Unified calibration method for multiple cameras on lifting appliance of automatic crane

A calibration method and crane technology, applied in image data processing, instruments, calculations, etc., can solve cumbersome problems and achieve the effects of improving efficiency, simplifying the calibration process, and improving efficiency and accuracy

Active Publication Date: 2022-01-07
武汉港迪智能技术有限公司
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This method is more cumbersome

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  • Unified calibration method for multiple cameras on lifting appliance of automatic crane
  • Unified calibration method for multiple cameras on lifting appliance of automatic crane
  • Unified calibration method for multiple cameras on lifting appliance of automatic crane

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[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0035] Such as figure 1 — Figure 5 As shown, the present invention provides a unified calibration method for multiple cameras on an automated crane spreader, comprising the following steps:

[0036] S1: Install a spreader camera near the lock head of the crane spreader, so that the viewing direction of each spreader camera is vertically downward and aligned with the keyhole at the end of the container away from the ground. The four spreader camer...

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Abstract

The invention provides a unified calibration method for multiple cameras on an automatic crane sling, and the method comprises the following steps: S1, correspondingly mounting sling cameras near a lock head of the crane sling, so that the view finding directions of the sling cameras are vertically downward and are respectively aligned with a lock hole in one end, far away from the ground, of a container; S2, constructing each hanger camera coordinate system and a container world coordinate system, carrying out the distortion correction on the lockhole images obtained by the four lifting appliance cameras, and acquiring an internal reference matrix of each lifting appliance camera; S3, respectively carrying out lockhole detection on the four lockhole images acquired by the lifting appliance camera, and carrying out lockhole positioning; S4, extracting the edge of the lockhole by adopting an ellipse fitting algorithm, obtaining a virtual enclosing rectangle of a lockhole ellipse, and extracting image coordinates of four vertexes of the virtual enclosing rectangle; S5, resolving an extrinsic parameter matrix of each sling camera relative to the container world coordinate system; S6, solving the relative poses of the lifting appliance camera coordinate systems constructed by the lifting appliance cameras.

Description

technical field [0001] The invention relates to the technical field of port intelligent hoisting equipment, in particular to a unified calibration method for multiple cameras on an automatic crane hoisting gear. Background technique [0002] With the rapid development of port intelligence, the port has an increasingly urgent demand for automatic container stacking. However, in automatic stacking, subsystems such as unpacking on the first floor, automatic grabbing, and automatic stacking need to estimate the relative pose relationship between the spreader cameras, and then actually grab and put the boxes. The importance of external parameter calibration between each pinhole camera on the spreader is self-evident. How to quickly and accurately estimate the pose relationship between the spreader phases is directly related to the efficiency and effect of automated box stacking. The traditional calibration method mainly calibrates the extrinsic parameters between the pinhole cam...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T5/00
CPCG06T7/80G06T5/006G06T2207/10004G06T2207/20084
Inventor 石先城万金建李恒曹志俊张涛
Owner 武汉港迪智能技术有限公司
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