Container contour positioning method based on edge detection

Abstract

The invention discloses a container contour positioning method based on edge detection. The container contour positioning method adopts a camera to collect images on two opposite side of the container and obtains a rough positioning range for an upper lock hole and a lower lock hole; lock hole rough positioning images are converted to gray scale images to perform pre-processing to obtain images of I1,I2; edge detection is performed on the image I1 and the image I2 to obtain edge images I1', I'2 of the upper lock hole and the lower lock hole which are roughly positioned; a Hough straight line detection algorithm is adopted to perform detection to obtain a line segment set; a DBCAN clustering algorithm is adopted to maintain line segments close to horizontal and vertical to obtain a horizontal line segment set LH and a vertical line segment set LV; four intersection points p1, p2, p3, and p4 are obtained and the four intersection points constitutes a quadrangle which is the couture of the container. As a result, the positioning of the container couture is realized. The container contour positioning method based on the edge detection can effectively solve a problem of an interference edge of the lock hole image during the edge detection and can overcome a defect that the Hough straight line effect is not good.

Description

Technical field [0001] The invention belongs to the field of computer vision technology and image processing technology, and specifically relates to a container contour positioning method based on edge detection. Background technique [0002] With the development of container transportation, container ships have become larger and larger, the proportion of containerization of goods has continued to increase, and the volume of container transportation has continued to rise. From the analysis of voyage economic accounting, shortening the berthing time of container ships can reduce berthing costs, improve the navigation efficiency of container ships, give full play to the advantages of ship unit transportation costs, and improve economic benefits. The traditional manual control of grabbing containers has greatly affected the production efficiency and loading and unloading speed. A bridge crane loads a container from a freighter to a trailer. The process requires high operation preci...

AI Technical Summary

Problems solved by technology

[0004] To sum up, the current method has the following deficiencies: (1) There is a certain error in replacing the outer corner of the container with the coordinates of the center of the lifting hole. (2) There is a certain error in replacing the outer corner of the container with the apex of the circumscribed rectangle of the keyhole (3) The effect on the worn keyhole is not good, etc.

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