Machine vision automatic deviation rectifying system of tire crane and deviation rectifying method

An automatic deviation correction and tire crane technology, applied in the field of computer vision, can solve problems such as failure to work normally, heavy impact of rain and snow, and unstable operation

Active Publication Date: 2019-07-26
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST +1
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Problems solved by technology

Although the capital investment of this scheme is not high, the detection line delineated on the ground or the buried detection body is too affected by the rain and snow, resulting in unstable operation or failure to work normally

Method used

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  • Machine vision automatic deviation rectifying system of tire crane and deviation rectifying method
  • Machine vision automatic deviation rectifying system of tire crane and deviation rectifying method
  • Machine vision automatic deviation rectifying system of tire crane and deviation rectifying method

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Embodiment

[0088] Automatic deviation correction method of tire crane, combined with figure 2 , including the following specific steps:

[0089] Step 1: Install a camera on the lower beam on either side of the tire crane to obtain images of the lane line and surrounding scenes in the direction of the tire crane. Preferably, according to the actual situation, the field of view of the camera should cover two left and right (or 2*N, N=1, 2, 3...) lane lines on the specified line on the side; figure 1 shown;

[0090] Step 2: Determine the use mode of the tracking system. If the automatic tracking system of the tire crane is used for the first time or is in the calibration mode, start the calibration module of the automatic tracking system of the tire crane and continue to step 3. If it is in the real-time tracking mode, go to step 4.

[0091] Step 3: Start the calibration module of the automatic deviation correction system of the tire crane, and store the coordinates of the characteristic...

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Abstract

The invention relates to a machine vision automatic deviation rectifying system of a tire crane and a deviation rectifying method. An acquisition module acquires an image of a regulated line in the advancing process of the tire crane; a calibration module acquires coordinates of the feature portion of a calibration reference object in a pixel coordinate system and an actual coordinate system; a coordinate conversion module achieves conversion between the pixel coordinate system and the actual coordinate system; a pre-processing module processes the image of the acquisition module to acquire data with clear and stable features; a line recognition module detects and recognizes the regulated line in the image, determines the direction deviation delta alpha and the distance deviation delta d between the actual line and the regulated line in the actual driving process, and sends the deviations to a PLC communication module; and the PLC communication module stores the data and sends the datato a tire crane control system for deviation rectifying. By means of the machine vision technology, automatic deviation rectifying in the tire crane cart advancing process is achieved, the working efficiency is improved, and accidents are reduced.

Description

technical field [0001] The invention relates to a machine vision automatic deviation correction system and a deviation correction method for a tire crane, in particular to a system and a method for automatically correcting a deviation of a tire crane during the running process of a tire crane by using machine vision technology, belonging to the field of computer vision. Background technique [0002] Tire cranes, also known as tire cranes, are the main machinery for container stacking and horizontal transportation in docks and yards. They have the advantages of being flexible and transferable. Considering the safety of the operation, it is generally required that the wheeled crane must run in strict accordance with the prescribed track during the driving process. [0003] In order to improve the utilization rate of the site, the safety distance between the lower beams on both sides of the tire crane cart and the container is relatively close, and the nearest point is less tha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/48B66C13/16B66C15/06
CPCB66C13/16B66C13/48B66C15/065
Inventor 刘燕欣张伯川唐波高琪高仕博张聪郑智辉肖利平徐安盛苏晓静闫涛许敏张艺佳张志良
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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