Container lockhole coarse positioning and tracking method

一种集装箱锁孔粗定位和跟踪方法

Abstract

The invention discloses a container lockhole coarse positioning and tracking method, and the method comprises the steps: an industrial camera which is arranged on a lifting device is used for collecting a series of container images for training, positive and negative samples in a part of container images are manually extracted, the positive and negative sample images are normalized, the industrial camera which is arranged on the lifting device is used for collecting the images of a to-be-detected container in real time, the area of approximate lockhole image region is calculated, the images are arranged according to sizes, the image region is calculated, according to the lockhole image region, a detection region is updated, the above steps are repeated to realize the tracking detection of the container lockhole position. The advantages of the method comprises: the method limited by the invention is adopted to be used for coarse positioning and tracking of the container lockhole, the lockhole position can be quickly recognized and tracked, so that a car driver can adjust the position of the lifting device at any time, the complete lockhole image can be accurately reserved, and the defects of interference lights and interference points in the environment, poor Hough line effect and the like are solved.
本发明公开了一种集装箱锁孔粗定位和跟踪方法,该方法包括使用安装在吊具上的工业摄像机采集一系列用于训练的集装箱图像,手动提取部分集装箱图像中的正负样本,对正负样本图像归一化,使用安装在吊具上的工业摄像机实时采集待检测集装箱的图像,计算近似锁孔图像区域的面积,并将图像按照面积大小排序,计算图像区域,根据锁孔图像区域,更新检测区域,重复上述步骤实现集装箱锁孔位置的跟踪检测。本发明的优点是:通过采用本发明限定的方法,用于集装箱锁孔的粗定位和跟踪,可以快速识别和跟踪锁孔的位置便于小车司机随时调整吊具的位置,同时准确地保留锁孔完整的图像,解决环境中干扰的光线、干扰点以及Hough直线效果不佳等不足。

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