Method for visually positioning tank mouth of railway oil tank truck

A visual positioning and tank opening technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems of poor adaptability of positioning methods, and achieve the effects of low implementation cost, strong reliability, and high automation rate

Active Publication Date: 2014-02-05
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a visual positioning method for the tank opening of railway oil tank cars based on tank opening shape matching, so as to solve the problem of poor adaptability of the positioning method in the prior art

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  • Method for visually positioning tank mouth of railway oil tank truck
  • Method for visually positioning tank mouth of railway oil tank truck
  • Method for visually positioning tank mouth of railway oil tank truck

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Embodiment Construction

[0022] The present invention will be described in more detail below in conjunction with the accompanying drawings and examples.

[0023] figure 1 It is an installation example of the camera in the implementation of the present invention. In this example, the camera is installed on the large crane pipe for oil delivery. The positional relationship between the camera and the large crane pipe is fixed and moves synchronously with the large crane pipe. Among the accompanying drawings, 1 is a large crane pipe, 2 is a camera, 3 is a tank mouth of a railway oil tank car, and 4 is a tank body of a railway oil tank car.

[0024] Such as figure 2 As shown, according to an embodiment of the present invention, the steps of positioning the mouth of a railway oil tank car include:

[0025] S1. Using the model with the largest tank mouth diameter, select the tank mouth image captured by the camera when the crane pipe is facing the tank mouth to extract the shape template, extract the sing...

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Abstract

The invention discloses a method for visually positioning a tank mouth of a railway oil tank truck. The method includes the steps that the single-pixel edge of the tank mouth is extracted from an image obtained when a large loading arm just faces the tank mouth and is fit to an oval, and the coordinates and the gradient of the edge of the tank mouth are calculated through an oval formula to be fit to a shape template; image pyramid decomposition is carried out on the template and an image to be searched for; the gradient information in all pyramid layers of the image to be searched for is calculated; an interesting region matched with the tank mouth and a shape matching threshold value are set, and on the decomposed layer with the lowest image resolution ratio of the pyramid, the tank mouth is positioned with the normalized gradient mutual correlation as a shape similarity metric function. The method for visually positioning the tank mouth of the railway oil tank truck has the advantages of being high in reliability, low in implementation, high in automation degree and the like.

Description

technical field [0001] The invention relates to the field of machine vision positioning, in particular to a visual positioning method for a tank mouth of a railway oil tank car. Background technique [0002] my country's oil refining enterprises currently generally use crane pipes to load oil on railway tank cars, and traditional crane pipe alignment is done manually. Workers in this way are highly nervous during operation, are prone to fatigue, and have low alignment accuracy. If an operation error occurs, the large crane pipe will be bent or broken in the slightest, resulting in oil leakage, or a fire and explosion accident will occur in severe cases, with serious consequences. In terms of environmental protection, the state has put forward the requirements of energy saving and emission reduction, but light oil is very volatile when loaded into vehicles. The volatile oil and gas not only cause energy waste, but also greatly pollute the environment, and are also a major sa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T3/40
Inventor 项学智开湘龙
Owner HARBIN ENG UNIV
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