter 4 and lifting mechanism 7 etc., wherein PLC is connected with encoder and industrial personal computer,
Encoder can be measured the long data of lifting rope and be transmitted to industrial personal computer, industrial personal computer is connected with industrial camera, is adopted using industrial camera
The rope length that the target image and encoder of collection measure, based on more height pixel distance obtained by calibrating and with the number of actual range
It learns model and target location is calculated so that it is determined that big trolley control law, and send it to PLC；PLC and cart frequency conversion
Device, trolley frequency converter are connected with raising frequency converter, and point of cart, trolley and lifting mechanism is controlled by changing frequency converter frequency
Do not run, industrial camera and light source be mounted below wheeling mechanism and optical axis direction vertically.
Its localization method includes the following steps：
S1, system initialization parameter setting：Establish communication link between industrial camera, industrial personal computer, PLC and each operating mechanism
It connects, input cart, trolley and each gear speed of service of lifting mechanism；
S2, industrial camera calibration：Target is placed at vertical center, and is denoted as initial position, industrial camera acquisition is just
Beginning position target image simultaneously records its position, then along moving of car direction moving target mark distance, delta Xhi, it is m times mobile, it moves every time
Industrial camera acquires target position image simultaneously when moving-target mark, and calculates the distance, delta u of corresponding target imagehi；It is moved along cart
Direction moving target mark distance, delta Yhj, mobile n times, industrial camera acquires target position image simultaneously when each moving target mark, and counts
Calculate the distance, delta v of corresponding target imagehj, finally, actual range and pixel distance can be calculated according to industrial camera calibration formula
Vision measurement mathematical model；
S3, anti-oblique pull measurement process：Crane hoisting mechanism is run, when lifting rope length is in tensioning state, industrial phase
Machine acquires target image in real time, and passes to industrial personal computer, and target position is calculated according to image processing algorithm in industrial personal computer
The distance between load situation and direction, and then can must control big trolley and realize the oblique pull horizontal displacement of load in trolley side
To being respectively S with cart directionc1And St1；
Anti- oblique pull on S4, trolley direction controls process：If Sc>10mm carries out anti-oblique drawing control on trolley direction, according to
The operational process of crane, crane anti-oblique pull control process be divided into accelerations, at the uniform velocity and slow down, or accelerate, deceleration two
Process, accelerates according to trolley setup parameter trolley maximum and the resultant displacement of deceleration displacement is：
If Sc＞ ScmaxIt, will be with v during the anti-oblique pull control of trolleyc/tcaAccelerating running time tca, then with vcRun timeFinally with-vc/tcdIt runs slowly and stops after time tcd；If Sc≤ScmaxThe anti-oblique pull of trolley controls process
In, it will be with vci/tcaAccelerating running time t1, finally with-vci/tcdRun slowly time t2After stop, suspension hook is loading at this time
Top is zero vertically；
Anti- oblique pull on S5, cart direction controls process：If St>10mm carries out anti-oblique drawing control on cart direction, according to
The operational process of crane, crane anti-oblique pull control process be divided into accelerations, at the uniform velocity and slow down, or accelerate, deceleration two
Process, accelerates according to cart setup parameter cart maximum and the resultant displacement of deceleration displacement is：
If St1＞ StmaxIt, will be with v during the anti-oblique pull control of cartt/ttaAccelerating running time tta, then with vtRun timeFinally with-vt/ttdRun slowly time ttdAfter stop；If St1≤StmaxThe anti-oblique pull of cart controls process
In, it will be with vti/ttaAccelerating running time t1, finally with-vti/ttdRun slowly time t2After stop, suspension hook is loading at this time
Top is zero vertically；
If S6, St1<10mm and Sc1<10mm, crane hoisting mechanism action, which automatically controls to have loaded, rises to safe altitude；
S7, trolley are accurately positioned measurement and control process：It sets trolley and is accurately positioned displacement as Spc.During being accurately positioned
It is placed on target location by the way that target will be accurately positioned, when industrial camera, which collects, is accurately positioned target image, with vtAt the uniform velocity
Time runsThen with-vc/tcdIt runs slowly and stops after time tcd, stop position is target location；
S8, cart are accurately positioned measurement and control process：It sets cart and is accurately positioned displacement as Spt.During being accurately positioned
It is placed on target location by the way that target will be accurately positioned, when industrial camera, which collects, is accurately positioned target image, with vcAt the uniform velocity
Time runsThen with-vt/ttdRun slowly time ttdAfter stop, stop position is target location；
S9, it opens and prevents being accurately positioned control process when shaking：Assuming that the anti-deceleration shaken on cart and trolley direction of crane open loop
The anti-distance of shaking of stopped process is respectively SotOr Soc, work as St2<SotOr Sc2<SocWhen, it is carried out by using low speed operation control strategy
Control；Work as St>SotOr Sc>SocWhen, crane is in St=SotWhen, cart, which reduces speed now, to be prevented shaking control；Sc=SocWhen, trolley is opened
Begin to slow down it is anti-shakes control, be supported on target location surface when cart and trolley are decelerated to stopping；
S10, lifting mechanism act again will load drop target position.
The step S1 of more height calibration measuring methods and the anti-oblique pull of crane and accurate positioning method based on monocular camera
~S10 should be understood that simply to illustrate that more height calibration of this monocular camera and measurement method machine are controlled in crane safety
In application, include the anti-oblique pull control system of crane guided based on machine vision and based on open loop is anti-shake when crane
Whole implementation processes of Precise Position System, only need in practical applications according to use demand during installation and debugging into
Row initial setting.
The operation principle of each component of the present invention described in detail below.
Industrial camera is transmitted to industrial personal computer by Gige modes by image information is acquired, and industrial personal computer passes through 485 serial ports of USB
Target position information is sent to control centre PLC by communication mode, and final PLC passes through Profinet or Profibus-DP etc.
Communication mode controls big trolley and the operation of raising frequency converter.
Industrial camera is demarcated：According to vision measurement principle it is found that industrial camera simultaneously projection model by image coordinate system, take the photograph
Camera coordinate system (x, y, z) and world coordinates (Xw,Yw,Zw) three global coordinate systems composition, wherein image coordinate system includes with picture again
The plain image coordinate system (X, Y) for being the image coordinate system (u, v) of unit and being indicated with physical unit.In view of crane reality
In application process, it is only necessary to the relative distance between computational load position and target location, therefore it is alive to ignore crane
Variation in boundary's coordinate system.It is mutual indepedent in view of being moved between crane and trolley simultaneously, to there is industrial camera to exist
Cart is identical with the calibration rule on trolley direction, then has and assume that crane working space height is h, industrial camera calibration is public
Formula is：
In formula, b is scale factor, kxhiAnd kyhjFor camera internal parameter, u0And v0Image to be indicated with physical unit is sat
Initial coordinate in mark, lnFor crane loading rope length, m is camera fields of view range transversal sectional number, and i is camera fields of view range
I-th section；N is camera fields of view range longitudinal divisions number, and j is the jth section of camera fields of view；H is camera field depth segments, h
It is h sections of camera field depth.
The determination of vision measurement mathematical model：In camera absolute visual field and field depth, according to crane practical application
Demand determines working depth lHIt is 2S with visual field maximum transversal distancemax, load height variation range is Δ l, then has load most
Big oblique pull angle is tan θmax=smax/ln, and then there is every section of height of Δ l to be Camera fields of view range is divided into multistage in every section of height simultaneously, i.e., camera fields of view lateral extent is small
Every segment distance is Δ X in the vehicle direction of motionhi, per segment distance it is Δ Y in the cart direction of motion of camera fields of view longitudinal extenthj,
Practical calibration process is in every section of depth of field height respectively along trolley direction and cart direction moving target mark distance, delta XwiWith Δ Yhj,
Move m and n times respectively, industrial camera acquires target position image simultaneously when each moving target mark, and calculates corresponding target image
Distance, delta uhiWith Δ vhj, finally, the vision that actual range and pixel distance are can be calculated according to industrial camera calibration formula is surveyed
Measure mathematical model.
Vision measuring method designs：To improve the measurement accuracy and robustness of vision measurement system, it is based on geometrical symmetry
Devise four target characteristic point targets.Specifically, four vertex of square target are diagonally connected, and are with line intersection point
Center is made to justify, and selects circle and center of the two cornerwise focuses as four target characteristic points, and each target characteristic point is big
Small identical circle.If industrial camera acquires target image target characteristic point containing there are four, having will be obtained by image procossing
The centre coordinate of each target characteristic point, and calculate separately the distance between target characteristic point centre coordinate two-by-two, and respectively into
Row compares, and is averaged the central point of corresponding two coordinate points of two longest distances to obtain target location；If industrial camera
Three target feature point images are collected, then each characteristic point center are respectively obtained by image procossing, and calculate separately
The distance between characteristic point centre coordinate two-by-two, then judges coordinate distance, and longest distance is corresponded to two target features
The middle point coordinates of point is denoted as target location.If industrial camera collects two target feature point images, pass through image procossing point
Each characteristic point centre coordinate is not obtained, and calculates the middle point coordinates of two target characteristic point centre coordinates to obtain target position
It sets.If if industrial camera collects a target feature point image, by image procossing obtain characteristic point centre coordinate to
Obtain target location.
The anti-oblique pull control strategy of crane determines：According to the operational process of crane, the accurate process of crane, which is divided into, to be added
Speed, at the uniform velocity and slow down, or accelerate, slow down two processes.Meanwhile in crane system, cart speed of service vt, acceleration and deceleration
Time tta、ttd, crab traversing speed vc, trolley Acceleration and deceleration time tca、tcdFor system default parameter, then has originally to be accurately positioned and be
System selects big trolley transport displacement st、scAs decision condition.Accelerated according to trolley setup parameter trolley maximum and is slowed down
The resultant displacement of displacement is：Then have trolley accelerate, at the uniform velocity in moderating process, trolley at the uniform velocity when
Between tcvCalculation formula isAnd then have trolley accelerate and at the uniform velocity when, trolley acceleration time t1And t2
Similarly accelerated according to cart setup parameter cart maximum and the resultant displacement of deceleration displacement is：Then have cart accelerate, at the uniform velocity in moderating process, cart at the uniform velocity time ttvCalculation formula isAnd then have cart accelerate and at the uniform velocity when, cart acceleration time t3With deceleration time t4Meet following formula：
Trolley is accurately positioned measurement and control strategy determines：It sets trolley and is accurately positioned displacement as Spc, trolley is accurately positioned
Undergo in the process at the uniform velocity with two stages of slowing down, at this time trolley at the uniform velocity time
Cart is accurately positioned measurement and control strategy determines：It sets cart and is accurately positioned displacement as Spt, cart is accurately positioned
Undergo in the process at the uniform velocity with two stages of slowing down, at this time cart at the uniform velocity time
Control strategy determination is accurately positioned when opening anti-shake：The distance between load situation and target location in cart direction and
The distance in trolley direction is respectively StAnd Sc, the sum of the anti-acceleration distance shaken of open loop and deceleration distance are on cart and trolley direction
For SotAnd Soc.Work as St<SotOr Sc<SocWhen, it is controlled by using low speed operation control strategy.Work as St>SotOr Sc>SocWhen,
According to the anti-characteristic shaken of crane open loop, i.e. crane accelerates anti-control process of shaking identical with anti-control process of shaking of slowing down, lifting
Range ability during accelerating anti-shake according to the big trolley of crane is obtained the big trolley of crane and slowed down by machine Precise Position System
Prevent the range ability S during shaking1、S2。
The present invention by the way that camera field depth is divided into multistage, the field range in every section of camera field depth transversely and
Longitudinal moving target mark respectively is multiple, to establish the mathematical model of pixel distance and actual range in different height；Based on list
More height of mesh camera are demarcated and measurement method, are based on machine vision technique, by the calibration of more height, realize monocular camera
In the accurate measurement of different height target location；It is multiple by will be arranged on square target in actual application
Target characteristic point further improves the robust of vision measurement algorithm between different target characteristic points according to geometrically symmetric be distributed
Property；The final calibration of more height and measurement method using based on monocular camera realizes the anti-oblique pull during crane hoisting
Control, and by the control of crane movements rule, realize being accurately positioned for uninstall process.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of more height calibration measuring methods based on monocular camera, which is characterized in that include the following steps：
S1, selected monocular camera, and obtain its following parameter：The maximum of maximum height Δ l, camera in camera field depth are horizontal
To the maximum functional distance l of visual field 2X, maximum the longitudinal direction visual field 2Y and camera of cameraH；
S2, target is positioned in the field range and field depth of monocular camera, by Δ, l points are H sections, and every section of height is Δ lh,
H=1,2,3...H, it is m sections to divide half maximum transversal visual field X in every section of height, and every section of lateral distance is Δ Xhi, i=1,
2,3...m, it is n sections to divide half maximum longitudinal direction visual field Y in every section of height, and every section of fore-and-aft distance is Δ Yhj, j=1,2,
3...n；
S3, in every section of height, according to transverse movement direction from Δ Xh1To Δ XhmIt is mobile, obtain respectively target image laterally away from
From Δ uhi, according to longitudinal movement direction from Δ Yh1To Δ YhnIt is mobile, the fore-and-aft distance Δ v of target image is obtained respectivelyhj；
S4, the calibration formula according to monocular camera
Solve scale factor b, camera internal parameter kxhiAnd kyhj, initial coordinate u in the image coordinate that is indicated with physical unit0
And v0, measure positioned at the monocular camera field depth and within the vision wait for according to the calibration formula of the monocular camera after solution
Survey the lateral distance delta X and fore-and-aft distance Δ Y of object.Wherein, lhFor the distance between monocular camera and target, l is monocular camera
The distance between determinand, Δ u and Δ v be respectively the object image to be measured that monocular camera measures lateral distance and it is longitudinal away from
From.
2. more height calibration measuring methods according to claim 1 based on monocular camera, which is characterized in that the target
Be square, four vertex of square target be diagonally connected, and make center circle centered on line intersection point, with center circle with
Two cornerwise four intersection points paste round small target as the center of circle respectively.
3. a kind of anti-oblique pull of crane and accurate positioning method based on machine vision guiding, which is characterized in that including following step
Suddenly：
S1, the small car bottom that monocular camera is mounted on to crane, the target that anti-oblique pull controls is placed on suspension hook, accurate fixed
Position target is moving target mark；
S2, more height calibration measuring methods according to claim 1 based on monocular camera, according to the rope length l of crane,
The lateral distance delta u and fore-and-aft distance Δ v for the target image that monocular camera measures are acquired in conjunction with the calibration formula of monocular camera
Trolley displacement distance Δ X and cart displacement distance Δ Y.
4. the anti-oblique pull of crane and accurate positioning method according to claim 3 based on machine vision guiding, feature
It is, the monocular camera is configured with light source.
5. the anti-oblique pull of crane and accurate positioning method according to claim 3 based on machine vision guiding, feature
It is, described hoist roller one end is equipped with the encoder for measuring rope length.
6. the anti-oblique pull of crane and accurate positioning method according to claim 3 based on machine vision guiding, feature
It is, setting trolley accelerates to after setting speed under deceleration situations immediately, and trolley maximum accelerates and the resultant displacement of deceleration displacementAs Δ X>scmaxWhen, trolley experience accelerate, at the uniform velocity with deceleration three phases, at this time trolley at the uniform velocity when
BetweenAs Δ X≤scmaxWhen, trolley experience accelerates and slows down two stages, at this time trolley acceleration time t1With subtract
Fast time t2Meet following formula：
7. the anti-oblique pull of crane and accurate positioning method according to claim 3 based on machine vision guiding, feature
It is, setting cart accelerates to after setting speed under deceleration situations immediately, and cart maximum accelerates and the resultant displacement of deceleration displacementAs Δ Y>stmaxWhen, cart experience accelerate, at the uniform velocity with deceleration three phases, at this time cart at the uniform velocity when
BetweenAs Δ Y≤stmaxWhen, cart experience accelerates and slows down two stages, at this time cart acceleration time t3With subtract
Fast time t4Meet following formula：
8. the anti-oblique pull of crane and accurate positioning method according to claim 3 based on machine vision guiding, feature
It is, sets trolley and be accurately positioned displacement as Spc, trolley be accurately positioned during experience at the uniform velocity with slow down two stages, it is small at this time
The vehicle at the uniform velocity time
9. the anti-oblique pull of crane and accurate positioning method according to claim 3 based on machine vision guiding, feature
It is, sets cart and be accurately positioned displacement as Spt, cart be accurately positioned during experience at the uniform velocity with slow down two stages, at this time greatly
The vehicle at the uniform velocity time
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