Compartment deviation correction angle calculation method and device based on image acquisition

Abstract

The invention relates to the technical field of carriage loading deviation rectification, and discloses a carriage deviation rectification angle calculation method and device based on image acquisition, and the method comprises the steps: building a two-dimensional rectangular coordinate system, and obtaining the center coordinate of a carriage, the center coordinate of a first carriage frame, and the center coordinate of a second carriage frame; measurement is carried out in the X-axis direction and the Y-axis direction of the coordinate system, and coordinates of a first deviation rectification feature point and coordinates of a second deviation rectification feature point are obtained respectively; calculating a first vector, a second vector, a third vector and a fourth vector by taking the central coordinate of the carriage as a reference point; calculating a compensation angle in the X-axis direction based on the first vector and the third vector; and calculating the compensation angle in the Y-axis direction on the basis of the second vector and the fourth vector. The technical problems that a traditional carriage deviation correction mode mainly depends on manual operation, and workers need to observe the relative position of a carriage and a car loader through naked eyes during operation are solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle loading and alignment technology, and discloses a method and device for calculating vehicle alignment angle based on image acquisition. Background Technology

[0002] In the logistics, mining, and port handling of bulk commodities, loading operations are a crucial link between production and transportation. Their efficiency and loading accuracy directly impact the overall supply chain efficiency and operating costs. With the continuous growth of freight volume and the widespread adoption of automation technology, the market demands increasingly more automated and precise loading operations. Among these, the alignment accuracy between the truck bed and the loading machine is a core factor determining loading quality. Horizontal or vertical misalignment of the truck bed can directly lead to problems such as spillage, uneven loading, and localized overloading of the truck bed. This not only causes cargo damage and increases manual cleaning costs but can also trigger equipment jams and cargo overturning during transport, severely hindering the continuity and safety of loading operations.

[0003] Traditional methods of correcting wagon alignment rely primarily on manual operation. During operation, workers visually observe the relative position of the wagon and the loading machine, then manually adjust either the machine or the wagon. This method has several inherent drawbacks: manual observation is highly subjective and lacks precision, making it difficult to accurately judge minute deviations. This is especially true in complex operating environments such as low light or high dust levels, where judgment errors are further amplified, leading to poor correction results. Furthermore, manual adjustments have a slow response time, requiring repeated calibrations, which severely impacts loading efficiency. Prolonged, high-intensity work can also lead to worker fatigue, further increasing the risk of operational errors. Summary of the Invention

[0004] This invention addresses the technical problem that traditional methods of correcting car body alignment mainly rely on manual operation, requiring workers to visually observe the relative position of the car body and the loading machine during operation. It provides a method and device for calculating the car body alignment angle based on image acquisition.

[0005] To achieve the above-mentioned technical effects, the technical solution adopted by this invention is: a method for calculating the carriage correction angle based on image acquisition, comprising the following steps: S1: Establish a two-dimensional rectangular coordinate system XOY with the center of the carriage to be loaded as the origin, and obtain the center coordinates (Ax, Ay), the center coordinates (Bx1, By1), and the center coordinates (Bx2, By2) of the carriage through an image acquisition device; wherein, the center of the first frame and the center of the second frame are the symmetrical center positions of the left and right side frames of the carriage, respectively. S2: The image acquisition device measures along the horizontal direction of the X-axis and the vertical direction of the Y-axis of the coordinate system to obtain the coordinates of the first correction feature point (Cx, Cy) in the X-axis direction and the coordinates of the second correction feature point (Dx, Dy) in the Y-axis direction, respectively. S3: Using the center coordinates (Ax, Ay) of the carriage as a reference point, calculate the first vector pointing from the center of the carriage to the center coordinates (Bx1, By1) of the first frame, the second vector pointing to the center coordinates (Bx2, By2) of the second frame, the third vector pointing to the coordinates (Cx, Cy) of the first correction feature point, and the fourth vector pointing to the coordinates (Dx, Dy) of the second correction feature point. S4: Calculate the compensation angle in the X-axis direction based on the first vector and the third vector; calculate the compensation angle in the Y-axis direction based on the second vector and the fourth vector.

[0006] As a preferred embodiment, in step S1, the image acquisition device is a vision sensor or industrial camera mounted on the loading machine, which identifies and extracts the center coordinates (Ax, Ay), the center coordinates of the first frame, and the center coordinates of the second frame of the vehicle by capturing image information from the top or side of the vehicle.

[0007] In a preferred embodiment, in step S3: The expression for the first vector: V1=(Bx1) Ax,By1 Ay); The expression for the second vector: V2=(Bx2) Ax,By2 Ay); The expression for the third vector is: V3=(Cx Ax,Cy Ay); The expression for the fourth vector: V4=(Dx Ax,Dy Ay); Where (Ax, Ay) are the center coordinates of the carriage, (Bx1, By1) are the center coordinates of the first carriage frame, (Bx2, By2) are the center coordinates of the second carriage frame, (Cx, Cy) are the coordinates of the first correction feature point, (Dx, Dy) are the coordinates of the second correction feature point, V1 is the first vector, V2 is the first vector, V3 is the first vector, and V4 is the first vector.

[0008] In a preferred embodiment, the expression for the compensation angle in the X-axis direction in step S4 is: ; The expression for the compensation angle in the Y-axis direction is: ; in, The compensation angle in the X-axis direction, This is the compensation angle in the Y-axis direction.

[0009] As a preferred embodiment, the method further includes adjusting the loading position of the loading machine according to the calculated compensation angles in the X-axis direction and the Y-axis direction to correct the deviation of the carriage.

[0010] This invention also proposes a carriage correction angle calculation device based on image acquisition, comprising: The image acquisition module is used to acquire the center coordinates (Ax, Ay), the center coordinates (Bx1, By1), and the center coordinates (Bx2, By2) of the carriage to be loaded through the image acquisition device, wherein the center of the first carriage and the center of the second carriage are the symmetrical center positions of the left and right side frames of the carriage, respectively. The correction feature point acquisition module is used to measure along the horizontal direction of the X-axis and the vertical direction of the Y-axis of the coordinate system through the image acquisition device, and acquire the coordinates of the first correction feature point (Cx, Cy) in the X-axis direction and the coordinates of the second correction feature point (Dx, Dy) in the Y-axis direction, respectively. The coordinate system and vector construction module is used to calculate, with the center coordinates (Ax, Ay) of the carriage as the reference point, a first vector pointing from the center of the carriage to the center coordinates (Bx1, By1) of the first carriage frame, a second vector pointing to the center coordinates (Bx2, By2) of the second carriage frame, a third vector pointing to the coordinates (Cx, Cy) of the first correction feature point, and a fourth vector pointing to the coordinates (Dx, Dy) of the second correction feature point. The compensation angle calculation module is used to calculate the compensation angle in the X-axis direction based on the first vector and the third vector; and to calculate the compensation angle in the Y-axis direction based on the second vector and the fourth vector.

[0011] As a preferred embodiment, in the image acquisition module, the image acquisition device is a vision sensor or industrial camera mounted on the loading machine. It identifies and extracts the center coordinates (Ax, Ay), the center coordinates of the first frame, and the center coordinates of the second frame of the vehicle by capturing image information from the top or side of the vehicle.

[0012] As a preferred embodiment, in the coordinate system and vector construction module... The expression for the first vector: V1=(Bx1) Ax,By1 Ay); The expression for the second vector: V2=(Bx2) Ax,By2 Ay); The expression for the third vector is: V3=(Cx Ax,Cy Ay); The expression for the fourth vector: V4=(Dx Ax,Dy Ay); Where (Ax, Ay) are the center coordinates of the carriage, (Bx1, By1) are the center coordinates of the first carriage frame, (Bx2, By2) are the center coordinates of the second carriage frame, (Cx, Cy) are the coordinates of the first correction feature point, (Dx, Dy) are the coordinates of the second correction feature point, V1 is the first vector, V2 is the first vector, V3 is the first vector, and V4 is the first vector.

[0013] In a preferred embodiment, the expression for the compensation angle in the X-axis direction in the compensation angle calculation module is: ; The expression for the compensation angle in the Y-axis direction is: ; in, The compensation angle in the X-axis direction, This is the compensation angle in the Y-axis direction.

[0014] As a preferred implementation scheme, the loading position of the loading machine is adjusted according to the calculated compensation angles in the X-axis and Y-axis directions to achieve the correction of the car body's deviation.

[0015] Compared with existing technologies, this invention acquires the coordinate information of the carriage and correction feature points through an image acquisition device, and accurately calculates the compensation angles in the X and Y axes based on vector operations, thereby driving the loading machine to perform automatic correction adjustments. Compared with traditional manual correction methods, this invention has the following advantages: the entire correction angle calculation and correction adjustment process requires no manual intervention, realizing automated correction of loading operations and reducing the intensity of manual labor; by accurately extracting coordinate information through image recognition technology and combining it with vector operations for angle calculation, the offset of the carriage can be accurately reflected, ensuring the accuracy of correction adjustments and effectively avoiding problems such as cargo spillage and uneven loading; image acquisition and angle calculation are both completed by automated equipment and algorithms, with a response speed much faster than manual observation and adjustment, improving the efficiency of loading operations; the image acquisition device can use a vision sensor or an industrial camera, and the installation position can be flexibly adjusted to adapt to different types of carriages and loading scenarios, and has broad application prospects. Attached Figure Description

[0016] Figure 1This is a logic block diagram of the carriage correction angle calculation method based on image acquisition according to the present invention; Figure 2 A two-dimensional rectangular coordinate system planar diagram for the invention; Figure 3 This is a schematic diagram of the carriage correction angle calculation device based on image acquisition according to the present invention. Figure label: 1. Image acquisition module; 2. Correction feature point acquisition module; 3. Coordinate system and vector construction module; 4. Compensation angle calculation module. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0018] refer to Figure 1 , Figure 2 Example 1 discloses a method for calculating the carriage correction angle based on image acquisition. The method includes the following steps: Step 1: Establish a two-dimensional rectangular coordinate system XOY with the center of the carriage to be loaded as the origin. Use an image acquisition device to obtain the center coordinates (Ax, Ay) of the carriage, the center coordinates (Bx1, By1) of the first frame, and the center coordinates (Bx2, By2) of the second frame. The center of the first frame and the center of the second frame are the symmetrical center positions of the left and right side frames of the carriage, respectively.

[0019] The image acquisition device is a vision sensor or industrial camera mounted on the loading machine. It captures images of the top or sides of the truck bed, extracts the outline features of the truck bed using image recognition technology, and then determines the center coordinates (Ax, Ay) of the truck bed, the center coordinates (Bx1, By1) of the first frame, and the center coordinates (Bx2, By2) of the second frame. The installation position of the image acquisition device can be adjusted according to the actual loading scenario to ensure that the key outline information of the truck bed can be clearly captured.

[0020] Step 2: The image acquisition device is used to measure along the horizontal direction of the X-axis and the vertical direction of the Y-axis of the coordinate system to obtain the coordinates of the first correction feature point (Cx, Cy) in the X-axis direction and the coordinates of the second correction feature point (Dx, Dy) in the Y-axis direction.

[0021] The first correction feature point along the X-axis serves as a reference point for determining the horizontal offset of the carriage, while the second correction feature point along the Y-axis serves as a reference point for determining the vertical offset of the carriage. The image acquisition device precisely scans and measures the image area along the X and Y axes of the coordinate system, extracting the coordinate information of these two correction feature points to provide data support for subsequent angle calculations.

[0022] Step 3: Using the center coordinates (Ax, Ay) of the carriage as the reference point, calculate the first vector pointing from the center of the carriage to the center coordinates (Bx1, By1) of the first carriage frame, the second vector pointing to the center coordinates (Bx2, By2) of the second carriage frame, the third vector pointing to the coordinates (Cx, Cy) of the first correction feature point, and the fourth vector pointing to the coordinates (Dx, Dy) of the second correction feature point.

[0023] The expression for the first vector: V1=(Bx1) Ax,By1 Ay); The expression for the second vector: V2=(Bx2) Ax,By2 Ay); The expression for the third vector is: V3=(Cx Ax,Cy Ay); The expression for the fourth vector: V4=(Dx Ax,Dy Ay); Where (Ax, Ay) are the center coordinates of the carriage, (Bx1, By1) are the center coordinates of the first carriage frame, (Bx2, By2) are the center coordinates of the second carriage frame, (Cx, Cy) are the coordinates of the first correction feature point, (Dx, Dy) are the coordinates of the second correction feature point, V1 is the first vector, V2 is the first vector, V3 is the first vector, and V4 is the first vector.

[0024] Step 4: Calculate the compensation angle in the X-axis direction based on the first and third vectors; calculate the compensation angle in the Y-axis direction based on the second and fourth vectors.

[0025] The expression for the compensation angle in the X-axis direction is: ; The expression for the compensation angle in the Y-axis direction is: ; in, The compensation angle in the X-axis direction, This is the compensation angle in the Y-axis direction.

[0026] Step 5: Based on the calculated compensation angles in the X-axis and Y-axis directions, adjust the loading position of the loading machine to correct the deviation of the car body.

[0027] After receiving the aforementioned compensation angle signal, the control system of the loading machine drives the actuator of the loading machine to make corresponding angle adjustments along the X and Y axes, so that the loading outlet of the loading machine is precisely aligned with the actual position of the car body, thereby completing automatic correction and ensuring the smooth progress of the loading operation.

[0028] refer to Figure 3 Example 2, a carriage correction angle calculation device based on image acquisition, includes: Image acquisition module 1 is used to acquire the center coordinates (Ax, Ay), the center coordinates (Bx1, By1), and the center coordinates (Bx2, By2) of the carriage to be loaded through an image acquisition device, wherein the center of the first frame and the center of the second frame are the symmetrical center positions of the left and right side frames of the carriage, respectively. The correction feature point acquisition module 2 is used to measure along the horizontal direction of the X-axis and the vertical direction of the Y-axis of the coordinate system through the image acquisition device, and acquire the coordinates of the first correction feature point (Cx, Cy) in the X-axis direction and the coordinates of the second correction feature point (Dx, Dy) in the Y-axis direction, respectively. The coordinate system and vector construction module 3 is used to calculate, with the center coordinates (Ax, Ay) of the carriage as the reference point, a first vector pointing from the center of the carriage to the center coordinates (Bx1, By1) of the first frame, a second vector pointing to the center coordinates (Bx2, By2) of the second frame, a third vector pointing to the coordinates (Cx, Cy) of the first correction feature point, and a fourth vector pointing to the coordinates (Dx, Dy) of the second correction feature point. The compensation angle calculation module 4 is used to calculate the compensation angle in the X-axis direction based on the first and third vectors, and to calculate the compensation angle in the Y-axis direction based on the second and fourth vectors. As a connecting bridge between the device and the loading machine's actuator, the compensation angle calculation module 4 converts the calculated compensation angle into executable control commands, ensuring that the loading machine can accurately complete position adjustments according to the commands and achieve automatic correction functionality.

[0029] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for calculating the carriage correction angle based on image acquisition, characterized in that, Includes the following steps: S1: Establish a two-dimensional rectangular coordinate system XOY with the center of the carriage to be loaded as the origin. Obtain the center coordinates (Ax, Ay), the center coordinates (Bx1, By1), and the center coordinates (Bx2, By2) of the carriage through an image acquisition device. The center of the first frame and the center of the second frame are the symmetrical center positions of the left and right side frames of the carriage, respectively. S2: The image acquisition device measures along the horizontal direction of the X-axis and the vertical direction of the Y-axis of the coordinate system to obtain the coordinates of the first correction feature point (Cx, Cy) in the X-axis direction and the coordinates of the second correction feature point (Dx, Dy) in the Y-axis direction, respectively. S3: Using the center coordinates (Ax, Ay) of the carriage as a reference point, calculate the first vector pointing from the center of the carriage to the center coordinates (Bx1, By1) of the first frame, the second vector pointing to the center coordinates (Bx2, By2) of the second frame, the third vector pointing to the coordinates (Cx, Cy) of the first correction feature point, and the fourth vector pointing to the coordinates (Dx, Dy) of the second correction feature point. S4: Calculate the compensation angle in the X-axis direction based on the first vector and the third vector; calculate the compensation angle in the Y-axis direction based on the second vector and the fourth vector.

2. The method for calculating the carriage correction angle based on image acquisition according to claim 1, characterized in that, In step S1, the image acquisition device is a vision sensor or industrial camera mounted on the loading machine. It identifies and extracts the center coordinates (Ax, Ay), the center coordinates of the first frame, and the center coordinates of the second frame of the vehicle by capturing image information from the top or side of the vehicle.

3. The method for calculating the carriage correction angle based on image acquisition according to claim 1, characterized in that, In step S3: The expression for the first vector: V1=(Bx1) Ax,By1 Ay); The expression for the second vector: V2=(Bx2) Ax,By2 Ay); The expression for the third vector is: V3=(Cx Ax,Cy Ay); The expression for the fourth vector: V4=(Dx Ax,Dy Ay); Where (Ax, Ay) are the center coordinates of the carriage, (Bx1, By1) are the center coordinates of the first carriage frame, (Bx2, By2) are the center coordinates of the second carriage frame, (Cx, Cy) are the coordinates of the first correction feature point, (Dx, Dy) are the coordinates of the second correction feature point, V1 is the first vector, V2 is the first vector, V3 is the first vector, and V4 is the first vector.

4. The method for calculating the carriage correction angle based on image acquisition according to claim 3, characterized in that, In step S4, the expression for the compensation angle in the X-axis direction is: ； The expression for the compensation angle in the Y-axis direction is: ； in, The compensation angle in the X-axis direction, This is the compensation angle in the Y-axis direction.

5. The method for calculating the carriage correction angle based on image acquisition according to claim 1, characterized in that, The method further includes adjusting the loading position of the loading machine based on the calculated compensation angles in the X-axis and Y-axis directions to correct the deviation of the car body.

6. A carriage correction angle calculation device based on image acquisition, characterized in that, include: The image acquisition module (1) is used to acquire the center coordinates (Ax, Ay), the center coordinates (Bx1, By1) of the first frame and the center coordinates (Bx2, By2) of the car body to be loaded through the image acquisition device, wherein the center of the first frame and the center of the second frame are the symmetrical center positions of the left and right side frames of the car body, respectively. The correction feature point acquisition module (2) is used to measure along the horizontal direction of the X-axis and the vertical direction of the Y-axis of the coordinate system through the image acquisition device, and acquire the coordinates of the first correction feature point (Cx, Cy) in the X-axis direction and the coordinates of the second correction feature point (Dx, Dy) in the Y-axis direction respectively. The coordinate system and vector construction module (3) is used to calculate, with the center coordinates (Ax, Ay) of the carriage as the reference point, a first vector pointing from the center of the carriage to the center coordinates (Bx1, By1) of the first carriage frame, a second vector pointing to the center coordinates (Bx2, By2) of the second carriage frame, a third vector pointing to the coordinates (Cx, Cy) of the first correction feature point, and a fourth vector pointing to the coordinates (Dx, Dy) of the second correction feature point; The compensation angle calculation module (4) is used to calculate the compensation angle in the X-axis direction based on the first vector and the third vector; and to calculate the compensation angle in the Y-axis direction based on the second vector and the fourth vector.

7. The carriage correction angle calculation device based on image acquisition according to claim 6, characterized in that, In the image acquisition module (1), the image acquisition device is a vision sensor or industrial camera mounted on the loading machine. It identifies and extracts the center coordinates (Ax, Ay), the center coordinates of the first frame and the center coordinates of the second frame of the carriage by capturing image information of the top or side of the carriage.

8. The carriage correction angle calculation device based on image acquisition according to claim 7, characterized in that, In the coordinate system and vector construction module (3), The expression for the first vector: V1=(Bx1) Ax,By1 Ay); The expression for the second vector: V2=(Bx2) Ax,By2 Ay); The expression for the third vector is: V3=(Cx Ax,Cy Ay); The expression for the fourth vector: V4=(Dx Ax,Dy Ay); Where (Ax, Ay) are the center coordinates of the carriage, (Bx1, By1) are the center coordinates of the first carriage frame, (Bx2, By2) are the center coordinates of the second carriage frame, (Cx, Cy) are the coordinates of the first correction feature point, (Dx, Dy) are the coordinates of the second correction feature point, V1 is the first vector, V2 is the first vector, V3 is the first vector, and V4 is the first vector.

9. The carriage correction angle calculation device based on image acquisition according to claim 8, characterized in that, In the compensation angle calculation module (4), the expression for the compensation angle in the X-axis direction is: ； The expression for the compensation angle in the Y-axis direction is: ； in, The compensation angle in the X-axis direction, This is the compensation angle in the Y-axis direction.

10. The carriage correction angle calculation device based on image acquisition according to claim 9, characterized in that, Based on the calculated compensation angles in the X-axis and Y-axis directions, the loading position of the loading machine is adjusted to correct the deviation of the car body.

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