CN115480281A - Automatic container loading and unloading truck positioning system and method based on machine vision - Google Patents
Automatic container loading and unloading truck positioning system and method based on machine vision Download PDFInfo
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- CN115480281A CN115480281A CN202211078119.1A CN202211078119A CN115480281A CN 115480281 A CN115480281 A CN 115480281A CN 202211078119 A CN202211078119 A CN 202211078119A CN 115480281 A CN115480281 A CN 115480281A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000002372 labelling Methods 0.000 claims abstract description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a container loading and unloading container truck automatic positioning system and a method based on machine vision, belonging to the technical field of container loading and unloading, comprising a central processing system, wherein the central processing system comprises a computing unit, a positioning unit, a scheduling unit, a storage unit and a recording unit; the central processing system is a system host, the system host comprises a system processor based on Intel, the recording unit and the storage unit are the same parent thread unit, the storage unit also comprises a log module, and the method comprises the following steps: s1, establishing a coordinate axis of a container field, placing containers according to the coordinate axis range, and labeling the containers according to placing places; and S2, inputting coordinates, namely, inputting the coordinates according to the coordinate positions after the containers are collected in the field. The container loading and unloading truck automatic positioning system and method based on machine vision avoid the occurrence of the condition of taking errors, have high working efficiency and ensure the dispatching and transportation efficiency of the containers on site.
Description
Technical Field
The invention belongs to the technical field of container loading and unloading, and particularly relates to a container loading and unloading truck automatic positioning system and method based on machine vision.
Background
A container. Is a group tool which can be transported by loading package or non-package goods and is convenient for loading, unloading and carrying by mechanical equipment, and the largest success of the container lies in the standardization of products and a whole set of transportation system established by the standardization. The standardization of a large natural object carrying dozens of tons can be realized, and a logistics system matched with ships, ports, air lines, roads, transfer stations, bridges, tunnels and multi-mode intermodal transportation in the global range is gradually realized on the basis of the standardization.
In the transportation, be the abbreviation of container truck, be used for the export of foreign trade usually, at present in the loading and unloading process of container, because the transport content that the container undertakes is different, so need place it by classification, but because the commodity circulation kind is various, and relate to the field extensive, often in the loading and unloading process of container, it is comparatively troublesome to confirm the location of container, the condition of commodity circulation allocation and transportation mistake appears easily.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, containers need to be classified and placed due to different transport contents born by the containers, but due to various logistics types and wide related fields, the containers are troublesome to confirm and logistics dispatching errors are easy to occur in the loading and unloading process of the containers, and the automatic positioning system and the method for the container loading and unloading truck based on machine vision are provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
a container loading and unloading container truck automatic positioning system based on machine vision comprises a central processing system, wherein the central processing system comprises a computing unit, a positioning unit, a scheduling unit, a storage unit and a recording unit;
the central processing system is a system host which comprises a system processor based on Intel, the recording unit and the storage unit are the same parent thread unit, and the storage unit also comprises a log module.
A positioning method of an automatic positioning system of a container loading and unloading container truck based on machine vision comprises the following steps:
s1, establishing a coordinate axis of a container field, placing containers according to the coordinate axis range, and labeling the containers according to placing places;
s2, inputting coordinates, namely, inputting the coordinates according to the coordinate positions after the containers are collected in the field, storing the input coordinate positions, and simultaneously, integrally inputting coordinate axes by a storage unit;
s3, replacing the storage positions, namely updating the used storage positions and the unused storage positions in the system in time, when the containers in the storage positions in the field are moved out, quickly cleaning the container mark points, replacing the original mark points with blank storage positions, and if the containers are put in storage, replacing the blank mark points with goods mark points;
s4, positioning and guiding, displaying the current position and the container position on the equipment, making a line outgoing plan, guiding the crane to the container position, and automatically planning a route for a driver.
Preferably, in S1, the container number is input into the storage unit, and the coordinate position and the height position of the container are marked by the positioning unit.
Preferably, in S2, the coordinate axis is extended based on GPS positioning, and the storage unit further includes a log module, which is input by the current day, and stores the containers that need to be put into storage and the containers that need to be called for storage in storage, and stores the marked contents.
Preferably, in S3, the area is set according to the position of the target container, and the calling information is transmitted to the central processing system after the target container is lifted and removed.
Preferably, in S4, the crane is guided to the container position, and a route is automatically planned for the driver, when the container field has a plurality of cranes for operation at the same time, the route is planned to avoid road blockage, and prompt and guide are made for the crane.
Preferably, in S2, the recording unit is connected to the storage unit, records warehousing and warehousing of the storage unit, and marks a timestamp according to a time point, and the recording unit further includes a security module, and the security module needs to determine a login password of an administrator, and can perform tuning of the recording unit only after the password is matched.
Preferably, after the staff inputs the log on the day, a field manager can call the log, and the crane operation is arranged by referring to the log.
Preferably, and in response the central processing system determines that the container is being transferred on the day, the container may be transferred away, and if the transfer of the container is not required on the day, a signal prompt is sent to the crane.
In conclusion, the technical effects and advantages of the invention are as follows: according to the container loading and unloading truck automatic positioning system and method based on machine vision, through the layout design of the positioning unit, the scheduling unit and the calculating unit, the position of a container can be timely positioned according to the conditions of container warehousing and ex-warehouse in the same day, and the crane is guided, so that the crane can quickly search the position of the container according to positioning, the container taking efficiency is improved, meanwhile, the condition of taking errors is avoided, and the working efficiency is high;
the position of the container can be quickly positioned according to the established coordinate axis, the positions of the cranes are synchronously marked according to the coordinate axis, and the positions are quickly planned according to the positions of the cranes in the field, so that the moving efficiency of the cranes is higher, the condition that the cranes are blocked due to repeated routes is avoided, and the dispatching efficiency of the containers in the field is ensured.
Drawings
FIG. 1 is a block diagram showing the system architecture of the present invention;
FIG. 2 is a schematic block diagram of system host job content;
FIG. 3 is a system host workflow block diagram;
fig. 4 is a flow chart of a positioning method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 and 2, the container loading and unloading truck automatic positioning system based on machine vision comprises a central processing system, wherein the central processing system comprises a computing unit, a positioning unit, a scheduling unit, a storage unit and a recording unit;
the central processing system is a system host which comprises a system processor based on Intel, the recording unit and the storage unit are the same parent thread unit, and the storage unit also comprises a log module.
Referring to fig. 3 and 4, a positioning method of an automatic positioning system for a container loading and unloading truck based on machine vision includes the following steps:
s1, establishing a coordinate axis of a container field, placing containers according to the coordinate axis range, and labeling the containers according to placing places;
s2, inputting coordinates, namely, inputting the coordinates according to the coordinate positions after the containers are collected in the field, storing the input coordinate positions, and simultaneously, integrally inputting coordinate axes by a storage unit;
s3, replacing the storage positions, namely updating the used storage positions and the unused storage positions in the system in time, when the containers in the storage positions in the field are moved out, quickly cleaning the container mark points, replacing the original mark points with blank storage positions, and if the containers are put in storage, replacing the blank mark points with goods mark points;
s4, positioning and guiding, displaying the current position and the container position on the equipment, making a line outgoing plan, guiding the crane to the container position, and automatically planning a route for a driver.
And S1, inputting the label of the container into a storage unit, and marking the coordinate position and the height position of the container by a positioning unit.
And S2, expanding the coordinate axis based on GPS positioning, wherein the storage unit further comprises a log module, and the log module is used for inputting the container required to be put in storage on the day and the container required to be called on the day to carry out storage position marking and storing the marked content.
And S3, setting an area according to the position of the target container, and sending calling information to the central processing system after the target container is lifted and moved away.
And S4, guiding the crane to the position of the container, automatically planning a route for a driver, planning and avoiding a road blockage route when the container field has a plurality of cranes for operation at the same time, and prompting and guiding the crane.
In S2, the recording unit is connected with the storage unit, records warehousing and ex-warehouse of the storage unit, and marks a timestamp according to a time point, and the recording unit further comprises a security module, wherein the security module needs to determine a login password of an administrator, and can call the recording unit after the password is in line.
After the working personnel inputs the log on the same day, field management personnel can call the log and arrange the crane operation according to the log.
And the central processing system responds to determine that the container is being transported on the same day, the container can be transferred away, and if the container is not required to be transferred on the same day, a signal prompt is sent to the crane.
Referring to fig. 3, a network structure diagram of a system host, namely, a neural network Yolov5, can be seen to be divided into four parts, namely an input end, a backhaul, a tack, and a Prediction;
(1) Input end: the method comprises the following steps of Mosaic data enhancement, self-adaptive anchor frame calculation and self-adaptive picture scaling;
(2) Backbone: focus structure, CSP structure;
(3) And (6) selecting Neck: FPN + PAN structure;
(4)Prediction：GIOU_Loss。
the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. A container loading and unloading container truck automatic positioning system based on machine vision comprises a central processing system, and is characterized in that the central processing system comprises a computing unit, a positioning unit, a scheduling unit, a storage unit and a recording unit;
the central processing system is a system host which comprises a system processor based on Intel, the recording unit and the storage unit are the same parent thread unit, and the storage unit also comprises a log module.
2. The method of claim 1, comprising the steps of:
s1, establishing a container site coordinate axis, placing containers according to the coordinate axis range, and labeling the containers according to the placing places;
s2, inputting coordinates, namely, inputting the coordinates according to the coordinate positions after the containers are collected in the field, storing the input coordinate positions, and simultaneously, integrally inputting coordinate axes by a storage unit;
s3, replacing the storage positions, namely updating the used storage positions and the unused storage positions in the system in time, when the containers in the storage positions in the field are moved out, quickly cleaning the container mark points, replacing the original mark points with blank storage positions, and if the containers are put in storage, replacing the blank mark points with goods mark points;
s4, positioning and guiding, displaying the current position and the container position on the equipment, making a line outgoing plan, guiding the crane to the container position, and automatically planning a route for a driver.
3. The method as claimed in claim 2, wherein the container label is entered into the storage unit in step S1, and the coordinate position and height position of the container are marked by the positioning unit.
4. The positioning method of the container handling truck automatic positioning system based on machine vision as claimed in claim 2, wherein in S2, the coordinate axis is extended based on GPS positioning, the storage unit further comprises a log module, the log module is inputted by the current day, the container to be warehoused and the container to be called are marked by the warehouse position and the marked content is stored.
5. The method of claim 2, wherein in step S3, the area is set according to the position of the target container, and the target container is lifted and removed before sending the pickup message to the central processing system.
6. The method as claimed in claim 2, wherein in step S4, the crane is guided to the container position, and the route is automatically planned for the driver, and when the container yard has multiple cranes working at the same time, the route is planned to avoid road jam, and the crane is prompted and guided.
7. The positioning method of the container loading and unloading truck automatic positioning system based on the machine vision as claimed in claim 2, wherein in S2, the recording unit is connected with the storage unit, records the storage and the unloading of the storage unit, and marks the timestamp according to the time point, the recording unit further comprises a security module, the security module needs to determine the login password of the administrator, and the recording unit can be viewed only after the password is matched.
8. The method as claimed in claim 4, wherein after the log is inputted by the worker on the day, the log is called by the manager on the spot, and the crane operation is scheduled by referring to the log.
9. The method of claim 5, wherein the central processing system is responsive to determine that the container is being transported on the day, the container is removed, and if the container is not being removed on the day, a signal is sent to the crane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211078119.1A CN115480281A (en) | 2022-09-05 | 2022-09-05 | Automatic container loading and unloading truck positioning system and method based on machine vision |
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| CN202211078119.1A CN115480281A (en) | 2022-09-05 | 2022-09-05 | Automatic container loading and unloading truck positioning system and method based on machine vision |
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| CN118083809A (en) * | 2024-04-22 | 2024-05-28 | 烟台港集装箱码头有限公司 | Container front hoisting control method, system, terminal and storage medium |
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