CN113838148A - Automatic positioning method of oil filling riser oil loading and unloading device based on machine vision - Google Patents
Automatic positioning method of oil filling riser oil loading and unloading device based on machine vision Download PDFInfo
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Abstract
The invention discloses an automatic positioning method of a loading and unloading device of a loading and unloading pipe based on machine vision, which comprises the steps of moving an oil tank truck in a defined area, photographing and collecting pictures of a tank opening position in the camera view field of the oil tank truck, carrying out Gaussian noise reduction on the collected pictures of the tank opening position, positioning a tank opening circle, carrying out 9-point calibration of the images through the positions after the tank opening circle is positioned to the circle center, determining 9-point image coordinates and corresponding conversion arm coordinates, converting joint coordinates J1 and J2 shaft angles into world coordinate system point positions, and establishing a conversion relation between the image coordinates of each point in the 9-point calibration and the world coordinates after the corresponding joint coordinates are converted. Data can be obtained by once photographing and positioning, the consumed time is short, and the operation is simple.
Description
Technical Field
The invention relates to the field of crane pipe positioning, in particular to an automatic positioning method of a crane pipe oil loading and unloading device based on machine vision.
Background
Petrochemical class liquid is loading and unloading the car in-process, often need insert the oil filling riser into the jar mouth of car or train, just can carry out the conveying operation of liquid this moment, and this process involves the counterpoint operation of oil filling riser and jar mouth, needs its accurate counterpoint.
The foreign crane pipe automatic positioning system mainly depends on an infrared laser positioning technology, the technology mainly drives a laser through a slide rail to detect the edge of a tank opening in real time, and the detected edge starting part and the detected edge ending part carry out rough positioning on the center of the tank opening; after coarse positioning, a vision system continuously acquires tank opening images, accurately positions the tank opening by utilizing template matching and central calculation, performs fine positioning, and sends a positioning result to a PLC (programmable logic controller) to control a large oil filling riser to complete a series of actions, the infrared laser positioning technology has the defects of being easily influenced by supports such as the shape and height of the tank opening and peripheral beams, the structural design is complex, a sliding guide rail is required to drive a laser to move, the cost is high, the cost is increased too much for an oil filling riser arm with relatively short single-day working time, and the infrared laser positioning technology is not beneficial to large-scale popularization; and when the tank opening is too far away from the range of the laser, the laser needs to be moved for many times, which takes longer time.
At present, the domestic crane pipe positioning system is mainly completed by manual operation, the alignment precision of the manual operation cannot be guaranteed, the alignment process is long, the labor intensity of operators is high, the operators are easy to fatigue, equipment is easy to damage, and safety accidents are easy to cause.
Therefore, the automatic positioning method of the oil loading and unloading device of the loading and unloading pipe based on the machine vision is provided.
Disclosure of Invention
The invention mainly aims to provide an automatic positioning method of a loading and unloading device of a loading and unloading arm based on machine vision, which adopts a camera to shoot, the loading and unloading arm is a rotating arm, a J1 shaft and a J2 shaft can rotate, the tail end of a J2 shaft is provided with the loading and unloading device of the loading and unloading arm, and the device can extend up and down for a certain height. The invention adopts the conversion algorithm between the coordinate of the rotating arm of the oil filling riser and the world coordinate, the conversion calculation between the world coordinate and the image and the positioning algorithm for stabilizing the tank opening in different illumination environments, can accurately position the position of the tank opening through the above algorithms, realizes automatic oil loading and unloading, and can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the automatic positioning method of the oil loading and unloading device of the loading and unloading arm based on machine vision comprises a camera, a PLC (programmable logic controller), a J1 shaft and a J2 shaft, wherein the tail end of the J2 shaft is used for loading and unloading oil of the loading and unloading arm, the tail end of the J1 shaft is connected with the front end of the J2 shaft, and the method comprises the following steps:
moving the oil tank truck to a defined area with the tank opening positioned in the camera view field range, and taking a picture of the tank opening position in the camera view field of the oil tank truck through a vision system;
secondly, carrying out Gaussian denoising on the collected picture of the position of the tank opening, and positioning the round tank opening;
step three, after the circle center is positioned, 9 points of the image are calibrated according to the position;
step four, after the 9-point image coordinate and the corresponding conversion arm coordinate are determined, converting the joint coordinates J1 and J2 shaft angles into world coordinate system point positions;
establishing a conversion relation between the image coordinate of each point in the 9-point calibration and the world coordinate after the corresponding joint coordinate conversion;
step six, performing inverse operation on the step four to calculate the angle of the corresponding axis of the crane pipe wall;
and step seven, after the calibration and calculation processes are completed, a normal loading and unloading oil flow is carried out.
The invention is further improved in that the specific step of positioning the center of the tank opening in the second step is that a template circle is established firstly, then template matching is carried out according to the radius and the tolerance of the circle, then the tank opening is searched according to the matched score, the range meeting a certain score and the radius is the position of the tank opening to be searched, and finally the circular image coordinate is output.
The invention is further improved in that the specific steps of the 9-point calibration in the third step are that firstly, the position of the tank opening is moved to the edge angle, the circle is photographed and positioned, the current coordinate image is recorded, then the crane pipe J1 shaft and the J2 shaft are moved to make the center of the tail end of the J2 shaft align with the center of the tank opening, and at the moment, the current coordinate positions of the J1 shaft and the J2 shaft are recorded; and then moving the oil tank truck to drive the tank opening to move, repeating the steps for 8 times, wherein 9 points cover the edge and the center of the image in the moving process and are uniformly distributed in the range as large as possible in the image visual field.
The invention is further improved in that the specific method in the fifth step is that the world coordinate is obtained by multiplying the coordinate by a 2 x 3 matrix, the 2 x 3 matrix is obtained, the matrix is converted into a relation matrix, and the world coordinate can be converted by any point coordinate in the image.
The invention is further improved in that the oil loading and unloading process in the seventh step is as follows:
firstly, the oil tank truck is in place, and a top cover of a tank opening of the oil tank truck is manually opened;
triggering a camera to take a picture through a PLC controller to obtain an image;
thirdly, processing the image, extremely acquiring the image coordinate of the center point of the tank opening, converting the image coordinate into a world coordinate, and converting the world coordinate into a joint coordinate;
fourthly, sending the converted joint coordinates J1 and J2 to a PLC (programmable logic controller), and the PLC receives data to start to move the crane pipe wall to the angle of the corresponding shaft;
fifthly, after the oil tank is moved to the right position, the J2 shaft tail end extending and descending mechanism is descended to the inside of the tank opening, and oil loading and unloading work is carried out;
and sixthly, lifting the lifting mechanism after loading and unloading are finished, and moving to an initial position to wait for the next round of action to be performed circularly.
Compared with the prior art, the invention can reduce the influence of surrounding complex background and structure, has simple structure, lower cost and convenient installation, can obtain data by one-time shooting and positioning, has short consumed time and simple operation, can be compatible with various tank opening sizes, including train and automobile tank openings, is not interfered by other cross beams and the like, and only needs to position the central position of the tank opening.
Compared with the prior art, the automatic alignment device disclosed by the invention can be used for finishing automatic alignment through communication with the PLC, so that the labor cost is reduced, the alignment efficiency and accuracy are improved, and the device is safer and more reliable.
Compared with the prior art, the solar energy water heater can be suitable for various complex environments, is not influenced by sunlight at different angles, and filters the influence of illumination.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the technical description of the present invention will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a coordinate transformation diagram of an automatic positioning method of a loading and unloading device of a loading and unloading arm based on machine vision.
Fig. 2 is an overall flow chart of the automatic positioning method of the loading and unloading device of the loading and unloading arm based on machine vision.
Fig. 3 is a schematic diagram of a scheme of an automatic positioning method of a loading and unloading device of a loading and unloading arm based on machine vision.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are not intended to be limiting, wherein certain elements may be omitted, enlarged or reduced in size, and are not intended to represent the actual dimensions of the product, so as to better illustrate the detailed description of the invention.
Example 1
As shown in fig. 1-3, an automatic positioning method of a loading and unloading device of a loading and unloading arm based on machine vision comprises a camera, a PLC controller, a shaft J1 and a shaft J2, wherein the tail end of the shaft J2 is used for loading and unloading oil of the loading and unloading arm, the tail end of the shaft J1 is connected with the front end of the shaft J2, and the method comprises the following steps:
moving the oil tank truck to a defined area with the tank opening positioned in the camera view field range, and taking a picture of the tank opening position in the camera view field of the oil tank truck through a vision system;
secondly, carrying out Gaussian denoising on the collected picture of the position of the tank opening, and positioning the round tank opening;
step three, after the circle center is positioned, 9 points of the image are calibrated according to the position;
step four, after the 9-point image coordinate and the corresponding conversion arm coordinate are determined, converting the joint coordinates J1 and J2 shaft angles into world coordinate system point positions;
establishing a conversion relation between the image coordinate of each point in the 9-point calibration and the world coordinate after the corresponding joint coordinate conversion;
step six, performing inverse operation on the step four to calculate the angle of the corresponding axis of the crane pipe wall;
and step seven, after the calibration and calculation processes are completed, a normal loading and unloading oil flow is carried out.
Step eight, manually opening a top cover of a tank opening of the oil tank truck when the oil tank truck is in place;
triggering a camera to take a picture through a PLC controller to obtain an image;
step ten, processing the image, extremely acquiring the image coordinate of the center point of the tank opening, converting the image coordinate into a world coordinate, and converting the world coordinate into a joint coordinate;
step eleven, sending the converted joint coordinates J1 and J2 axis angles to a PLC (programmable logic controller), and enabling the PLC to receive data and start to move the crane pipe wall to the angle of the corresponding axis;
step twelve, after moving to the right position, descending the J2 shaft tail end extending and descending mechanism to the inside of the tank opening, and carrying out oil loading and unloading work;
and step thirteen, lifting the lifting mechanism after loading and unloading, moving to the initial position and waiting for the next cycle of action.
The embodiment can realize that: the invention can reduce the influence of surrounding complex background and structure, has simple structure, lower cost, convenient installation, short time consumption and simple operation, can obtain data by once photographing and positioning, can be compatible with various tank mouth sizes including train and automobile tank mouths, is not interfered by other cross beams and the like, and only needs to position the central position of the tank mouth.
Example 2
As shown in fig. 1-3, an automatic positioning method of a loading and unloading device of a loading and unloading arm based on machine vision comprises a camera, a PLC controller, a shaft J1 and a shaft J2, wherein the tail end of the shaft J2 is used for loading and unloading oil of the loading and unloading arm, the tail end of the shaft J1 is connected with the front end of the shaft J2, and the method comprises the following steps:
moving the oil tank truck to a defined area with the tank opening positioned in the camera view field range, and taking a picture of the tank opening position in the camera view field of the oil tank truck through a vision system;
secondly, carrying out Gaussian denoising on the collected picture of the position of the tank opening, positioning the circular shape of the tank opening, firstly establishing a template circle, setting a black circle template according to the black-white characteristics of the circle, carrying out template matching according to the radius and the tolerance of the circle, then searching the tank opening according to the matched score, wherein the range meeting a certain score and the radius is the position of the tank opening to be searched, and finally outputting the image coordinate of the circular shape;
step three, after the circle center is located, 9-point calibration of an image is carried out through the position, firstly, the position of the tank opening is moved to an edge angle as much as possible, the circle center is photographed and located, the current image coordinate is recorded, the crane pipe J1 axis and the J2 axis are moved to enable the center of the tail end of the J2 axis to be aligned with the center of the tank opening, and at the moment, the current coordinate positions of the J1 axis and the J2 axis are recorded; then moving the oil tank truck to drive the tank opening to move, repeating the steps for 8 times, wherein 9 points cover the edge and the center of the image as much as possible in the moving process and are uniformly distributed in the image view field in a range as large as possible;
after determining the 9-point image coordinate and the corresponding conversion arm coordinate, according to the known lengths of a J1 axis and a J2 axis and angles theta 1 and theta 2 in the graph 1, b can be solved, then the length of R can be solved according to the trigonometric function theorem, meanwhile, the included angle between J1 and R can be solved, further, an angle a can be obtained, then world coordinate points of x and y of the terminal point position of J2 can be solved according to the trigonometric function theorem of a right triangle, the method and the principle of the left side and the right side are the same, and the method converts the joint coordinate J1 and the J2 axis angle into the point position of a world coordinate system because the arm length is fixed and unchanged;
establishing a conversion relation between the image coordinates of each point in the 9-point calibration and the world coordinates after the corresponding joint coordinates are converted, multiplying the image coordinates by a 2 x 3 matrix to obtain the world coordinates, and obtaining the 2 x 3 matrix, wherein the matrix is a conversion relation matrix and can be converted into the world coordinates through any point coordinates in the image;
step six, carrying out inverse operation on the step four, knowing the values of J1, J2, x and y, solving the values of the angles theta 1 and theta 2, calculating corresponding results according to a trigonometric function, and calculating the angle of the corresponding axis of the crane pipe wall;
and step seven, after the calibration and calculation processes are completed, a normal loading and unloading oil flow is carried out.
The automatic alignment device can be realized by the embodiment, the automatic alignment is completed through communication with the PLC, the labor cost is reduced, the alignment efficiency and accuracy are improved, the device is safer and more reliable, the device can be suitable for various complex environments, is not influenced by sunlight at different angles, and filters the influence of illumination.
Example 3
As shown in fig. 1-3, an automatic positioning method for a loading and unloading device of a loading and unloading arm based on machine vision, when a tank truck needs to load and unload oil, the loading and unloading process of the tank truck is as follows:
firstly, the oil tank truck is in place, and as shown in figure 3, a top cover of a tank opening of the oil tank truck is manually opened;
triggering a camera to take a picture through a PLC controller to obtain an image;
thirdly, processing the image, extremely acquiring the image coordinate of the center point of the tank opening, converting the image coordinate into a world coordinate, and converting the world coordinate into a joint coordinate;
fourthly, sending the converted joint coordinates J1 and J2 to a PLC (programmable logic controller), and the PLC receives data to start to move the crane pipe wall to the angle of the corresponding shaft;
fifthly, after the oil tank is moved to the right position, the J2 shaft tail end extending and descending mechanism is descended to the inside of the tank opening, and oil loading and unloading work is carried out;
and sixthly, lifting the lifting mechanism after loading and unloading are finished, and moving to an initial position to wait for the next round of action to be performed circularly.
Can realize through this embodiment, can carry out the automatic positioning of oil filling riser and jar mouth fast and accurately to improving industrial production efficiency, avoid the emergence of incident to have great meaning.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The automatic positioning method of the oil loading and unloading device of the loading and unloading arm based on the machine vision comprises a camera, a PLC (programmable logic controller), a J1 shaft and a J2 shaft, wherein the tail end of the J2 shaft is used for loading and unloading oil of the loading and unloading arm, and the tail end of the J1 shaft is connected with the front end of the J2 shaft, and is characterized by comprising the following steps of:
moving the oil tank truck to a defined area with the tank opening positioned in the camera view field range, and taking a picture of the tank opening position in the camera view field of the oil tank truck through a vision system;
secondly, carrying out Gaussian denoising on the collected picture of the position of the tank opening, and positioning the round tank opening;
step three, after the circle center is positioned, 9 points of the image are calibrated according to the position;
step four, after the 9-point image coordinate and the corresponding conversion arm coordinate are determined, converting the joint coordinates J1 and J2 shaft angles into world coordinate system point positions;
establishing a conversion relation between the image coordinate of each point in the 9-point calibration and the world coordinate after the corresponding joint coordinate conversion;
step six, performing inverse operation on the step four to calculate the angle of the corresponding axis of the crane pipe wall;
and step seven, after the calibration and calculation processes are completed, a normal loading and unloading oil flow is carried out.
2. The automatic positioning method of the oil filling and unloading device of the crane pipe based on the machine vision as claimed in claim 1, characterized in that: and the specific step of positioning the center of the tank opening in the second step is that a template circle is established, then template matching is carried out according to the radius and the tolerance of the circle, then the tank opening is searched according to the matched score, the range meeting a certain score and the radius is the position of the tank opening to be searched, and finally the circular image coordinate is output.
3. The automatic positioning method of the oil filling and unloading device of the crane pipe based on the machine vision as claimed in claim 1, characterized in that: the specific steps of the 9-point calibration in the third step are that firstly, the position of the tank opening is moved to an edge angle, the circle is photographed and positioned, the current coordinate image is recorded, then the crane pipe J1 axis and the J2 axis are moved to enable the center of the tail end of the J2 axis to be aligned with the center of the tank opening, and at the moment, the current coordinate positions of the J1 axis and the J2 axis are recorded; and then moving the oil tank truck to drive the tank opening to move, repeating the steps for 8 times, wherein 9 points cover the edge and the center of the image in the moving process and are uniformly distributed in the range as large as possible in the image visual field.
4. The automatic positioning method of the oil filling and unloading device of the crane pipe based on the machine vision as claimed in claim 1, characterized in that: the specific method in the fifth step is that the world coordinate is obtained by multiplying the coordinate by the 2 x 3 matrix, the 2 x 3 matrix is obtained, the matrix is converted into a relation matrix, and the world coordinate can be converted by the coordinate of any point in the image.
5. The automatic positioning method of the oil filling and unloading device of the crane pipe based on the machine vision as claimed in claim 1, characterized in that: the flow of loading and unloading oil in the seventh step is as follows:
firstly, the oil tank truck is in place, and a top cover of a tank opening of the oil tank truck is manually opened;
triggering a camera to take a picture through a PLC controller to obtain an image;
thirdly, processing the image, extremely acquiring the image coordinate of the center point of the tank opening, converting the image coordinate into a world coordinate, and converting the world coordinate into a joint coordinate;
fourthly, sending the converted joint coordinates J1 and J2 to a PLC (programmable logic controller), and the PLC receives data to start to move the crane pipe wall to the angle of the corresponding shaft;
fifthly, after the oil tank is moved to the right position, the J2 shaft tail end extending and descending mechanism is descended to the inside of the tank opening, and oil loading and unloading work is carried out;
and sixthly, lifting the lifting mechanism after loading and unloading are finished, and moving to an initial position to wait for the next round of action to be performed circularly.
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| CN114634150A (en) * | 2022-03-08 | 2022-06-17 | 北京邮电大学 | Automatic oil filling riser aligning system based on laser position sensor |
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