CN109231009A - A kind of gantry crane structure for looking around image with 360 ° - Google Patents
A kind of gantry crane structure for looking around image with 360 ° Download PDFInfo
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- CN109231009A CN109231009A CN201810808891.1A CN201810808891A CN109231009A CN 109231009 A CN109231009 A CN 109231009A CN 201810808891 A CN201810808891 A CN 201810808891A CN 109231009 A CN109231009 A CN 109231009A
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- gantry crane
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- cross beam
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- 238000005070 sampling Methods 0.000 claims abstract description 4
- 230000009466 transformation Effects 0.000 claims description 17
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 14
- 238000013507 mapping Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000008018 melting Effects 0.000 claims 1
- 238000002844 melting Methods 0.000 claims 1
- 230000004927 fusion Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0007—Image acquisition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/02—Affine transformations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/757—Matching configurations of points or features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Mechanical Engineering (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Databases & Information Systems (AREA)
- Artificial Intelligence (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Image Processing (AREA)
Abstract
The present invention relates to a kind of gantry crane structures that image is looked around with 360 °, including gantry crane frame, gantry crane frame roof has front beam and rear cross beam, it is characterized in that, it is set on front beam there are three the preceding camera externally shot, three preceding cameras are located at the both ends and center of front beam；It is set on rear cross beam there are three the rear camera externally shot, three rear cameras are located at the both ends and center of rear cross beam.The present invention uses 6 cameras for sampling instrument, and passes through image procossing, provides the practical surroundings in operation for the driver of gantry crane, avoids vision dead zone and erroneous judgement.The safety of the heavy duty equipments such as gantry crane can be effectively improved.
Description
Technical field
The present invention relates to a kind of gantry crane structures.
Background technique
For motor vehicle DAS (Driver Assistant System) mostly uses a ultrasonic radar and a rearview camera and side view camera
Combination, only a small amount of high-grade car is using looking around video technique.And in engineering truck, usually use rearview mirror or side
The mode of visor is observed and is judged to ambient enviroment using naked eyes by driver.Only by visually observing, it is easy to
Blind area or erroneous judgement are generated, the generation of accident is caused.
Currently, operation gantry crane when, similarly by be in the way of operator is macroscopic, in certain complex scenes
In, operator only can not obtain the truth around gantry crane with naked eyes, and dangerous situation is caused to happen occasionally.
Summary of the invention
The purpose of the present invention is: 360 °, which are provided, for gantry crane operator looks around image.
In order to achieve the above object, the technical solution of the present invention is to provide a kind of gantry cranes that image is looked around with 360 °
Structure, including gantry crane frame, gantry crane frame roof have front beam and rear cross beam, which is characterized in that set on front beam
There are three the preceding camera externally shot, three preceding cameras are located at the both ends and center of front beam；In rear cross beam
On set there are three the rear camera that externally shoots, three rear cameras are located at the both ends and center of rear cross beam；
All preceding cameras and all rear cameras are connected with image processing unit, and image processing unit receives proactive
After the six width images sended over as head and rear camera, the characteristic point of six width images is detected respectively, to the characteristic point detected
Feature Points Matching is carried out, mapping matrix is obtained according to matching result, six width images are subjected to affine transformation using mapping matrix, it is right
The transformed image of affine transformation carries out image co-registration, so that obtaining 360 ° looks around image, image processing unit will be obtained
It looks around image for 360 ° and shows operator by image-display units.
Preferably, described image processing unit is when carrying out affine transformation to image for the first time, to the parameter of affine transformation into
Row automatic Calibration carries out affine transformation to image is obtained using proven parameter, then to affine in next sampling instant
It converts transformed image and carries out image co-registration.
Preferably, when described image processing unit carries out image co-registration, using Weighted Average Algorithm, power is first assigned to image
Value carries out the fusion and processing of image further according to weight.
The present invention has the advantage that
(1) present invention using gantry crane as research object, can by way of modeling, finding camera position, image procossing,
Image technology is looked around in realization, is provided auxiliary for operator and is driven, can effectively avoid vision dead zone and erroneous judgement.
(2) present invention can apply to different vehicles, mechanical equipment, specifically, it is only necessary to find suitable camera position
It sets and model can apply to the present invention in other equipment according to the parameter of design parameter adjustment adjustment ring seeing image picture, realize
Image is looked around, to protect its running safety.
(3) traditional used in comparison now to visually observe or rely solely on radar and the combination of rearview camera is auxiliary
Help control loop, the present invention with no dead angle, without the superiority of transformation angle and view mode.
Detailed description of the invention
Fig. 1 is a kind of appearance diagram of gantry crane structure provided by the invention.
Specific embodiment
In order to make the present invention more obvious and understandable, hereby with preferred embodiment, and attached drawing is cooperated to be described in detail below.
A kind of gantry crane structure for looking around image with 360 ° provided by the invention is the DAS (Driver Assistant System) of engineering truck
A part, the purpose of main inventive is to replace traditional eye-observation and judgement by looking around image technology, is gantry crane etc.
Heavy duty equipment provides a set of DAS (Driver Assistant System), to ensure equipment safety of the gantry crane in operation, and is construction nothing
People's harbour and Unmanned Systems make place mat.
As shown in Figure 1, the present invention specifically includes the gantry crane structure that image is looked around with 360 °, including gantry crane frame 1,
There is front beam 1-1 and rear cross beam 1-2, which is characterized in that there are three setting on front beam 1-1 externally at the top of gantry crane frame 1
The preceding camera 2 of shooting, three preceding cameras 2 are located at the both ends and center of front beam 1-1；On rear cross beam 1-2
If there are three the rear camera 3 externally shot, three rear cameras 3 are located at the both ends and center of rear cross beam 1-2.
The present invention makes dragon in the installation site for determining camera, to gantry crane common in harbour with the ratio of 1:30
The model of gantry crane is then passed through calculating, searches out the camera of proper focal length and field angle, and calculates and seek suitable camera
Settlement is finally just distinguished and installs total 6 cameras on the front and back crossbeam of gantry crane.
All preceding cameras 2 and all rear cameras 3 are connected with image processing unit, before image processing unit receives
After the six width images that camera 2 and rear camera 3 send over, the characteristic point of six width images is detected respectively, is retouched by characteristic point
After stating, Feature Points Matching is carried out to the characteristic point that detects, mapping matrix is obtained according to matching result, using mapping matrix by six
Width image carries out affine transformation.When carrying out affine transformation to image for the first time, automatic Calibration is carried out to the parameter of affine transformation,
Next sampling instant carries out affine transformation to image is obtained using proven parameter, then transformed to affine transformation
Image carries out image co-registration, through the above steps by the realtime graphic picture splicing around the gantry crane of six width different perspectivess at one
Complete 360 ° of width are looked around image, and image processing unit looks around image for obtain 360 ° and shows behaviour by image-display units
Make personnel.
In Image Fusion, traditional mean value fusion method is compared, the present invention uses Weighted Average Algorithm, to several figures
As first assigning weight, the fusion and processing of image are carried out further according to weight.This innovatory algorithm can be more preferable in the fusion of image
Image is handled, the cut-off rule of fusion has been subjected to finer optimization, the robustness of image has been optimized, imitates vision
Fruit is more preferable.
It is traditional that look around image algorithm real-time poor.The present invention is in image matching algorithm, by automatic Calibration technology, only
It needs to carry out a matching algorithm, and the data of matching image is subjected to automatic Calibration, when being matched for the second time, it is only necessary to adjust
With the parameter of automatic Calibration, so that it may complete the matching of image, the time used in operation can be effectively improved.Automatic Calibration technology: only
It needs to carry out a matching algorithm, and the data of matching image is subjected to automatic Calibration, when being matched for the second time, it is only necessary to adjust
With the parameter of automatic Calibration, so that it may complete the matching of image, the time used in operation can be effectively improved.
Above-mentioned technical proposal has the advantages that
(1) as a part in DAS (Driver Assistant System), the ambient conditions around gantry crane can be provided for user in real time,
Effectively avoid vision dead zone and the problems such as naked eyes are judged by accident, safe driving to the heavy duty equipment of such as gantry crane etc and
Safety work provides guarantee.
(2) applied widely, it is particularly suitable for application to a variety of heavy duty equipments.
(3) in image matching algorithm, automatic Calibration technology is used, it is only necessary to carry out a matching algorithm, and general
Data with image carry out automatic Calibration, when being matched for the second time, it is only necessary to call the parameter of automatic Calibration, so that it may complete
The matching of image can effectively improve the time used in operation.
(4) in Image Fusion, the Weighted Average Algorithm of use first assigns weight to two width or multiple image, then
The fusion and processing of image are carried out according to weight.This innovatory algorithm in the fusion of image can preferably to image at
Reason, has carried out finer optimization for the cut-off rule of fusion, has optimized the robustness of image, kept visual effect more preferable.
(5) as a part in the following unmanned harbour and Unmanned Systems, feasible prison effectively can be provided for user
Pipe scheme makes place mat for the development of these technologies.
(6) image system is looked around for of the invention 360 °, the stability of system is high, and real-time is good, and syncretizing effect is good, energy
In real time, the auxiliary of driving, operation accurately is provided for user.
Claims (3)
1. a kind of gantry crane structure for looking around image with 360 °, including gantry crane frame (1), gantry crane frame (1) top tool
There are front beam (1-1) and rear cross beam (1-2), which is characterized in that the proactive picture externally shot there are three setting on front beam (1-1)
Head (2), three preceding cameras (2) are located at the both ends and center of front beam (1-1)；It is equipped on rear cross beam (1-2)
Three rear cameras (3) externally shot, three rear cameras (3) are located at the both ends and center of rear cross beam (1-2)；
All preceding cameras (2) and all rear cameras (3) are connected with image processing unit, before image processing unit receives
After the six width images that camera (2) and rear camera (3) send over, the characteristic point of six width images is detected respectively, to detecting
Characteristic point carry out Feature Points Matching, mapping matrix is obtained according to matching result, is imitated six width images using mapping matrix
Transformation is penetrated, image co-registration is carried out to the transformed image of affine transformation, so that obtaining 360 ° looks around image, image processing unit will
360 ° obtained look around image and show operator by image-display units.
2. a kind of gantry crane structure for looking around image with 360 ° as described in claim 1, which is characterized in that at described image
Unit is managed when carrying out affine transformation to image for the first time, automatic Calibration is carried out to the parameter of affine transformation, in next sampling instant,
Affine transformation is carried out to image is obtained using proven parameter, image then is carried out to the transformed image of affine transformation and is melted
It closes.
3. a kind of gantry crane structure for looking around image with 360 ° as described in claim 1, which is characterized in that at described image
When managing unit progress image co-registration, using Weighted Average Algorithm, weight is first assigned to image, carries out melting for image further according to weight
It closes and handles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810808891.1A CN109231009A (en) | 2018-07-18 | 2018-07-18 | A kind of gantry crane structure for looking around image with 360 ° |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810808891.1A CN109231009A (en) | 2018-07-18 | 2018-07-18 | A kind of gantry crane structure for looking around image with 360 ° |
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| Publication Number | Publication Date |
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| CN109231009A true CN109231009A (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810808891.1A Pending CN109231009A (en) | 2018-07-18 | 2018-07-18 | A kind of gantry crane structure for looking around image with 360 ° |
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| Country | Link |
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| CN (1) | CN109231009A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110113511A (en) * | 2019-01-29 | 2019-08-09 | 上海驭矩信息科技有限公司 | The design of a novel three mesh camera with image identification function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202848929U (en) * | 2012-10-28 | 2013-04-03 | 长安大学 | Truck crane with panoramic monitoring system |
| CN103253194A (en) * | 2013-05-17 | 2013-08-21 | 黄梅县云泰时代光学仪器有限公司 | Traveling vehicle auxiliary system |
| CN105752848A (en) * | 2016-03-30 | 2016-07-13 | 上海海事大学 | Double-lifting-appliance bridge crane pivot angle detection system based on holographic photography technology and method thereof |
| CN107331235A (en) * | 2017-07-28 | 2017-11-07 | 西南交通大学 | Gantry container crane simulated operation full-view simulation system and method |
| CN206634946U (en) * | 2017-02-23 | 2017-11-14 | 苏州市苏网建设工程有限公司 | Panorama type gantry crane |
-
2018
- 2018-07-18 CN CN201810808891.1A patent/CN109231009A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202848929U (en) * | 2012-10-28 | 2013-04-03 | 长安大学 | Truck crane with panoramic monitoring system |
| CN103253194A (en) * | 2013-05-17 | 2013-08-21 | 黄梅县云泰时代光学仪器有限公司 | Traveling vehicle auxiliary system |
| CN105752848A (en) * | 2016-03-30 | 2016-07-13 | 上海海事大学 | Double-lifting-appliance bridge crane pivot angle detection system based on holographic photography technology and method thereof |
| CN206634946U (en) * | 2017-02-23 | 2017-11-14 | 苏州市苏网建设工程有限公司 | Panorama type gantry crane |
| CN107331235A (en) * | 2017-07-28 | 2017-11-07 | 西南交通大学 | Gantry container crane simulated operation full-view simulation system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110113511A (en) * | 2019-01-29 | 2019-08-09 | 上海驭矩信息科技有限公司 | The design of a novel three mesh camera with image identification function |
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Application publication date: 20190118 |
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