The invention discloses an automatic tower crane loading method based on binocular vision. The method comprises the following steps: acquiring a marker image by using a binocular camera, and processing the image; screening out all elliptical contours by using a circularity mode; sequentially finding out embedded contours of the elliptical contours; then carrying out shape matching by using a designed cross-shaped template; determining an area where a marker plate is located; calculating an elliptical circle center coordinate; calculating a three-dimensional coordinate of the center of the marker plate under a base coordinate system according to a binocular distance measurement principle; controlling a lifting hook to descend by a tower crane; judging whether goods are successfully lifted according to a feedback value of a force sensor; and completing automatic loading. Based on binocular vision, the method has the characteristics of good stability and high accuracy, and performs identification and positioning based on the marker, so that the method has the advantages of low identification difficulty, short time, high precision and the like.
本发明公开了一种基于双目视觉的塔吊自动装载方法,利用双目相机采集标志物图像,并进行图像处理,采用圆形度的方式筛选出所有椭圆轮廓,接着依次找出椭圆轮廓的内嵌轮廓,利用设计的十字形模板进行形状匹配,确定出标志板所在区域,计算出椭圆圆心坐标,之后根据双目测距原理计算出标志板中心在基座坐标系下的三维坐标,塔吊控制吊钩下降,根据力觉传感器的反馈值判断货物是否成功起吊,并完成自动装载。本发明采用双目视觉,具有稳定性好,准确度高的特点,同时基于标志物进行识别和定位,具有识别难度小、时间短、精度高等优势。
Automatic tower crane loading method based on binocular vision
一种基于双目视觉的塔吊自动装载方法
2021-01-08
Patent
Elektronische Ressource
Chinesisch
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