Hopper real-time positioning method for semitrailer material filling

Abstract

The invention discloses a hopper real-time positioning method for semitrailer material filling. The method comprises the following steps: preprocessing a current hopper video frame image to obtain a semitrailer grayscale image; processing the semitrailer grayscale image to obtain halo image data; carrying out vehicle hopper outer corner feature extraction on the halo image data to obtain vehicle contour image data; performing gaussian blur on the halo image data, and robustness optimal modeling is performed by using the vehicle contour image data; performing auto-quotient graph processing by using the vehicle contour image data and the robustness optimal modeling result; coordinate regression is conducted on the autoquotient graph processing result, and car hopper corner point coordinatesare obtained; and taking the next frame of the video frame image sequence to execute the processing of the steps 1-6, and repeating the steps to obtain the car hopper corner point coordinates of the video frame image sequence, thereby realizing the real-time positioning of the car hopper. By utilizing the method and the device, the workload of manual parameter debugging can be reduced, and the detection robustness under the illumination change condition is improved.

Description

technical field [0001] The invention relates to a method for detecting and locating a target, in particular to a method for real-time locating a car body. Background technique [0002] The positioning of the filling equipment of the semi-trailer body is mostly estimated by the naked eye. The position of the filling hopper is mainly controlled by the controller, and the feeding time is controlled by experience, and then the next position is changed to continue the feeding to ensure the uniformity of loading. Manual control not only requires special training, but also is prone to distraction or unfamiliar operation during work, resulting in unloading material overflowing the bucket position. Manual operation problems often cause many unnecessary troubles, such as pouring onto the front of the semi-trailer, spilling materials on the ground, etc. At present, the solution to this kind of problem is still to train professional operators to carry out cutting operations, and instal...

AI Technical Summary

Problems solved by technology

However, this method relies too much on reflective beacons, and sunlight has strong infrared radiation, which will be stronger than the emission power of active infrared, which will easily lead to detection failure, which needs to be overcome by shading and other measures, and the robustness is not strong

[0004] Therefore, the existing technology has the problems of heavy workload of manually debugging parameters and poor robustness of detection of the edge position of the vehicle body under changing illumination conditions.

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