阅读说明：本技术 港机自动锚定系统 (Automatic anchoring system of port machine ) 是由 段国章 俞更喜 唐玮骏 张闻中 赵华 杨凯茜 于 2021-08-10 设计创作，主要内容包括：本发明提供了一种港机自动锚定系统,包括：控制器和沿港机移动路径方向设置的多个监测区域,每个监测区域设置有M个锚定点,用于供N个港机锚固；每个港机上设置有图像采集装置和风速测速装置；所述图像采集装置用于采集港机上的销钉和对应监测区域的图像。控制器在监测到满足自动锚定触发条件时,控制港机执行对应的自动锚定操作,能够实现锚定的自动无人化、快速响应、操作简易化和安全标准化。(The invention provides an automatic anchoring system for a port machine, which comprises: the system comprises a controller and a plurality of monitoring areas arranged along the moving path direction of the port machine, wherein each monitoring area is provided with M anchor points for anchoring N port machines; each port machine is provided with an image acquisition device and a wind speed measuring device; the image acquisition device is used for acquiring pins on the port machine and images corresponding to the monitoring area. When the controller monitors that the automatic anchoring triggering condition is met, the controller controls the port machine to execute corresponding automatic anchoring operation, and the automatic unmanned anchoring, quick response, operation simplification and safety standardization can be realized.)

1. A port machine automatic anchoring system, characterized by, includes: the system comprises a controller and a plurality of monitoring areas arranged along the moving path direction of the port machine, wherein each monitoring area is provided with M anchor points for anchoring N port machines; each port machine is provided with an image acquisition device and a wind speed measuring device; the image acquisition device is used for acquiring pins on the port machine and images of corresponding monitoring areas;

the controller is respectively in communication connection with the image acquisition device and the wind speed measuring device, and is also in communication connection with a meteorological release server, a gear sensor of a port machine and an automatic anchoring trigger device, wherein any port machine P is used_iAnd i takes a value of 1 to N, and the controller is configured to execute a computer program to implement steps S100 to S400 when receiving any one of the following first to fourth trigger information T1 to T4:

t1, the wind power early warning signal received from the meteorological issue server represents that the wind power level exceeds a preset wind power level threshold value;

t2, the wind speed information received from the wind speed measuring device represents that the wind speed exceeds a preset wind speed threshold;

t3, representing that the port machine is in a P gear according to gear information received from the gear sensor, and meanwhile obtaining that the moving speed of the port machine exceeds a preset moving speed threshold value based on an image acquired by the image acquisition device;

t4, receiving a signal from the automatic anchoring trigger device indicating that the driver has pressed the automatic anchoring trigger device;

steps S100 to S400 include:

s100, acquiring a port machine P based on the image acquired by the image acquisition device_iThe current location;

s200, determining a port machine P based on information sent by the gear sensor_iA current direction of travel;

s300, according to the port machine P_iCurrent position, port machine P_iDetermining the anchoring port machine P according to the current traveling direction and the current wind direction detected by the wind speed and speed measuring device_iAnd controls the port machine P_iMoving to the corresponding anchor point;

s400, determining a port machine P based on the image acquired by the image acquisition device_iWhen moving to the position suitable for anchoring, controls the port machine P_iPerforming an automatic anchoring operation to secure the port machinery P_iIs anchored at the corresponding anchoring point.

2. The port machine automated anchoring system of claim 1, wherein the M anchor points are distinguished by color and the M-1 spacing regions between the M anchor points are distinguished by identification.

3. The port machine automated anchoring system of claim 1, wherein the M anchor points are distinguished by identification and the M-1 spacing regions between the M anchor points are distinguished by color.

4. The port machine automated anchoring system of claim 1, wherein in S300, a port machine P is controlled_iMoving in the direction opposite to the current wind direction.

5. The port machine automated anchoring system of claim 4, wherein the wind direction is set to move to the right along the travel path of the port machine as a forward wind direction, and the port machine is set to travel to the right along the travel path as a forward travel; m anchor points A₁，A₂，…，A_MThe devices are sequentially arranged along the forward running direction of the port machine;

wherein S300 further comprises:

s310, if the current wind direction and port machine P_iAre in the same direction and are all in the forward direction if the port machine P_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iTravel in reverse direction and towards anchor point A_j+1Moving; j has a value of 1 to M.

6. The port machine automated anchoring system of claim 5, wherein S300 further comprises:

s320, if the current wind direction and port machine P_iAre in the same and opposite directions if the port machine P_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iTravel in reverse direction and towards anchor point A_jAnd (4) moving.

7. The port machine automated anchoring system of claim 5, wherein S300 further comprises:

s330, if the current wind direction is positive, the port machine P_iIf the harbor machine P is in the reverse direction_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iContinue to travel and toward anchor point a_j+1And (4) moving.

8. The port machine automated anchoring system of claim 5, wherein S300 further comprises:

s340, if the current wind direction is reverse and forward, the port machine P_iIf the port machine P is in the forward direction_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iContinue to travel and toward anchor point a_jAnd (4) moving.

9. The port machine automated anchoring system of claim 1, wherein S400 further comprises:

s410, in port machine P_iDuring any time period t_jDetermining the port machine P according to the image acquired by the image acquisition_iIs located at a distance D from the anchor point_j(ii) a j is 1,2, …, n, n is a slave control port machine P_iThe moment of starting to move to the corresponding anchor point to control the port machine P_iThe number of time periods elapsed between the moments of stopping movement;

s420, determining a port machine P_iMoving speed V_j＝f(T1，T2，T3，T4，D_j，WV_j，VC_jL), wherein f () is T1, T2, T3, T4, S_j，WV_j，VC_jA function of L; t1, T2, T3 and T4 respectively represent the first to fourth trigger information; WV_jRepresents a time period t_jCorresponding wind speed, wind direction and port machine P_iThe moving directions of the wind speed is the same, the wind speed is a positive value, otherwise, the wind speed is a negative value; VC (vitamin C)_jRepresents a time period t_jCorresponding port machine P_iThe speed of (d); l is expressed in time period t_nTime-corresponding port machine P_iIs 0;

S430, when D is_jWhen the pressure is less than or equal to S0, controlling the port machine P_iThe electro-hydraulic push rod is started to drive the port machine P_iIs inserted into and anchored in the corresponding anchoring point.

Technical Field

The invention relates to an automatic port machine anchoring system, in particular to an automatic port machine anchoring system based on an image recognition technology.

Background

Traditional pier port machine is manned, relies on driver and colleague cooperation from top to bottom when the anchoring, and specific flow includes: when the field worker receives an alarm signal of overspeed wind speed or a strong wind early warning signal of a weather station, the driver communicates with colleagues below to start anchoring operation. A worker near the lower pin instructs a driver to move forward or backward through field observation, and instructs the driver to stop after the pin is near the pin hole. The anchoring mode ensures that the anchoring is manually anchored by a large number of personnel, the whole process is long in time and is repeated, the anchoring work is difficult to complete in a short time, and the personnel work near equipment, so that the potential safety hazard of production is great.

Disclosure of Invention

In view of the above technical problems, embodiments of the present invention provide an automatic anchoring system for a port machine, which is based on an image recognition technology, and achieves automatic unmanned anchoring, fast response, easy operation, and safe standardization.

The technical scheme adopted by the invention is as follows:

the embodiment of the invention provides an automatic anchoring system for a port machine, which comprises: the system comprises a controller and a plurality of monitoring areas arranged along the moving path direction of the port machine, wherein each monitoring area is provided with M anchor points for anchoring N port machines; each port machine is provided with an image acquisition device and a wind speed measuring device; the image acquisition device is used for acquiring pins on the port machine and images of corresponding monitoring areas;

the controller is respectively in communication connection with the image acquisition device and the wind speed measuring device, and is also in communication connection with a meteorological release server, a gear sensor of a port machine and a gear sensorAutomatic anchoring triggering device communication connection, wherein, for any port machine P_iAnd i takes a value of 1 to N, and the controller is configured to execute a computer program to implement steps S100 to S400 when receiving any one of the following first to fourth trigger information T1 to T4:

t1, the wind power early warning signal received from the meteorological issue server represents that the wind power level exceeds a preset wind power level threshold value;

t2, the wind speed information received from the wind speed measuring device represents that the wind speed exceeds a preset wind speed threshold;

t3, representing that the port machine is in a P gear according to gear information received from the gear sensor, and meanwhile obtaining that the moving speed of the port machine exceeds a preset moving speed threshold value based on an image acquired by the image acquisition device;

t4, receiving a signal from the automatic anchoring trigger device indicating that the driver has pressed the automatic anchoring trigger device;

steps S100 to S400 include:

s100, acquiring a port machine P based on the image acquired by the image acquisition device_iThe current location;

s200, determining a port machine P based on information sent by the gear sensor_iA current direction of travel;

s300, according to the port machine P_iCurrent position, port machine P_iDetermining the anchoring port machine P according to the current traveling direction and the current wind direction detected by the wind speed and speed measuring device_iAnd controls the port machine P_iMoving to the corresponding anchor point;

s400, determining a port machine P based on the image acquired by the image acquisition device_iWhen moving to the position suitable for anchoring, controls the port machine P_iPerforming an automatic anchoring operation to secure the port machinery P_iIs anchored at the corresponding anchoring point.

According to the port machine automatic anchoring system provided by the embodiment of the invention, when any one of the wind power grade of weather forecast, the wind power grade monitored by the port machine, the self working state of the port machine and an automatic anchoring signal meets the triggering condition of automatic anchoring, the moving direction of the port machine is determined according to the current wind direction, and then the moving speed of the port machine is determined according to 8 parameters such as the triggering condition, the distance between the current pin and the anchoring point, the current wind speed, the current speed of the port machine and the constraint condition that the speed of the port machine when reaching the anchoring point is 0, so that the port machine can be accurately and stably anchored on the corresponding anchoring point, and the automatic unmanned anchoring, quick response, operation simplification and safety standardization of anchoring can be realized.

Drawings

Fig. 1 is a schematic view of a port machine automatic anchoring system provided in an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

In some of the flows described in the present specification and claims and in the above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being indicated as 101, 102, etc. merely to distinguish between the various operations, and the order of the operations by themselves does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a port machinery automatic anchoring system, including: a controller 1 and a plurality of monitoring areas (only one detection area is shown in figure 1) arranged along the moving path direction of the port machine, each monitoring area being provided with M anchor points a₁，A₂，…，A_MAnd the anchor is used for anchoring N port machines 2, wherein N is less than M. In one exemplary embodiment, as shown in FIG. 1, each monitoring area may be provided with 4 anchor points, and the number of the corresponding port machines may be 2 (port machine 1 and port machine 2), wherein the anchor points which the port machine 1 can anchor may be A1-A3, and the anchor points which the port machine 2 can anchor may be A2-A4. The anchor points may be anchor holes provided in a boss (not shown).

In an embodiment of the present invention, the anchor points and the spacing areas between the anchor points may be distinguished by colors or identifications, such that each of the anchor points and the spacing areas has a unique identification and is pre-stored.

In one embodiment, the M anchor points are distinguished by color, for example, different colors may be painted on the outer side wall of the boss corresponding to each anchor point, and the M-1 spacing region between the M anchor points is distinguished by identification, for example, sequentially identified as spacing region 1, spacing region 2, spacing region 3, …, spacing region M-1, and so on.

In another embodiment, the M anchor points are distinguished by identification, for example, they may be sequentially identified as A1, A2, A3, …, AM or anchor point 01, anchor point 02, …, anchor point 0M, etc. in sequence, and the M-1 spacing region between the M anchor points is distinguished by color, for example, they may be distinguished by painting different colors in the spacing region, as shown in FIG. 1, the rectangular regions with different fill patterns represent different colors.

In the embodiment of the invention, each port machine 2 can be provided with an image acquisition device 3 and a wind speed measuring device 4. The image acquisition device 3 may be placed at a position suitable for viewing the pin, for example, at a position of an extended support of the port machine, which in one example may be a camera. The image acquisition device 3 is used for acquiring the pin on the port machine and the image of the corresponding monitoring area in real time in the moving process of the port machine.

In the embodiment of the present invention, the controller 1 may be any device having data processing and control functions provided in a control center. The controller 1 is respectively in communication connection with the image acquisition device 3 and the wind speed measuring device 4, and is also in communication connection with a meteorological release server, a gear sensor of a port machine and an automatic anchoring trigger device(neither shown) a communication connection. Wherein, for any port machine P_iAnd i takes a value of 1 to N, the controller 1 is configured to execute a computer program to implement steps S100 to S400 when receiving any one of the following first to fourth trigger information T1 to T4:

t1, the wind power early warning signal received from the meteorological issue server represents that the wind power level exceeds a preset wind power level threshold value; in one example, the preset wind level threshold may be a level 8 wind. The controller also receives the time corresponding to each wind power level from the meteorological distribution server so as to force the harbor machine to perform automatic anchoring operation at the time corresponding to the wind power level exceeding the preset wind power level threshold value, and perform the corresponding operation.

And T2, the wind speed information received from the wind speed measuring device indicates that the wind speed exceeds a preset wind speed threshold value. The wind speed information comprises wind speed and wind direction, and the wind speed threshold value can be 17.0m/s-20.4 m/s.

T3, the gear information received from the gear sensor indicates that the port machine is in the P gear, and meanwhile, the moving speed of the port machine is obtained to exceed a preset moving speed threshold value based on the image collected by the image collecting device. In one example, the preset movement rate threshold may be 0.3 m/s.

T4, a signal is received from the automatic anchor trigger indicating that the driver has pressed the automatic anchor trigger. Each port machine is equipped with an automatic anchoring triggering device such as a button in the cab, which when pressed by the driver indicates that an automatic anchoring operation needs to be performed.

Wherein, the steps S100 to S400 may include:

s100, acquiring a port machine P based on the image acquired by the image acquisition device_iThe current location.

Specifically, the controller can identify the port machine P based on the image identification technology because each anchor point and each interval area have unique identification according to the image acquired by the image acquisition device_iThe position currently in the monitoring area. The image recognition technique may be prior knowledge.

S200, determining a port machine P based on information sent by the gear sensor_iThe current direction of travel.

S300, according to the port machine P_iCurrent position, port machine P_iDetermining the anchoring port machine P according to the current traveling direction and the current wind direction detected by the wind speed and speed measuring device_iAnd controls the port machine P_iMoving towards the corresponding anchor point.

In this step, the control principle is a port machine P_iMust be upwind and prohibited from travelling downwind, i.e. control of the port machinery P_iMoving in the direction opposite to the current wind direction.

Specifically, the wind direction is set to move rightward (in the present invention, to the east) along the moving path of the port machine as a forward wind direction, and the port machine is set to travel rightward along the moving path as a forward travel; m anchor points A₁，A₂，…，A_MAre arranged in sequence along the forward running direction of the port machine.

Wherein S300 further comprises:

s310, if the current wind direction and port machine P_iAre in the same direction and are all in the forward direction if the port machine P_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iTravel in reverse direction and towards anchor point A_j+1Moving; j has a value of 1 to M.

S320, if the current wind direction and port machine P_iAre in the same and opposite directions if the port machine P_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iTravel in reverse direction and towards anchor point A_jAnd (4) moving.

S330, if the current wind direction is positive, the port machine P_iIf the harbor machine P is in the reverse direction_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iContinue to travel and toward anchor point a_j+1And (4) moving.

S340, if the current wind direction is reverse and forward, the port machine P_iIf the port machine P is in the forward direction_iIs currently at anchor point A_jAnd A_j+1Between, the port machine P is controlled_iContinue to run and move to the anchorFixed point A_jAnd (4) moving.

The execution sequence of the above steps S310 to S340 may be executed in parallel.

Taking 4 anchor points and 2 port machines as an example, step S300 can be represented by the following table 1:

table 1: port machine moving direction control

S400, determining a port machine P based on the image acquired by the image acquisition device_iWhen moving to the position suitable for anchoring, controls the port machine P_iPerforming an automatic anchoring operation to secure the port machinery P_iIs anchored at the corresponding anchoring point.

In an embodiment of the present invention, S400 further may include:

s410, in port machine P_iDuring any time period t_jDetermining the port machine P according to the image acquired by the image acquisition_iIs spaced from the anchor point by a distance S_j(ii) a j is 1,2, …, n, n is a slave control port machine P_iThe moment of starting to move to the corresponding anchor point to control the port machine P_iThe number of time periods elapsed between the moments of stopping movement. The time period is a preset sampling period and can be determined according to actual conditions.

Specifically, the controller can identify the contour of the corresponding boss and the port machine P from the image based on the image identification technology according to the acquired image_iThe center position of the boss is determined as the position of the corresponding anchor point, and then the distance between the center of the anchor point and the center of the identified pin is determined to obtain the distance between the center of the anchor point and the center of the identified pin.

S420, determining a port machine P_iMoving speed V_j＝f(T1，T2，T3，T4，S_j，WV_j，VC_jL), wherein f () is T1, T2, T3, T4, S_j，WV_j，VC_jA function of L; t1, T2, T3 and T4 respectively represent the first to fourth trigger information; WV_jRepresents a time period t_jCorresponding wind speed, wind direction and port machine P_iThe moving directions of the wind speed is the same, the wind speed is a positive value, otherwise, the wind speed is a negative value; VC (vitamin C)_jRepresents a time period t_jCorresponding port machine P_iThe speed of (d); l is expressed in time period t_nTime-corresponding port machine P_iIs 0. In a specific application, the state values 1 and 0 may be used to respectively indicate that T1, T2, T3, and T4 are trigger information and not trigger information, for example, T1 ═ 1 indicates that T1 is trigger information, and T1 ═ 0 indicates that T1 is not trigger information. The parameter L may be represented by a numerical value, such as 1 or 0.

In an embodiment of the present invention, the controller controls P when the automatic anchoring operation is triggered_iDecelerating to control the running speed of the port machine by taking the fastest speed and stable reaching of the anchor point as a control target, wherein the running speed of the port machine is controlled within any time period t_jTime port machine P_iMoving speed V_jThe determination may be based on 8 parameters, such as the aforementioned 4 triggering conditions, the distance between the current pin and the anchor point, the current wind speed, the current speed of the port machine, and the constraint that the speed of the port machine when reaching the anchor point is 0, which may be determined by an existing model, such as a convolutional neural network model. The weights for these 8 parameters may be determined based on historical samples, and the best-found weights to meet the control objective may be iteratively optimized for the previous weights to make the subsequent control more accurate. The history sample may include constraints and trigger information each time the automatic anchoring operation is performed, and a distance between the pin and the pinhole and a corresponding wind speed and port speed determined based on the acquired image data at each time period when the automatic anchoring operation is performed. The specific training based on historical samples to obtain the weights of the 8 parameters can be common knowledge.

S430, when S is_jWhen the pressure is less than or equal to S0, controlling the port machine P_iThe electro-hydraulic push rod is started to drive the port machine P_iIs inserted into and anchored in the corresponding anchoring point.

Upon recognition of S_jS0, for example, the distance between the pin and the pinhole is less than 150 pixels, then the port machine P is controlled_iThe electro-hydraulic push rod is started to drive the port machine P_iPin of (2)Inserted and anchored in the corresponding anchoring point. If the automatic anchoring fails, a signal is sent out in time to remind a driver of manual operation.

To sum up, the port machine automatic anchoring system provided by the embodiment of the present invention determines the moving direction of the port machine according to the current wind direction when any one of the wind power level of the weather forecast, the wind power level monitored by the port machine itself, the self working state of the port machine and the automatic anchoring signal satisfies the triggering condition of automatic anchoring, and then determines the moving speed of the port machine according to 8 parameters such as the triggering condition, the distance between the current pin and the anchoring point, the current wind speed, the current speed of the port machine, and the constraint condition that the speed when the port machine reaches the anchoring point is 0, so that the port machine can be anchored on the corresponding anchoring point accurately and stably, and the automatic unmanned, fast response, easy operation and safe standardization of anchoring can be realized.

The above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.