The invention provides an automatic calibration method for swing angle positioning of an automatic travelling crane lifting appliance. The method comprises the following steps: shooting the lifting appliance through a camera to obtain continuous image frames of the camera; the definition of the image frame is obtained by calculating the average value of the picture edges, and whether the camera focal length and the lifting height are correct is determined; collecting real picture data of the lifting appliance to generate a training set, performing data processing on the training set based on a convolutional neural network to obtain a feature graph containing feature information of a pulley block of the lifting appliance, and outputting an actual detection position of the pulley block of the lifting appliance; storing the data of the continuous image frames into a data sequence; a predictive generation lstm network based on lstm is adopted to process the data sequence to obtain swing angle data of the lifting appliance; and calculating the camera position deviation according to the swing angle data, judging whether the camera position deviation is effective or not according to the identified lifting appliance feature confidence, and correcting and updating the calibration value.

    本发明提出了一种用于自动行车吊具摆角定位的自动标定方法,通过相机拍摄吊具获取相机连续图像帧;通过计算图片边缘后的平均值得到图像帧的清晰度,确定相机焦距和起升高度是否正确;收集吊具的真实图片数据生成训练集,通过基于卷积神经网络对训练集进行数据处理,得到包含吊具的滑轮组特征信息的特征图,同时输出吊具的滑轮组的实际检测位置;将连续图像帧的数据存成数据序列;采用基于lstm的预测性生成lstm网络对数据序列进行处理得到吊具的摆角数据;根据摆角数据计算相机位置偏差,识别出的吊具特征置信度判断,计算相机位置偏差是否有效并修正更新标定值。


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    Titel :

    Automatic calibration method for swing angle positioning of lifting appliance of automatic travelling crane


    Weitere Titelangaben:

    一种用于自动行车吊具摆角定位的自动标定方法


    Beteiligte:
    YANG QINGYAN (Autor:in) / XIONG XINXIN (Autor:in) / ZHENG JUN (Autor:in)

    Erscheinungsdatum :

    2022-04-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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