Automatic alignment verification method and device for loading arm, electronic equipment and computer readable storage medium

Abstract

The invention belongs to the technical field of visual verification, and particularly relates to a crane pipe automatic alignment verification method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that an auxiliary positioning three-color disc device is installed over a vertical pipe of the crane pipe, when coordinates of a tank opening are consistent with coordinates of a three-color disc, it is considered that the crane pipe can be accurately inserted into the tank opening, when the coordinates are inconsistent, the difference distance of the coordinates is calculated, the crane pipe moves again, and when the coordinates are consistent, the crane pipe stops moving; through the method, the defects of mechanical structure and motion precision of the crane pipe can be overcome, and the crane pipe can be safely inserted into the tank opening. The method solves the problems that in an automatic crane pipe alignment scene, a crane pipe is usually small and is of a thin-wall structure, and the crane pipe is not easy to recognize or a recognition algorithm is difficult to be accurate.

Description

Technical Field

[0001] The present invention belongs to the technical field of visual verification, and more specifically, relates to a crane pipe automatic alignment verification method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] In the chemical industry, tanker loading and filling of liquids such as liquefied gas, liquid alkali, liquid ammonia, and liquid chlorine is an essential operation process. How to use industrial Internet technology to improve the automation and safety of liquid filling is an important research direction in the field of industrial Internet. Taking flammable and pungent liquids as an example, the operating platform of traditional filling operations is generally high. The filling personnel need to move to the top of each tanker, insert the crane pipe, and visually observe the liquid level in the tank to control the filling process. During the filling operation, leakage, splashing, and volatilization may cause harm to the operator, and the personnel working on the platform are prone to falls or even falls, causing casualties. Therefore, in order to enhance safety risk control, save labor costs, and improve filling efficiency, it is imperative to use new generation technologies to carry out intelligent transformation of the filling process.

[0003] Chinese invention patent CN114436197A discloses a crane pipe automatic loading control system based on positioning detection and a control method thereof, comprising a crane pipe for conveying liquid materials, a tank truck for loading and a loading position, wherein the tank truck is provided with a tank opening, and further comprising a tank opening positioning module, a crane pipe positioning module and a PLC loading system, wherein a bracket for installing a laser rangefinder in an arranged form moves on a guide rail to realize spatial coordinate detection of the tank opening of the tank truck; an electronic compass is installed on the rotating part of the crane pipe, and the spatial coordinates of the vertical pipe of the crane pipe are calculated based on the offset angle.

[0004] In summary, due to the mechanical structure and movement accuracy of the crane pipe, it is impossible to guarantee that the crane pipe will move to the specified position in one time. The automatic alignment of the crane pipe requires a simple and reliable method to ensure the accuracy of the movement verification. The verification algorithm in the existing technology is relatively complicated, and the crane pipe is often very small and has a thin-walled structure, which is not easy to be identified or the recognition algorithm is difficult to be accurate. Therefore, the accuracy of the crane pipe and the crane mouth is poor when verifying. Summary of the invention

[0005] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide a method for automatic alignment and verification of crane pipes to solve the problem that crane pipes are often very small and thin-walled structures, which are difficult to be identified or the identification algorithm is difficult to accurately identify.

[0006] This method can make up for the deficiencies in the mechanical structure and movement accuracy of the crane tube, and ensure that the crane tube can be safely inserted into the tank mouth. The present invention provides a simple and effective method to improve the precision and accuracy of the crane tube inserted into the tank mouth, and can ensure that the crane tube is safely and automatically inserted into the tank mouth. It can also ensure that when the crane tube cannot be moved into place at one time, the moving position of the crane tube is adjusted to ensure that the crane tube can finally be inserted into the tank mouth.

[0007] The detailed technical scheme of the present invention is as follows:

[0008] A crane pipe automatic alignment verification method, the method comprising:

[0009] S1. Obtain the tank mouth coordinates (x1, y1, z1) through an automatic positioning algorithm, and calculate the moving path of the crane from the initial position to the target position based on the tank mouth coordinates, where the target position is above the tank mouth;

[0010] S2, according to the moving path, drive the crane to move to the target position through PLC;

[0011] S3, obtaining the coordinates of the center point of the disk (x2, y2, z2), wherein the disk is located directly above the vertical tube of the crane pipe, the center line of the vertical tube of the crane pipe passes through the center point of the disk, and the circular surface of the disk is parallel to the tank mouth;

[0012] S4, setting a first error threshold Ox and a second error threshold Oy, and calculating the coordinate differences △x=x1-x2 and △y=y1-y2 between the coordinates of the center point of the disk and the coordinates of the tank mouth;

[0013] When △x≤Ox, △y≤Oy, the coordinate difference is within the allowable range, the crane pipe and the filling port are verified, and the process ends;

[0014] When △x>Ox, or △y>Oy, or △x>Ox and △y>Oy, the coordinate difference is not within the allowable range, the crane pipe and the filling port are not successfully calibrated, and fine-tuning is performed;

[0015] S5. When fine-tuning, recalculate the moving path according to the coordinate difference △x and △y, and drive the crane to continue moving through PLC;

[0016] S6. After fine-tuning is completed, repeat S2-S5 until the coordinate error is within the allowable range and the process ends.

[0017] Furthermore, the disc is a three-color disc, the outermost circle is a red circle, the middle circle is a green circle, and the inner circle is a blue circle;

[0018] First, the algorithm is used to identify the center point of the three-color disk, and the coordinates of the center points of the red, green, and blue circles are obtained respectively. Since there is a deviation in the recognition accuracy of the three colors of blue, green, and red, the coordinates of the three are weighted averaged according to the recognition matching accuracy to obtain the final coordinates of the center point of the three-color disk U0:

[0019] U0=(a*(x11,y11,z11)+b*(x22,y22,z22)+c(x33,y33,z33)) / 3=(xu,yu,zu)(1);

[0020] In formula (1), the recognition degree of red is a, and the coordinates are (x11, y11, z11); the recognition degree of green is b, and the coordinates are (x22, y22, z22); the recognition degree of blue is c, and the coordinates are (x33, y33, z33); the value range of a, b, and c is greater than 0 and less than 1, and a+b+c=1.

[0021] On the one hand, the vertical pipe and the outer arm of the traditional crane pipe are connected by an elbow, and the center point of the vertical pipe cannot be visually identified. If it is necessary to verify whether the crane pipe can be inserted into the tank mouth from the center point, it is necessary to select other identifiable reference positions on the crane pipe and add a complex judgment algorithm. Due to the complexity of the crane pipe structure and the inability to ensure the precision of the crane pipe production, it is easy to have inaccurate verification. The three-color disc of the present invention physically solves the problem of selecting the verification reference point, and fixes the three-color disc above the center point of the crane pipe vertical pipe to assist in positioning.

[0022] On the other hand, the recognition degree of red a>green recognition degree b>blue recognition degree c. Most monitoring equipment is most sensitive to the three primary colors red, green and blue, and red has the longest wavelength. Red is the outermost circle with the most accurate center coordinates, so it accounts for the largest proportion; green has the second longest wavelength and is the middle circle, and its proportion is also the second largest. Blue has the shorter wavelength among the three and is the inner circle, with the lowest proportion.

[0023] In another aspect of the present invention, a device for implementing a crane pipe automatic alignment verification method is provided, the device comprising a three-color disc, an algorithm module, a verification module, a fine-tuning module, and a moving module, and automatic alignment verification and fine-tuning are accomplished through the collaborative work of the above modules.

[0024] Three-color disc: used to assist the calibration module in calibration;

[0025] Algorithm module: identify the can mouth, three-color disc and give the spatial coordinates;

[0026] Mobile module: calculates the moving path based on the spatial coordinates or coordinate difference of the algorithm module, and drives the crane to move through PLC;

[0027] Verification module: based on the spatial coordinates of the tank mouth and the three-color disc, the crane mouth and the crane pipe are verified to obtain the verification results;

[0028] Fine-tuning module: Based on the verification results, the crane pipe is fine-tuned again through PLC drive.

[0029] In another aspect of the present invention, there is also provided an electronic device, comprising:

[0030] at least one processor; and

[0031] A memory storing instructions, when the instructions are executed by the at least one processor, enables the at least one processor to execute the above-mentioned crane pipe automatic alignment verification method.

[0032] In another aspect of the present invention, a machine-readable storage medium is provided, which stores executable instructions, and when the instructions are executed, the machine executes the above-mentioned crane pipe automatic alignment verification method.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention provides a method, device, electronic device and computer-readable storage medium for automatic alignment verification of a crane pipe, which involves the verification of the crane pipe and the crane mouth assisted by a three-color disc. The three-color disc only needs to be fixed directly above the vertical pipe of the crane pipe. Verification through the device does not require the design of a complex verification algorithm.

[0035] 2. The present invention provides a method, device, electronic device and computer-readable storage medium for automatic alignment verification of a crane pipe, which corrects the problem that the crane pipe is often very small and thin-walled, difficult to identify or the identification algorithm is difficult to be accurate, and the errors caused by the inaccurate physical mechanical structure and motion control of the crane pipe, thereby enhancing the robustness of the system. Through simple coordinate calculation, it can be determined whether the crane pipe can be inserted into the tank mouth, thereby enhancing the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The present invention discloses a flow chart of a crane pipe automatic alignment verification method.

[0037] Figure 2 This is a schematic diagram of the three-color disk described in Example 1.

[0038] Figure 3 It is a schematic diagram of the structure of the device described in Example 1.

[0039] Figure 4 It is a schematic diagram of the alignment of the crane pipe and the tank mouth in Example 1.

[0040] Figure 5 It is a schematic diagram of the misalignment between the crane pipe and the tank mouth in Example 1. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0043] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0044] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0045] Example 1

[0046] Ginseng Figure 1 This embodiment provides a method for automatically checking the alignment of a crane pipe, the method comprising:

[0047] S1, obtain the tank mouth coordinates and calculate the moving path;

[0048] The tank mouth coordinates (x1, y1, z1) are obtained through an automatic positioning algorithm, and the moving path of the crane from the initial position to the target position is calculated based on the tank mouth coordinates. The target position is above the tank mouth.

[0049] S2, move the crane to the target position;

[0050] According to the moving path, the crane is driven by PLC to move to the target position.

[0051] S3, obtaining the center coordinates of the disk;

[0052] The coordinates of the center point of the disk (x2, y2, z2) are obtained. The disk is located directly above the vertical tube of the crane pipe, the center line of the vertical tube of the crane pipe passes through the center point of the disk, and the circular surface of the disk is parallel to the tank mouth.

[0053] Preferably, the disc is a three-color disc, such as Figure 2 As shown, the outermost circle is a red circle, the middle circle is a green circle, and the inner circle is a blue circle. The calculation of the coordinates of the center point of the disk is as follows:

[0054] First, the algorithm is used to identify the center point of the three-color disk, and the coordinates of the center points of the red, green, and blue circles are obtained respectively. The coordinates of the three circles are weighted averaged according to the recognition and matching accuracy to obtain the final coordinates of the center point of the three-color disk U0:

[0055] U0=(a*(x11,y11,z11)+b*(x22,y22,z22)+c*(x33,y33,z33)) / 3=(xu,yu,zu)(1);

[0056] Specifically, the coordinate calculation is: xu = (a*x11+b*x22+c*x33) / 3, yu and zu are not repeated here;

[0057] In formula (1), the recognition degree of red is a, and the coordinates are (x11, y11, z11); the recognition degree of green is b, and the coordinates are (x22, y22, z22); the recognition degree of blue is c, and the coordinates are (x33, y33, z33); the value range of a, b, and c is greater than 0 and less than 1; and a+b+c=1.

[0058] Preferably, the recognition degree a of red is greater than the recognition degree b of green and greater than the recognition degree c of blue. Most monitoring equipment is most sensitive to the three primary colors of red, green and blue, and red has the longest wavelength. Red is the outermost circle with the most accurate coordinates of its center point, so it accounts for the largest proportion. The wavelength of green is second, and it is the middle circle, and its proportion is also second. The wavelength of blue is the shorter of the three, and it is the inner circle, with the lowest proportion.

[0059] S4. Check the crane mouth and the crane pipe to see whether the crane mouth and the crane pipe are aligned;

[0060] Set a first error threshold Ox and a second error threshold Oy, preferably, Ox = Oy = 2 mm; at the same time, calculate the coordinate differences △x = x1-x2 and △y = y1-y2 between the coordinates of the center point of the disk and the coordinates of the tank mouth;

[0061] When △x≤2mm,△y≤2mm, the coordinate difference is within the allowable range, and the crane and filling port are checked. Figure 4 As shown, the process ends;

[0062] In any of the following cases, the coordinate difference is not within the allowable range, and the crane and the filling port are not successfully calibrated, such as Figure 5 As shown, fine-tune:

[0063] △x>Ox, or, △y>Oy, or, △x>Ox and △y>Oy.

[0064] Ginseng Figure 4 , Figure 5The vertical pipe and the outer arm of the traditional crane pipe are connected by an elbow, and the center point of the vertical pipe cannot be visually identified. If it is necessary to verify whether the crane pipe can be inserted into the tank mouth from the center point, it is necessary to select other identifiable reference positions on the crane pipe and add a complex judgment algorithm. Due to the complexity of the crane pipe structure and the inability to ensure the precision of the crane pipe production, it is easy to have inaccurate verification. The three-color disc in this embodiment physically solves the problem of selecting the verification reference point, and fixes the three-color disc above the center point of the crane pipe vertical pipe to assist in positioning.

[0065] S5. When fine-tuning, recalculate the moving path based on the coordinate differences △x and △y, and drive the crane to continue moving through PLC.

[0066] S6. After fine-tuning is completed, repeat S2-S5 until the coordinate error is within the allowable range and the process ends.

[0067] Example 2

[0068] This embodiment provides a device for realizing a method for automatically checking the alignment of a crane pipe. Figure 3 As shown, the device includes a three-color disk, an algorithm module, a verification module, a fine-tuning module, and a moving module, and the automatic alignment verification and fine-tuning are completed through the coordinated work of the above modules.

[0069] Three-color disc: used to assist the verification module in verification; preferably, the diameter of the three-color disc is 300 mm.

[0070] Algorithm module: Identify the can mouth, three-color disc and give the spatial coordinates.

[0071] Mobile module: Calculate the moving path based on the spatial coordinates or coordinate difference of the algorithm module, and drive the crane to move through PLC.

[0072] Verification module: Based on the spatial coordinates of the tank mouth and the three-color disc, the crane mouth and the crane pipe are verified to obtain the verification result.

[0073] The verification principle is that when the three-color disk and the tank mouth are located on the same vertical line in space, the spatial coordinates x and y of the center points of the three-color disk and the tank mouth at different heights are the same. The verification module can identify the three-color disk and give the spatial coordinates, and calculate the coordinate difference; in addition, the verification module also includes a monitoring device above the three-color disk and the tank mouth and on the same vertical line.

[0074] Fine-tuning module: drives the crane pipe to be fine-tuned again based on the verification results.

[0075] Example 3

[0076] This embodiment also provides an electronic device, including:

[0077] at least one processor; and

[0078] A memory storing instructions, when the instructions are executed by the at least one processor, enables the at least one processor to execute the above-mentioned crane pipe automatic alignment verification method.

[0079] In this embodiment, the device includes but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile computing devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable computing devices, consumer electronic devices, etc.

[0080] Example 4

[0081] This embodiment also provides a computer-readable storage medium storing executable instructions, which, when executed, enable the machine to perform the above-mentioned crane pipe automatic alignment verification method.

[0082] Specifically, a system or device equipped with a readable storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer or processor of the system or device can read and execute instructions stored in the readable storage medium.

[0083] In this case, the program code itself read from the machine-readable medium can realize the function of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0084] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0085] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A crane pipe automatic alignment verification method, characterized in that: The method comprises: S1. Obtain the tank mouth coordinates (x1, y1, z1) through an automatic positioning algorithm, and calculate the moving path of the crane from the initial position to the target position based on the tank mouth coordinates, where the target position is above the tank mouth; S2, according to the moving path, drive the crane to move to the target position through PLC; S3, obtaining the coordinates of the center point of the disk (x2, y2, z2), wherein the disk is located directly above the vertical tube of the crane pipe, the center line of the vertical tube of the crane pipe passes through the center point of the disk, and the circular surface of the disk is parallel to the tank mouth; S4, setting a first error threshold Ox and a second error threshold Oy, and calculating the coordinate differences △x=x1-x2 and △y=y1-y2 between the coordinates of the center point of the disk and the coordinates of the tank mouth; When △x≤Ox, △y≤Oy, the coordinate difference is within the allowable range, the crane pipe and the filling port are verified, and the process ends; When △x>Ox, or △y>Oy, or △x>Ox and △y>Oy, the coordinate difference is not within the allowable range, the crane pipe and the filling port are not successfully calibrated, and fine-tuning is performed; S5. When fine-tuning, recalculate the moving path according to the coordinate difference △x and △y, and drive the crane to continue moving through PLC; S6. After fine-tuning is completed, repeat S2-S5 until the coordinate error is within the allowable range and the process ends.

2. The method for automatic alignment and calibration of a crane pipe according to claim 1, characterized in that: The disc is a three-color disc, the outermost circle is a red circle, the middle circle is a green circle, and the inner circle is a blue circle; First, the algorithm is used to identify the center point of the three-color disk, and the coordinates of the center points of the red, green, and blue circles are obtained respectively. The coordinates of the three circles are weighted averaged according to the recognition degree to obtain the final coordinates of the center point of the three-color disk U0: U0=(a*(x11,y11,z11)+b*(x22,y22,z22)+c(x33,y33,z33)) / 3=(xu,yu,zu) (1); In formula (1), the recognition degree of red is a, and the coordinates are (x11, y11, z11); the recognition degree of green is b, and the coordinates are (x22, y22, z22); the recognition degree of blue is c, and the coordinates are (x33, y33, z33); the value range of a, b, and c is greater than 0 and less than 1, and a+b+c=1.

3. The method for automatic alignment and verification of a crane pipe according to claim 2 is characterized in that: The recognition degrees of the three circles of the three-color disc are as follows: the recognition degree of red a> the recognition degree of green b> the recognition degree of blue c.

4. A crane pipe automatic alignment inspection device, characterized in that: The device includes a three-color disk, an algorithm module, a verification module, a fine-tuning module, and a moving module: Three-color disc: used to assist the calibration module in calibration; Algorithm module: identify the can mouth, three-color disc and give the spatial coordinates; Mobile module: calculates the moving path based on the spatial coordinates or coordinate difference of the algorithm module, and drives the crane to move through PLC; Verification module: based on the spatial coordinates of the tank mouth and the three-color disc, the crane mouth and the crane pipe are verified to obtain the verification results; Fine-tuning module: Based on the verification results, the crane pipe is fine-tuned again through PLC drive.

5. An electronic device, characterized in that: The electronic device comprises: processor; a memory having stored thereon a computer program executable on the processor; Wherein, when the computer program is executed by the processor, the steps of the crane pipe automatic alignment verification method as described in any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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