基于机器视觉的装车臂自动对接系统研究  

Research on Automatic Docking System of LNG Land Loading Arm Based on Machine Vision

作　　者：孙泽昆 陆永华[1] 朱赟 冯是公 秦栋成 SUN Zekun;LU Yonghua;ZHU Yun;FENG Shigong;QIN Dongcheng(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;China Aviation Development Control System Research Institute,Wuxi 214063,China;Jiangsu Chimelong Petrochemical Equipment Co.,Ltdg,Suzhou 215600,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中国航发控制系统研究所,江苏无锡214063 [3]江苏长隆石化装备有限公司,江苏苏州215600

出　　处：《测试技术学报》2024年第4期427-434,共8页Journal of Test and Measurement Technology

摘　　要：针对装车臂对接依赖人工推动,操作困难,工作效率低等问题,设计研究一种基于机器视觉的LNG陆用装车臂自动对接系统,包括在划定停车区域内自动对接的目标检测定位及控制方法,实现无人状态下的智能对接。通过伺服电机位置环控制关节角度并记录旋转位置;基于几何投影法及装车臂结构特性简化运动学算法,提高计算效率,并通过D-H方法建立运动学模型,计算运动范围并对几何投影法验证;基于深度学习及图像处理算法实现目标检测;依据相机标定获得的相机内参、多点深度信息及目标检测结果,通过单目定位原理实现三维视觉,最终实现自动对接。对车辆停靠区域内的法兰进行试验,结果显示,系统对接成功率达99%,且相对手动对接时间缩短40%。装车臂自动对接系统可有效应用于LNG接收站的装卸车工作,对实现自动化对接有一定的参考价值。Aiming at the problems of manual pushing,difficult operation and low work efficiency of load⁃ing arm docking,a machine vision-based automatic docking system of LNG land loading arm is designed and studied,including target detection,positioning and control methods for automatic docking in the delim⁃ited parking area to realize intelligent docking in unmanned state.The first is to control the joint angle through the servo motor position ring and record the rotation position;Secondly,based on the geometric projection method and the structural characteristics of the loading arm,the kinematics algorithm is simpli⁃ fied to improve the calculation efficiency, and the kinematic model is established by the D-H method, themotion range is calculated and the geometric projection method is verified. Subsequently, object detectionis realized based on deep learning and image processing algorithms. Finally, according to the camera inter⁃nal parameters, multi-point depth information and target detection results obtained by camera’s calibra⁃tion, three-dimensional vision is realized through the principle of monocular positioning, and finally auto⁃matic docking is realized. The test of the flange in the parking area of the vehicle shows that the successrate of the system docking is 99%, and the time is shortened by 40% compared with the manual docking.The automatic docking system of loading arm can be effectively applied to the loading and unloading truckwork of the LNG receiving station, and has certain reference value for realizing automatic docking.

关 键 词：LNG陆用装车臂 机器人运动学 机器视觉 目标检测 自动对接 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]