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Unified calibration method for multiple cameras on automated crane spreaders

A calibration method and crane technology, applied in image analysis, image enhancement, instruments, etc., can solve cumbersome problems, achieve the effect of improving efficiency, improving efficiency and accuracy, and simplifying the calibration process

Active Publication Date: 2022-03-15
武汉港迪智能技术有限公司
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  • Unified calibration method for multiple cameras on automated crane spreaders
  • Unified calibration method for multiple cameras on automated crane spreaders
  • Unified calibration method for multiple cameras on automated crane spreaders

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[0032] 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.

[0033] 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:

[0034] 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 present invention provides a unified calibration method for multiple cameras on an automated crane spreader, which includes the following steps: S1: install spreader cameras correspondingly near the lock head of the crane spreader, so that the viewing direction of each spreader camera is vertically toward the and aim at the keyhole at the end of the container away from the ground; S2: Construct the camera coordinate system of each spreader and the world coordinate system of the container; respectively perform distortion correction on the keyhole images acquired by the four spreader cameras, and obtain the Internal reference matrix; S3: Carry out keyhole detection on the four keyhole images obtained by the spreader camera, and perform keyhole positioning; S4: Use ellipse fitting algorithm to extract the keyhole edge, and obtain the virtual circumscribed rectangle of the keyhole ellipse to extract the virtual Image coordinates of the four vertices of the circumscribed rectangle; S5: Solve the extrinsic parameter matrix of each spreader camera relative to the container world coordinate system; S6: Calculate the relative pose of each spreader camera coordinate system constructed with the spreader camera solve.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T5/00
CPCG06T7/80G06T2207/10004G06T2207/20084G06T5/80
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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