Container truck positioning method based on monocular vision measurement

Abstract

The invention discloses a method for realizing container truck positioning based on monocular vision measurement. The method comprises the following steps: 1, obtaining the actual height h of a container truck and the height H of a monocular camera relative to the ground through measurement, and customizing a calibration plate composed of square black and white grids according to the size of an actual site; 2, establishing a default coordinate system of the ground to be detected by using the pictures selected in the step 1; 3, when the container truck is not loaded with the container, sequentially carrying out graying, morphological hybrid filtering based on multiple structural elements and edge detection on the shot images of the end part of the truck; and when the container truck loads acontainer, using Hog + SVM to identify the position of a container truck end lock hole in the image; 4, calculating the parking position error b of the container truck according to the formula (2); and 5, calculating the actual distance between the end part of the container truck and the parking line and the relative angle between the straight line at the end part of the container truck and the parking line to realize accurate container truck positioning. The beneficial effects of the method are that the method is low in cost, and can achieve the quick and accurate positioning of the container truck.

Description

technical field [0001] The invention relates to the technical field of visual measurement, and specifically designs a method for positioning cards based on monocular vision measurement. Background technique [0002] In recent years, inter-regional exchanges and cooperation have become increasingly close. As the circulation carrier of global trade, ports play an important role in regional economic development. Facing the continuous growth of port container throughput, container terminals have higher and higher requirements for loading and unloading efficiency. Container terminals are increasingly automated, however, human assistance is still required for seaside and landside operations. [0003] In order to improve the efficiency of landside container loading and unloading operations, academia and industry at home and abroad have proposed many vision-based methods to realize unmanned guidance of container trucks. Closer methods include: Jerney Mrovlj (MrovljeJ, D.Automat...

AI Technical Summary

Problems solved by technology

The disadvantage of this solution is that the cost of using a binocular camera is higher than that of a monocular camera, and the other is that the installation of the camera is more difficult and prone to installation errors

[0004] To sum up, the current solutions have certain limitations, and cannot accurately and economically solve the problem of truck positioning on the basis of simple installation

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