CN111243016A - Automatic identification and positioning method for container - Google Patents
Automatic identification and positioning method for container Download PDFInfo
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- CN111243016A CN111243016A CN201811501109.8A CN201811501109A CN111243016A CN 111243016 A CN111243016 A CN 111243016A CN 201811501109 A CN201811501109 A CN 201811501109A CN 111243016 A CN111243016 A CN 111243016A
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- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses an automatic identification and positioning method for a container, which comprises an industrial personal computer, a binocular camera, a monocular camera and a light source, wherein a WinCC process monitoring system application program with an SQL Server database is installed on the industrial personal computer, the database stores the box number position information of the container, the WinCC process monitoring system is provided with a set of storage in and out warehouse program, the binocular camera is installed on a container hanger and used for carrying out secondary identification and positioning on the container, the monocular camera is installed at the container storage position and used for automatically identifying the box number of the container in storage, and the light source is installed in a matching way with the camera and can automatically adjust the brightness according to the change of ambient light. The method has the advantages that the theoretical positions of the containers are stored through the database, the images of the containers are collected through the binocular camera, and a set of algorithm based on machine vision is designed to perform secondary identification and positioning on the containers.
Description
Technical Field
The invention relates to the field of automation, in particular to an automatic container identification and positioning method.
Background
With the rapid development of the logistics industry and the rising of labor cost, wharfs, ports, goods yards and the like are urgently required to increase the goods turnover efficiency and reduce the labor management cost by improving the automation level of machinery. The crane has high requirements on the operation of a driver in the process of hoisting the container by the crane, and the manual operation is long in time consumption when the spreader is aligned with the container. The key for improving the efficiency of the link is to realize the automatic alignment of the hanger and the lock hole on the container. With the progress of computer, image processing, artificial intelligence, intelligent control and other technologies, the flexible automation technology based on machine vision is realized and rapidly developed, and at present, the container identification and positioning technology based on machine vision becomes a hotspot of the research of broad students.
Disclosure of Invention
In order to improve the mechanical automation level of wharfs, ports, goods yards and the like, the invention provides an automatic container identification and positioning method, which is realized by the following technical scheme:
an automatic identification and positioning method for a container comprises an industrial personal computer, a binocular camera, a monocular camera and a light source, wherein an application program of a WinCC process monitoring system with an SQL Server database is installed on the industrial personal computer, the binocular camera is installed on a container hanger, the monocular camera is installed at a container storage position, the light source is installed in a matched manner with the camera, and the brightness can be automatically adjusted according to the change of ambient light. The method specifically comprises the following steps:
step 1: and respectively adjusting the focal length and the aperture of the binocular camera and the monocular camera, and calibrating the binocular camera by adopting a Zhang plane calibration method to obtain the internal and external parameters of the camera so as to prepare for three-dimensional coordinate reconstruction.
Step 2: before the container is put in storage, a monocular camera scans and collects container number patterns and uploads an industrial personal computer, a set of automatic container number identification system is arranged on the industrial personal computer, the system automatically identifies and uploads the container numbers to a WinCC process monitoring system, the WinCC process monitoring system is provided with a set of storage in-out storage program, the program conducts investigation on a field database to find out vacant positions, and the container is automatically transported to a destination near the vacant positions by an AGV guiding trolley.
And step 3: after the AGV guiding trolley transports the container to a destination near the vacancy, a binocular camera on the container lifting appliance collects the container picture and uploads the container picture to an industrial personal computer, a set of container automatic identification and positioning algorithm is designed in the industrial personal computer, an acquired pattern is analyzed, the accurate position of a container lock hole is identified, the container lifting appliance automatically perforates and lifts the container to place the vacancy, meanwhile, a WinCC process monitoring system stores the position information of the container number in an SQL Server database, the AGV trolley automatically returns to an entrance and an exit, and the container is put in storage and finished. When the containers are delivered from the warehouse, firstly, the SQL Server database is searched according to the container numbers of the containers to be delivered from the warehouse, the position information corresponding to the container numbers is found out, the container crane automatically reaches the position, the binocular camera on the container spreader collects the pictures of the containers to be delivered from the warehouse and uploads the pictures to the industrial personal computer, the container information is secondarily judged by the automatic container identification and positioning algorithm in the industrial personal computer, the containers are punched and lifted after the accurate position is identified, the containers are placed on the AGV to be delivered to the outlet, and meanwhile, the database deletes the position information of the container numbers, and the container delivery is completed.
The position of the container stored in the SQL Server database in the step 3 is a theoretical value, and has a certain deviation from the actual position, so that the binocular camera is used for secondary recognition and positioning of the container, and the accurate position of the lock hole on the container is found out, and the specific algorithm is as follows:
step 3.1: the method comprises the steps that a binocular camera collects a container pattern, a multi-operator fusion algorithm is adopted for extracting the edge of the container according to the pattern, noise reduction processing is conducted on the extracted edge, the edge coordinate of the container is extracted, the relative offset angle of the container and the binocular camera is calculated, a hanger is rotated to enable the offset angle to be zero, then photographing is conducted again, a new edge coordinate of the pattern after noise reduction is obtained, redundant background is removed through the coordinate, and a container image is intercepted.
Step 3.2: and performing threshold processing on the cut container image, cutting out a keyhole image on the container, performing feature matching on the positions of the keyhole of the left image and the keyhole of the right image, removing points which do not conform to the matching by using an Euclidean distance method, and calculating the center pixel coordinate of the keyhole.
Step 3.3: and carrying out three-dimensional reconstruction on the central pixel coordinate of the lockhole, bringing internal and external parameters calibrated by the camera into a projection matrix, and obtaining the central world coordinate of the lockhole according to the central pixel coordinate of the lockhole of the left and right images and a simultaneous equation of the projection matrix.
Compared with the prior art, the invention has the following obvious advantages: the mechanical automation level of the dock, the port, the goods yard and the like is improved, and the efficiency of lifting the container by the crane is improved. The theoretical position of the container is stored in the database firstly, and then the container is identified and positioned for the second time by adopting a machine vision algorithm, so that the positioning precision is improved, the image background interference is reduced, and the algorithm is simple in processing, high in efficiency and strong in applicability.
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FIG. 1 is a flow chart of the operation of the present invention.
Detailed Description
The following further illustrates the practice of the present invention:
an automatic identification and positioning method for a container comprises an industrial personal computer, a binocular camera, a monocular camera and a light source, wherein a WinCC process monitoring system application program with an SQL Server database is installed on the industrial personal computer, the binocular camera is installed on a container hanger and used for carrying out secondary identification and positioning on the container, the monocular camera is installed at a container storage position and used for automatically identifying the number of a container stored in the container storage position, and the light source and the camera are installed in a matched mode and can automatically adjust the brightness according to the change of ambient light.
The method specifically comprises the following steps:
step 1: and respectively adjusting the focal length and the aperture of the binocular camera and the monocular camera, and calibrating the binocular camera by adopting a Zhang plane calibration method to obtain the internal and external parameters of the camera so as to prepare for three-dimensional coordinate reconstruction.
Step 2: before the container is put in storage, a monocular camera scans and collects container number patterns and uploads an industrial personal computer, a set of automatic container number identification system is arranged on the industrial personal computer, the system automatically identifies and uploads the container numbers to a WinCC process monitoring system, the WinCC process monitoring system is provided with a set of storage in-out storage program, the program conducts investigation on a field database to find out vacant positions, and the container is automatically transported to a destination near the vacant positions by an AGV guiding trolley.
And step 3: after the AGV guiding trolley transports the container to a destination near the vacancy, a binocular camera on the container lifting appliance collects the container picture and uploads the container picture to an industrial personal computer, a set of container automatic identification and positioning algorithm is designed in the industrial personal computer, an acquired pattern is analyzed, the accurate position of a container lock hole is identified, the container lifting appliance automatically perforates and lifts the container to place the vacancy, meanwhile, a WinCC process monitoring system stores the position information of the container number in an SQL Server database, the AGV trolley automatically returns to an entrance and an exit, and the container is put in storage and finished. When the containers are delivered from the warehouse, firstly, the SQL Server database is searched according to the container numbers of the containers to be delivered from the warehouse, the position information corresponding to the container numbers is found out, the container crane automatically reaches the position, the binocular camera on the container spreader collects the pictures of the containers to be delivered from the warehouse and uploads the pictures to the industrial personal computer, the container information is secondarily judged by the automatic container identification and positioning algorithm in the industrial personal computer, the containers are punched and lifted after the accurate position is identified, the containers are placed on the AGV to be delivered to the outlet, and meanwhile, the database deletes the position information of the container numbers, and the container delivery is completed.
The position of the container stored in the SQL Server database in the step 3 is a theoretical value, and has a certain deviation from the actual position, so that the binocular camera is used for secondary recognition and positioning of the container, and the accurate position of the lock hole on the container is found out, and the specific algorithm is as follows:
step 3.1: the method comprises the steps that a binocular camera collects a container pattern, a multi-operator fusion algorithm is adopted for extracting the edge of the container according to the pattern, noise reduction processing is conducted on the extracted edge, the edge coordinate of the container is extracted, the relative offset angle of the container and the binocular camera is calculated, a hanger is rotated to enable the offset angle to be zero, then photographing is conducted again, a new edge coordinate of the pattern after noise reduction is obtained, redundant background is removed through the coordinate, and a container image is intercepted.
Step 3.2: and performing threshold processing on the cut container image, cutting out a keyhole image on the container, performing feature matching on the positions of the keyhole of the left image and the keyhole of the right image, removing points which do not conform to the matching by using an Euclidean distance method, and calculating the center pixel coordinate of the keyhole.
Step 3.3: and carrying out three-dimensional reconstruction on the central pixel coordinate of the lockhole, bringing internal and external parameters calibrated by the camera into a projection matrix, and obtaining the central world coordinate of the lockhole according to the central pixel coordinate of the lockhole of the left and right images and a simultaneous equation of the projection matrix.
In the design of the automatic identification and positioning method for the container, the theoretical position of the container is firstly stored in the database, and then the machine vision algorithm is adopted to carry out secondary identification and positioning on the container, so that the positioning precision is improved, the image background interference is reduced, the algorithm processing is simple, the efficiency is high, and the applicability is strong.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (2)
1. An automatic identification and positioning method for a container is characterized in that: the system comprises an industrial personal computer, a binocular camera, a monocular camera and a light source, wherein a WinCC process monitoring system application program with an SQL Server database is installed on the industrial personal computer, the binocular camera is installed on a container spreader, the monocular camera is installed at the storage position of a container, the light source is installed in a matching way with the camera, and the brightness can be automatically adjusted according to the change of ambient light. The method specifically comprises the following steps:
step 1: and respectively adjusting the focal length and the aperture of the binocular camera and the monocular camera, and calibrating the binocular camera by adopting a Zhang plane calibration method to obtain the internal and external parameters of the camera so as to prepare for three-dimensional coordinate reconstruction.
Step 2: before the container is put in storage, a monocular camera scans and collects container number patterns and uploads an industrial personal computer, a set of automatic container number identification system is arranged on the industrial personal computer, the system automatically identifies and uploads the container numbers to a WinCC process monitoring system, the WinCC process monitoring system is provided with a set of storage in-out storage program, the program conducts investigation on a field database to find out vacant positions, and the container is automatically transported to a destination near the vacant positions by an AGV guiding trolley.
And step 3: after the AGV guiding trolley transports the container to a destination near the vacancy, a binocular camera on the container lifting appliance collects the container picture and uploads the container picture to an industrial personal computer, a set of container automatic identification and positioning algorithm is designed in the industrial personal computer, an acquired pattern is analyzed, the accurate position of a container lock hole is identified, the container lifting appliance automatically perforates and lifts the container to place the vacancy, meanwhile, a WinCC process monitoring system stores the position information of the container number in an SQL Server database, the AGV trolley automatically returns to an entrance and an exit, and the container is put in storage and finished. When the containers are delivered from the warehouse, firstly, the SQL Server database is searched according to the container numbers of the containers to be delivered from the warehouse, the position information corresponding to the container numbers is found out, the container crane automatically reaches the position, the binocular camera on the container spreader collects the pictures of the containers to be delivered from the warehouse and uploads the pictures to the industrial personal computer, the container information is secondarily judged by the automatic container identification and positioning algorithm in the industrial personal computer, the containers are punched and lifted after the accurate position is identified, the containers are placed on the AGV to be delivered to the outlet, and meanwhile, the database deletes the position information of the container numbers, and the container delivery is completed.
2. The automatic container identification and location method of claim 1, wherein: the position of the container stored in the SQL Server database in the step 3 is a theoretical value, and has a certain deviation from the actual position, so that the binocular camera is used for secondary recognition and positioning of the container, and the accurate position of the lock hole on the container is found out, and the specific algorithm is as follows:
step 3.1: the method comprises the steps that a binocular camera collects a container pattern, a multi-operator fusion algorithm is adopted for extracting the edge of the container according to the pattern, noise reduction processing is conducted on the extracted edge, the edge coordinate of the container is extracted, the relative offset angle of the container and the binocular camera is calculated, a hanger is rotated to enable the offset angle to be zero, then photographing is conducted again, a new edge coordinate of the pattern after noise reduction is obtained, redundant background is removed through the coordinate, and a container image is intercepted.
Step 3.2: and performing threshold processing on the cut container image, cutting out a keyhole image on the container, performing feature matching on the positions of the keyhole of the left image and the keyhole of the right image, removing points which do not conform to the matching by using an Euclidean distance method, and calculating the center pixel coordinate of the keyhole.
Step 3.3: and carrying out three-dimensional reconstruction on the central pixel coordinate of the lockhole, bringing internal and external parameters calibrated by the camera into a projection matrix, and obtaining the central world coordinate of the lockhole according to the central pixel coordinate of the lockhole of the left and right images and a simultaneous equation of the projection matrix.
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| CN114339989A (en) * | 2021-12-27 | 2022-04-12 | 同济大学 | Multi-agent system distributed positioning method based on azimuth angle |
| CN115049322A (en) * | 2022-08-16 | 2022-09-13 | 安维尔信息科技(天津)有限公司 | Container management method and system for container yard |
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