码头散装机定位系统研究与开发
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摘要
散装机是用在电力、建材、化工、粮食等部门,把干燥粉状、粒状物料装入车、船中的装载设备。码头散装机对微粉进行散装时,散装头需要与罐装船口进行对接操作。目前多数码头散装机的散装头在进行多个自由度的移动时,都是通过现场人工控制来实现,但在码头上,这种人工控制不方便,而且比较费时,限制了装载效率。
本文针对码头散装机实际应用环境,给出了的码头散装机双目立体视觉的定位模型,设计开发了一套基于双目立体视觉图像技术的散装机自动定位系统。本文阐述了散装机定位系统的设计方法,给出了系统的硬件结构及软件信息处理流程,进行了摄像机的标定及定位执行机构的设计。针对定位系统,开发了图像获取、特征提取、形心计算及定位控制的软件,完成了上位机与下位机的通讯设计,实现了系统根据目标图像的形心位置控制散装机的位置定位。
最后通过对系统硬件与软件方面的综合测试及调试,本文设计的码头散装机自动定位系统达到了预期的定位精度要求,满足现场生产的需要。对类似的工程问题提供了一种解决方法上的参考。
The wharf bulking machines are loading equipments used in electric power, building materials, chemicals, grain and other departments, which put the dry powder, granular material into the truck and boat. The bulk head of the bulking machine need to connect with the boathouse when bulking material into boat. At present, multi-degree of freedom movement of the majority of the bulking machines is controlled by man work in the scene. However, this manual control is not convenient but rather time-consuming, limiting the efficiency of the load.
In this paper, for the practical application environment of the bulking machine, studied the positioning model of binocular stereo vision, designed and developed an automatic positioning system of wharf bulk machines based on the binocular stereo vision technology .This paper introduced the design methodology of the bulk machine positioning system, given the structure of the system's hardware and software information processing. Carry out the calibration of a camera and the design of the implementing agencies of the positioning system. For positioning systems, made the software development of image acquisition, feature extraction, position control and calculation of shape heart, completed the communication design between the upper machine and lower machine, and the realization of the system to control of the location of bulk machine depending on the target image center.
Finally, completed the integrated testing and debugging of the system hardware and software, the design of the automatic positioning system of bulk machine meets the desired positioning accuracy requirements, satisfies the need of scene production. Provide one solution to the similar project question.
本文针对码头散装机实际应用环境,给出了的码头散装机双目立体视觉的定位模型,设计开发了一套基于双目立体视觉图像技术的散装机自动定位系统。本文阐述了散装机定位系统的设计方法,给出了系统的硬件结构及软件信息处理流程,进行了摄像机的标定及定位执行机构的设计。针对定位系统,开发了图像获取、特征提取、形心计算及定位控制的软件,完成了上位机与下位机的通讯设计,实现了系统根据目标图像的形心位置控制散装机的位置定位。
最后通过对系统硬件与软件方面的综合测试及调试,本文设计的码头散装机自动定位系统达到了预期的定位精度要求,满足现场生产的需要。对类似的工程问题提供了一种解决方法上的参考。
The wharf bulking machines are loading equipments used in electric power, building materials, chemicals, grain and other departments, which put the dry powder, granular material into the truck and boat. The bulk head of the bulking machine need to connect with the boathouse when bulking material into boat. At present, multi-degree of freedom movement of the majority of the bulking machines is controlled by man work in the scene. However, this manual control is not convenient but rather time-consuming, limiting the efficiency of the load.
In this paper, for the practical application environment of the bulking machine, studied the positioning model of binocular stereo vision, designed and developed an automatic positioning system of wharf bulk machines based on the binocular stereo vision technology .This paper introduced the design methodology of the bulk machine positioning system, given the structure of the system's hardware and software information processing. Carry out the calibration of a camera and the design of the implementing agencies of the positioning system. For positioning systems, made the software development of image acquisition, feature extraction, position control and calculation of shape heart, completed the communication design between the upper machine and lower machine, and the realization of the system to control of the location of bulk machine depending on the target image center.
Finally, completed the integrated testing and debugging of the system hardware and software, the design of the automatic positioning system of bulk machine meets the desired positioning accuracy requirements, satisfies the need of scene production. Provide one solution to the similar project question.
引文
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[16]何绪堂,张宏,刘培玉.用于交通事故处理的图像测距研究与实现[J].现代电子技术,2007(24):1-4
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[22]Weng J,Cohen P,Herniou M.Camera calibration with distortion models and accuracy evaluation.IEEE Trans Pattern Analysis and Machine Intelligence,1992,14(10):965-980
[23]李仁举,钟约先,由志福.三维测量系统中摄像机定标技术[J].清华大学学报(自然科学版),2002,42(4):481-483
[24]G.Zhan,L.Chen,G.Chen.A Simple 3D Face Tracking Method Based on Depth.Information Proceedings of IEEE.International Conference on Machine Learning and Cybernetics,2005(8):5022-5027
[25]周富强,邻继贵,杨学友.双目视觉传感器的现场标定技术[J].仪器仪表学报,2000,21(2):142-145
[26]Kozoohtani.A Fast Edge Loeation Measurement with SubPixel Aecuracy Usinga CCD Image.Interment and Measurement Technology Conferenee,2001(3):2087-2092
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[28]沈洪宇,柴毅.计算机视觉中双目视觉综述[J].科技讯,2007,(34):150-151
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[43]朱伟兴,熊锋.一种简单的基于共面的摄像机参数标定方法[J].计算机工程与应用,2007(2):86-88
[44]陈诗皓.基于视频图像的高精度定位系统研究.硕士学位论文,2004
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[46]DuQuan,Huynh.Feature.based Stereo Vision on a Mobile Platform[J]University of wstern Australia,DePartment of ComPuter Seienee,1994
[47]刘东辉,李勇,等.基于灰度匹配的双摄像头智能云台控制系统[J].河北师范大学学报,2007,31(5):590-593
[48]张凤莲,基于PLC控制的三轴钻专机控制系统设计[J].廊坊师范学院学报,2004,8(4):30-31
[49]张剑,殷苏民.基于运动控制卡的开放式数控系统研制[J].机床与液压,2003(3):170-173
[50]PISO-Encoder 600/PISO-Encoder 300 User's Manual.http://www.icpdas.com,2005
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[52]王有伟,王渊锋,徐公权.图像定位算法的设计与实现[J].计算机研究与发展,2002,39(6):733-735
[53]吕凤军.数字图像处理编程入门.清华大学出版社,1999
[54]Zhang Z Y.Intelligence Camera calibration with one-dimensional objects.IEEE Trans.Pattern Analysis and Machine,2004,26(7):892-899
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