桥吊摆绳摆角的视觉检测

Detection of Rope and Rope's Swaying Angle of Overhead Crane Based on Computer Vision

摘要:

桥吊摆角的准确测量是实现吊车防摇控制的前提条件；文中将视觉识别技术引入到吊车防摆控制中来,提出了基于局部梯度变化和标准差的图像自适应增强处理算法,解决了不同背光条件下吊绳摆动位置信息获取问题,有效地实现了桥吊负载摆绳图像特征的提取；同时,采用两次下采样和梯度法相结合的圆心的识别算法,解决了圆检测的实时性问题,从而成功识别出目标及其所在的空间位置,并用几何方法准确地测量出负载钢丝绳的摆角；最后,实验结果证实了该方法的有效性。

Abstract:

The key point to clearing out overhead crane’s swaying is the accurate measurement of the angle. The thesis introduces vision technique into the anti-swaying control over the crane. The adaptive image enhancement method based on local gradient and standard deviation is proposed to solve the problem of acquiring the rope’s swaying position under different backlight conditions. It extracts the image features effectively. Meanwhile,twice down-sampling algorithm combined with gradient algorithm is introduced in this paper to identify the goal and its location; and it satisfies the real-time performance. Then,we use the geometric method to guarantee the measuring accuracy of the angle. The performance of the proposed method is verified by the experimental results.