阅读说明：本技术 一种集卡装卸对箱自动检测装置及其检测方法 (Automatic detection device and detection method for container alignment during loading and unloading of container trucks ) 是由 宓超 张志伟 沈阳 凤宇飞 于 2019-09-25 设计创作，主要内容包括：本发明公开了一种集卡装卸对箱自动检测装置,涉及计算机视觉领域及集卡装卸安全领域,包括数据采集模块、触发模块、信号处理模块和报警模块,数据采集模块一一对应的设置在道口车道的两侧；触发模块设置在道口车道上,触发模块与数据采集模块相连接；信号处理模块设置在电气房内,信号处理模块与数据采集模块相连接,信号处理模块用于处理图像信息以及根据图像信息判断对箱状态；报警模块设置在电气房外侧,报警模块与信号处理模块相连接；一种集卡装卸对箱自动检测装置的检测方法。本发明针对港口作业过程,利用机器视觉技术智能识别集装箱与集卡是否对箱成功,及时进行报警,实现智能化、无人化、动态化的监控及管理。(the invention discloses an automatic detection device for a container alignment in the loading and unloading of a container truck, which relates to the field of computer vision and the field of container truck loading and unloading safety and comprises a data acquisition module, a trigger module, a signal processing module and an alarm module, wherein the data acquisition modules are arranged on two sides of a lane of a road junction in a one-to-one correspondence manner; the triggering module is arranged on the crossing lane and is connected with the data acquisition module; the signal processing module is arranged in the electric room and connected with the data acquisition module, and the signal processing module is used for processing image information and judging a box aligning state according to the image information; the alarm module is arranged outside the electric room and is connected with the signal processing module; a detection method of an automatic detection device for container alignment during the loading and unloading of a container truck. Aiming at the port operation process, the invention utilizes the machine vision technology to intelligently identify whether the container and the container truck successfully align the container or not, and alarms in time, thereby realizing intelligent, unmanned and dynamic monitoring and management.)

1. The utility model provides a collection card loading and unloading are to case automatic checkout device for detecting collection card (5) and container (6) on the road junction lane are to the case state, its characterized in that, automatic checkout device includes:

the data acquisition modules (1) are arranged on two sides of a road junction lane in a one-to-one correspondence manner and are used for acquiring image information of a lock head of the container truck (5) and a lock hole of the container (6);

the trigger module (2) is arranged on a road junction lane, and the trigger module (2) is connected with the data acquisition module (1) and is used for detecting whether the road junction lane is in a vehicle-on state or a vehicle-off state and sending a state signal to the data acquisition module (1) in real time;

the signal processing module (3) is arranged in an electric room, the signal processing module (3) is connected with the data acquisition module (1), the data acquisition module (1) sends the image information to the signal processing module (3), and the signal processing module (3) is used for processing the image information and judging a box aligning state according to the image information;

the alarm module (4) is arranged outside the electric room, and the alarm module (4) is connected with the signal processing module (3) and used for sending out an alarm signal according to the judgment result of the signal processing module (3).

2. A truck-loading-unloading pair-box automatic detection device according to claim 1, characterized in that said signal processing module (3) comprises:

The calculation board card (31), the calculation board card (31) is connected with the data acquisition module (1), the calculation board card (31) is used for receiving and processing the image information of the data acquisition module (1), and the calculation board card (31) is also used for judging a box alignment state according to the image information;

and the PLC module (32) is connected with the computing board card (31) and used for outputting the judgment result to the alarm module (4).

3. The apparatus according to claim 2, wherein the determination result comprises: the container alignment of the container truck (5) and the container (6) is successful, and the container truck (5) and the container (6) are failed.

4. A truck-loading and unloading pair-box automatic detection device according to claim 3, characterized in that said alarm module (4) comprises:

The alarm (41), the alarm (41) is connected with the PLC module (32), and the PLC module (32) outputs the judgment result to the alarm (41);

the display screen (42), the display screen (42) with calculate integrated circuit board (31) and be connected for show image information passes through the result picture that forms after calculating integrated circuit board (31) is handled.

5. the automatic detection device for a container loaded and unloaded by a card concentrator as claimed in claim 1, wherein the trigger module (2) adopts a geomagnetic coil.

6. the automatic detection device for the loading and unloading of the container truck as claimed in claim 1, wherein the data acquisition module (1) adopts a high-definition detection camera.

7. A method of testing a device for automatically testing the loading and unloading of a card collection into a box, comprising the device for automatically testing the loading and unloading of a card collection into a box of any one of claims 1 to 6, the method comprising:

s1: the calculation board card (31) acquires the bracket edge position of the container card (5) and the lock hole position of the container (6) according to the image information, a connecting line of the lock holes on the same side of the container (6) and a straight line of the bracket edge form an included angle, and an angle threshold value is preset in the calculation board card (31);

s2: the calculation board card (31) judges whether the included angle is larger than the angle threshold value;

S3: and S2, if so, judging that the container alignment between the container truck (5) and the container (6) fails, and if not, S2, judging that the container alignment between the container truck (5) and the container (6) succeeds.

8. The detection method of the automatic container-in-container detection device according to claim 7, wherein the computing board (31) performs image graying processing and binarization processing on the image information.

9. The detection method of the automatic container detection device by the loading and unloading of the container collection card according to claim 7, wherein the calculation board card (31) adopts Hough transform ellipse detection to obtain the position of the lock head and the position of the lock hole.

Technical Field

The invention relates to the field of computer vision and the technical field of container truck loading and unloading, in particular to a container truck loading and unloading automatic detection device and a container truck loading and unloading automatic detection method.

background

Most of container terminals, no matter traditional terminals or intelligent terminals, often have the condition of container truck error, lead to the container probably to drop in transit, have certain potential safety hazard. At present, the traditional wharf mostly depends on field personnel for inspection, the judgment is carried out by means of manual observation and the experience of a driver of operating equipment, a special person needs to be arranged in a crossing channel for inspection, and the labor cost is increased; the picture of the container card pair box is connected into the cab through installing the form of a remote monitoring camera at the present stage of the automatic wharf, so that the driver can know the real-time loading and unloading condition of the container card through continuously observing the real-time picture to avoid danger, the working strength and the complexity of the driver are increased by the mode, and potential safety hazards are increased or decreased. Another prevention method for the automated wharf is to scan the container trucks and containers by using a laser radar to determine whether the container is successfully aligned, which is too costly. Therefore, the invention adopts the loading and unloading based on vision to automatically detect the box, thereby not only saving the labor cost, but also improving the accuracy of box detection.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an automatic container-to-container detecting device and method for container loading and unloading by using a machine vision technology to intelligently identify whether a container and a container are successfully loaded or unloaded by a container and to alarm in time, thereby realizing intelligent, unmanned and dynamic monitoring and management.

in order to achieve the purpose, the invention adopts the technical scheme that:

The utility model provides a collection card loading and unloading are to case automatic checkout device for detect the collection card on the road junction lane and the container is to the case state, automatic checkout device includes: the data acquisition modules are arranged on two sides of a road junction lane in a one-to-one correspondence manner and are used for acquiring image information of a lock head of a container truck and a lock hole of a container; the triggering module is arranged on a crossing lane, is connected with the data acquisition module, and is used for detecting whether the crossing lane is in a vehicle-on state or a vehicle-off state and sending a state signal to the data acquisition module in real time; the signal processing module is arranged in the electric room, the signal processing module is connected with the data acquisition module, the data acquisition module sends the image information to the signal processing module, and the signal processing module is used for processing the image information and judging a box aligning state according to the image information; and the alarm module is arranged outside the electric room and connected with the signal processing module and used for sending out an alarm signal according to the judgment result of the signal processing module.

Preferably, the both sides in road junction lane are provided with the threely respectively data acquisition module, and road junction lane homonymy data acquisition module sets up side by side, and reasonable position that sets up is in order to guarantee each data acquisition module can gather one tapered end and one the lockhole image information, trigger module can judge whether there is the vehicle to pass through on the road junction lane, if there is the vehicle to pass through, then to data acquisition module sends status signal, data acquisition module begins work and gathers image information, can improve data acquisition module's work efficiency.

The above-mentioned automatic detection device for container alignment in the loading and unloading of the container truck, wherein the signal processing module includes:

The computing board card is connected with the data acquisition module, is used for receiving and processing the image information of the data acquisition module, and is also used for judging a box aligning state according to the image information;

And a PLC (Programmable Logic Controller) module, connected to the computing board, for outputting the judgment result to the alarm module.

The automatic detection device for the container alignment in the loading and unloading of the container truck is described, wherein the judgment result comprises: the container-to-container matching of the container card and the container is successful, and the container-to-container matching of the container card and the container fails.

The aforesaid collection card loading and unloading is to case automatic checkout device, wherein, alarm module includes:

the alarm is connected with the PLC module, and the PLC module outputs the judgment result to the alarm;

and the display screen is connected with the PLC module and used for displaying a result graph formed after the image information is processed by the computing board card.

The automatic detection device for the container alignment in the assembling and disassembling process of the container truck is characterized in that the trigger module adopts a geomagnetic coil.

preferably, be provided with two on the road junction lane trigger module, two trigger module sets up at a distance of interval, data acquisition module is located two between the trigger module, can be two place the collection card between the trigger module, when the collection card gets into and leaves, the trigger module all can detect the vehicle, and to data acquisition module sends status signal, when the collection card gets into, data acquisition module work, when the collection card leaves the back, data acquisition module is out of work.

The automatic detection device for the container alignment during the loading and unloading of the container trucks is characterized in that the data acquisition module adopts a high-definition detection camera.

A detection method of an automatic detection device for the loading and unloading of a container with a container, wherein the automatic detection device for the loading and unloading of the container with the:

s1: the calculation board card acquires the position of the edge of a bracket of the container card and the position of the lockhole of the container according to the image information, an included angle is formed between a connecting line of the lockholes on the same side of the container and a straight line of the edge of the bracket, and an angle threshold value is preset in the calculation board card;

s2: the calculation board card judges whether the included angle is larger than the angle threshold value;

s3: and if S2, judging that the container matching with the container fails, and if not, judging that the container matching with the container succeeds, S2.

In the detection method of the automatic container-aligning detection device for the loading and unloading of the container truck, the calculation board card performs image graying processing and binarization processing on the image information.

the detection method of the automatic detection device for the container loading and unloading of the container collecting card is characterized in that the calculation board card adopts Hough transform ellipse detection to obtain the position of the lock head and the position of the lock hole.

A work flow of an automatic detection device for container loading and unloading of a container collecting card comprises any one of the above automatic detection devices, and the work flow is as follows:

si: the triggering module detects whether vehicles pass through a lane of the road junction or not and sends a state signal to the data acquisition module;

sii: if Si is true, the data acquisition module starts to acquire the image information, and if not, Si is repeatedly executed;

Siii: the calculation board card processes the image information, and the calculation board card judges whether the container matching between the container collecting card and the container is successful according to the image information;

Siv: if the Siii is yes, the alarm module reports that the box is successfully matched and the box is requested to pass, and if the Siii is not, the alarm module reports that the box is failed to be matched and the box is requested to be matched again.

Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:

aiming at the port operation process, the invention utilizes the machine vision technology to intelligently identify whether the container and the container truck successfully align the container or not, and alarms in time, thereby realizing intelligent, unmanned and dynamic monitoring and management.

drawings

FIG. 1 is a schematic view of the automatic detection device for the loading and unloading of a card hopper of the present invention;

FIG. 2 is a schematic diagram of a data acquisition module of the present invention acquiring image information;

FIG. 3 is a schematic view of a data collection module and a hub of the present invention;

FIG. 4 is a block diagram of the structure of the automatic detection device for the loading and unloading of the container truck of the present invention;

FIG. 5 is a functional block diagram of the automatic detection device for the loading and unloading of the container truck of the present invention;

FIG. 6 is a flow chart of a method for detecting the automatic detection device for the loading and unloading of the container with the container truck according to the present invention.

In the drawings: 1. a data acquisition module; 2. a triggering module; 3. a signal processing module; 31. calculating a board card; 32. a PLC module; 4. an alarm module; 41. an alarm; 42. a display screen; 5. collecting cards; 6. a container; 7. railing machine.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

fig. 1 is a schematic view of a truck loading/unloading pair-box automatic detection device of the present invention, fig. 2 is a schematic view of a data acquisition module of the present invention acquiring image information, fig. 3 is a schematic view of a data acquisition module and a truck of the present invention, and fig. 4 is a block diagram of a structure of a truck loading/unloading pair-box automatic detection device of the present invention. Referring to fig. 1 to 4, there is shown an automatic container-to-container loading and unloading detecting device for a truck, for detecting the state of the truck 5 and the container 6 in the lane of the road junction, and determining whether the lock (not shown) of the truck 5 and the lock hole (not shown) of the container 6 are successfully aligned, including: the data acquisition modules 1 are arranged on two sides of a road junction lane in a one-to-one correspondence mode and used for acquiring image information of a lock head of the container 5 and image information of a lock hole of the container 6.

Further, as a preferred embodiment, the automatic detection device for the container loading and unloading of the container truck further comprises: trigger module 2, trigger module 2 sets up on the crossing lane, trigger module 2 is connected with data acquisition module 1 for it has the car state or is in the no car state to detect on the crossing lane, and send status signal to data acquisition module 1 in real time, when detecting to be in the car state on the crossing lane, data acquisition module 1 begins to gather the image information of tapered end and hasp, when detecting to be in the no car state on the crossing lane, data acquisition module 1 does not gather image information.

further, as a preferred embodiment, the automatic detection device for the container loading and unloading of the container truck further comprises: the signal processing module 3, the signal processing module 3 sets up in the electric room (not shown in the figure), and the signal processing module 3 is connected with the data acquisition module 1, and the data acquisition module 1 sends image information to the signal processing module 3, and the signal processing module 3 is used for processing image information and judging according to image information to the case state, analysis, judge that the tapered end of collection card 5 and the lockhole of container 6 are successful to the case.

Still further, as a preferred embodiment, the automatic detection device for the container loading and unloading of the container truck further comprises: alarm module 4, alarm module 4 set up in the electric room outside, and alarm module 4 is connected with signal processing module 3 for send alarm signal according to signal processing module 3's judged result, can send alarm signal when taking place to the case failure.

Fig. 5 is a schematic diagram of functional modules of the automatic detection device for a truck loading/unloading pair box of the present invention, please refer to fig. 1, fig. 4 and fig. 5.

Moreover, as a preferred embodiment, the signal processing module 3 includes:

the calculation board card 31 is connected with the data acquisition module 1, the calculation board card 31 is used for receiving and processing image information of the data acquisition module 1, and the calculation board card 31 is also used for judging a box aligning state according to the image information and determining whether the box aligning is successful; the PLC module 32, the PLC module 32 is connected with the computing board 31, and is configured to output a determination result to the alarm module 4.

Furthermore, as a preferred embodiment, the determination result of the calculating board 31 includes: the container-to-container pairing of the container-to-container 5 is successful and the container-to-container pairing of the container-to-container 5 and the container-to-container 6 is unsuccessful.

further, as a preferred embodiment, the alarm module 4 includes:

The alarm 41, the alarm 41 is connected with PLC module 32, PLC module 32 outputs the judged result to the alarm 41; and the display screen 42 is connected with the PLC module 32, and is used for displaying a result graph formed after image information is processed by the calculation board card 31, and displaying a video image of the current operation condition and the position where the problem occurs in the case failure in real time so as to be checked and confirmed by a driver in real time. The display screen 42 is installed outside the electric room where the driver can easily see the line of sight, and the alarm 41 is installed outside the electric room so that the driver can clearly listen to the voice broadcast sound.

Still further, as a preferred embodiment, the triggering module 2 employs a geomagnetic coil.

furthermore, as a preferred embodiment, the data acquisition module 1 employs high definition detection cameras, the number of the high definition detection cameras is six, three high definition detection cameras are respectively disposed on two sides of a lane crossing lane, the high definition detection cameras are disposed at the best shooting positions on a bracket (not shown in the figure), the installation is slightly higher than the bracket height of the container truck 5, the view fields of the six high definition detection cameras are perpendicular to the traveling direction of the container truck 5, the existing container 6 and the container truck 5 are generally locked together by six locking heads and six locking holes, wherein the four locking heads and the four locking holes are respectively located at four corners of the container 6, therefore, the four high definition detection cameras at two ends of the embodiment are respectively used for shooting four corners of the container truck 5 and the container truck 6, and the two high definition detection cameras in the middle of the container truck 5 and the container truck 6 are respectively used for shooting the middle of.

the above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.

The present invention also has the following embodiments in addition to the above:

FIG. 6 is a flow chart of a method for detecting the automatic detection device for the loading and unloading of the container with the container truck according to the present invention.

Further, referring to fig. 5 and fig. 6, a method for detecting an automatic detection device for a container loading/unloading of a container according to a preferred embodiment is shown, wherein the method for detecting the container loading/unloading of the container loading/unloading includes:

s1: the calculation board card 31 acquires the position of the edge of the bracket of the container 5 and the position of the lock hole of the container 6 according to the image information, the line of the lock holes on the same side of the container 6 forms an included angle with the straight line formed by the edge of the bracket, and the preset angle threshold value in the calculation board card 31 is calculated;

s2: the calculation board card 31 judges whether the included angle is greater than an angle threshold value;

s3: if S2 is the case, judging that the container matching between the container truck 5 and the container 6 fails, if S2 is not the case, executing S4;

S4: and judging that the container alignment of the container truck 5 and the container 6 is successful.

Further, when a vehicle passes through the intelligent terminal and triggers induction of the geomagnetic coil, the geomagnetic coil sends a state signal to the high-definition detection camera, at the moment, the high-definition detection camera immediately starts capturing to obtain real-time image information of the container 5 and the container 6, and sends the image information to the calculation board card 31, and if no container 6 exists on the container 5, the calculation board card 31 controls the barrier machine 7 to open to allow the container 5 to pass through the PLC module 32; if the container 6 is arranged on the container truck 5, the calculation board card 31 performs graying processing and binarization processing on the image information, performs Hough transform ellipse detection to obtain the position of a lock hole of the container 6 and edge detection to obtain the position of a bracket edge of the container truck 5, and draws a circle center connecting line of lock holes at two ends of the container 6;

the calculation board card 31 compares the relation between the angle between the connecting line of the lock holes on the same side of the container 6 and the straight line of the edge of the bracket and a preset angle threshold, if the included angle formed by the connecting line of the lock holes and the straight line of the edge of the bracket is larger than the preset angle threshold, the case aligning failure of the container collecting card 5 and the container 6 is judged, the calculation board card 31 outputs a judgment result to the alarm 41 through the PLC module 32, the alarm 41 outputs the judgment result, and a result picture is displayed on the display screen 42 to remind a driver of aligning the container again; if the included angle formed by the lock hole connecting line and the straight line of the edge of the bracket is not larger than the preset angle threshold value, the case alignment success of the container truck 5 and the container 6 is judged, and the calculation board card 31 controls the barrier machine 7 to open through the PLC module 32 to allow the container truck 5 to pass through.

Further, the calculation board 31 performs image graying processing and binarization processing on the image information, and the calculation board 31 acquires the position of the lock head and the position of the lock hole by using hough transform ellipse detection, thereby realizing intelligent, unmanned and dynamic monitoring and management.

The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.

the present invention also has the following embodiments in addition to the above:

further, please refer to fig. 4 and 5, which illustrate a workflow of an automatic detection apparatus for loading and unloading a container into and from a container according to a preferred embodiment, the workflow includes:

si: the triggering module 2 detects whether vehicles pass through a lane of the road junction or not and sends a state signal to the data acquisition module 1;

Sii: if Si is true, the data acquisition module 1 starts to acquire image information, and if not, the Si is repeatedly executed in the step (1);

Siii: the calculation board card 31 processes the image information, and the calculation board card 31 judges whether the container pairing between the container truck 6 and the container truck 5 is successful according to the image information;

Siv: if the Siii is positive, the alarm module 4 reports that the box is successfully matched and the box is requested to pass, and if the Siii is not positive, the alarm module 4 reports that the box is failed to be matched and the box is requested to be matched again.

while the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.