Ship groove positioning method based on computer vision

Abstract

A ship groove positioning method based on a computer vision belongs to the computer vision technology and image processing technology field. The ship groove positioning method comprises the following steps of using a binocular camera to capture an image; carrying out image preprocessing; carrying out mathematical morphology edge detection; carrying out straight line detection; carrying out straight line filtering and clustering; calculating an image depth of each straight line in a plane; projecting a ship groove straight line to a ship groove edge straight line plane; calculating a point of intersection of a ship groove edge line and a ship groove line; and accurately positioning a ship groove. The ship groove positioning method based on the computer vision is used for ship groove positioning. A traditional container loading and unloading working mode which takes a manual guiding as a main point is improved, and a ship container loading and unloading digitization and intelligence level is increased. Production and working environments are improved. The method is good for increasing working efficiency and reducing cost.

Description

technical field [0001] The invention belongs to the field of computer vision technology and image processing technology, and in particular relates to a computer vision-based tank positioning method for loading and unloading ship containers. Background technique [0002] With the integration of the world economy and the rapid development of foreign trade economy, because container transportation is safe, reliable, fast, timely, simple and convenient, it can meet the requirements of short transportation time, less damage and low cost of goods in foreign trade business, so container transportation It has gradually become the inevitable development direction of today's shipping, and thus also an important symbol of the development of modern trade. The shipping of containers requires corresponding container stacking, transportation, loading and unloading operations at ports and terminals. Among them, the efficiency of container loading and unloading directly affects the market c...

AI Technical Summary

Problems solved by technology

[0003] In the current field of world transportation, almost all kinds of solid bulk cargo and liquid bulk cargo have begun to be containerized. In order to realize the automation of container transportation and improve the efficiency and safety of container loading and unloading at the terminal, relevant domestic and foreign researchers in this field have There are all researches, and the technical solution closest to the present invention includes: Invention patent (application number: 201410400655.8, name: a kind of container loading and unloading operation method, loading operating system) proposes a combination of the first terminal and the second The container loading and unloading method in which the two terminals cooperate with each other. The main idea of ​​container loading and unloading on the ship is to confirm the information on the ship through the first terminal where the assistant is located, and then send the position information to the graphical server. The terminal obtains the location information in the graphical server, and then loads and unloads the container. This method has the same disadvantage as the traditional single command method, that is, it relies too much on the experience of the staff during the entire container loading and unloading process; invention patent (Application No.: 201410333783.5, Name: A system and method for intelligent detection of container distribution outline and position) proposes to use 3D laser scanning to detect the distribution outline and position information of containers, so as to realize the accurate alignment and placement of containers during loading and unloading , this method uses a three-dimensional laser scanner to detect the outline of the container, but when there is no container in the container position of the ship, the outline of the container cannot be detected, and the container on the ship cannot be loaded, and the cost of the three-dimensional laser scanner is too high high

[0004] To sum up, when realizing the loading and unloading of ship containers, the existing methods cannot be completely separated from the operation of the container itself, and rely too much on the experience of the operator, especially when the ship is empty, how to place the container accurately In the specified slot position, this is a crucial work for the entire container loading and unloading, the present invention proposes a computer vision-based ship slot positioning method for this deficiency

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