Method for positioning cylindrical part of storage yard crane and method for grappling and coupling hook

A positioning method and a technology of cylindrical parts, which are applied to computer parts, image data processing, instruments, etc., can solve the problems of high requirements, long time consumption, and low execution efficiency, so as to reduce operating costs, avoid inaccurate positioning, and implement The effect of improving efficiency

Active Publication Date: 2021-09-28
HENAN INST OF SCI & TECH
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  • Application Information

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Problems solved by technology

[0003] In addition, when locating the target part, the traditional method is to extract features through convolution or compare the image with the corresponding template to determine the contour, which requires a lot of calculations, and it...

Method used

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  • Method for positioning cylindrical part of storage yard crane and method for grappling and coupling hook
  • Method for positioning cylindrical part of storage yard crane and method for grappling and coupling hook
  • Method for positioning cylindrical part of storage yard crane and method for grappling and coupling hook

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Embodiment 1

[0038] like Figure 1-Figure 3 shown.

[0039] A method for locating cylindrical parts in a storage yard is used for a storage yard crane to find the center of a target cylindrical part stored in a storage yard, thereby performing positioning.

[0040] On the trolley of the crane, there is a vertically movable grab hook 2, and the center of the grab hook 2 is installed with a resolution of p x ×p y For industrial camera 1, it is stipulated that the upper left pixel of the image captured by industrial camera 1 is the coordinate origin, the horizontal direction on the image to the right is the positive direction of the x-axis, and the vertical direction on the image is the positive direction of the y-axis.

[0041] The included angle between the placement angle of the cylindrical parts stored axially and horizontally in the yard and the y-axis is any angle between [0°, 5°].

[0042] The information of the cylindrical parts stored in the yard is stored in advance, including th...

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Abstract

The invention discloses a method for positioning a cylindrical part of a storage yard crane and a method for grappling and coupling a hook The method specifically comprises the following steps: A, firstly, the goods allocation position, corresponding to the code, for storing the cylinder part is obtained; B, detecting a hook downwards, and enabling the height difference between an industrial camera of the hook and the target cylinder piece to be H; C, starting an industrial camera of the hook to carry out image acquisition; D, carrying out binaryzation on the acquired image; E, scanning and counting the black-white pixel ratio line by line from top to bottom, finding out two end points representing the boundary of the projection of the upper bottom surface of the target cylinder part on the image, and respectively recording the two end points as A (xa, ya) and B (xb, yb); F, calculating and obtaining a center coordinate C (xc, yc) of the target cylinder part on the image; and G, calculating the actual distance between the hook and the center of the target cylinder piece on the XOY plane.

Description

technical field [0001] The invention belongs to the technical field of intelligent lifting, and in particular relates to a method for positioning and hooking a cylinder of a yard crane. Background technique [0002] How to quickly locate the cylindrical parts and the hook hook is a key factor affecting the operation efficiency of the yard crane. The hook is mainly based on experience and human eye observation, coupled with visual fatigue caused by continuous high-intensity work and blind spots of human vision, the accuracy of positioning and the efficiency of the grapple hook will be greatly reduced. In this regard, the intelligent level of the crane needs to be further improved to meet the application requirements of smart cranes. Therefore, seeking a machine vision-based method for rapid positioning of cylinder parts of yard cranes and hook hooks not only helps to enrich the theoretical knowledge of efficient operation of cranes, but also has good practical application an...

Claims

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Application Information

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IPC IPC(8): G06T7/70G06T7/66G06T7/136G06K9/38
CPCG06T7/70G06T7/66G06T7/136G06T2207/10004G06T2207/30248
Inventor 杨文强聂福全杜留锋陈永刚杨之乐李勇峰徐君鹏彭占磊张栋华
Owner HENAN INST OF SCI & TECH
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