The invention provides a three-degree-of-freedom conveying platform control method for a ship, and the method comprises the steps: firstly operating the conveying platform to move in a three-degree-of-freedom manner to approach a lapping target when the ship conveying platform carries out the deployment work, and then carrying out the final lapping work through a binocular recognition system at the tail end of a conveying channel. The binocular recognition system firstly carries out noise reduction, gray level conversion and threshold segmentation operation on an image obtained by shooting, carries out feature analysis and matching on the obtained binocular image, recognizes a target image by adopting a geometric image matching strategy based on appearance features according to the features of a recognized target, calculates the position of a feature target by using recognition information, and carries out the recognition of the target. And the relative position relation of the characteristic target relative to the ship conveying platform base is calculated by using the relative position relation of the target and the binocular camera, so that the small-range fine control of the conveying channel is realized. According to the control method, the platform can reach the preset position accurately, the control precision of the platform is improved, and the transfer safety is guaranteed.
本发明提供一种舰船用三自由度输送平台控制方法,舰船输送平台在进行部署工作时,首先操作输送平台三自由度运动靠近搭靠目标,再通过输送通道末端的双目识别系统进行最后搭靠工作。双目识别系统首先对拍摄获取的图像进行降噪、灰度转换、阈值分割操作,对获取的双目图像进行特征分析及匹配,根据识别目标的特性,采用基于外形特征的几何图像匹配策略对目标图像进行识别,利用识别信息计算特征目标位置,利用目标与双目相机的相对位置关系计算出特征目标相对于舰船输送平台基座的相对位置关系,进而实现输送通道的小范围细微控制。本发明的控制方法,可使平台较为精准的达到预定位置,提高平台的控制精度,保证换乘的安全性。
Three-degree-of-freedom conveying platform control method for ship
舰船用三自由度输送平台控制方法
2022-04-08
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen |
European Patent Office | 2021
|Four-Degree-of-Freedom Platform
NTRS | 1982
|