Design And Implementation Of Railway Freight Location And Loading System Based On Binocular Vision

With the rapid development of railway transportation and several raising railway’s speed,It puts forward higher requirements on the efficiency of railway freight loading.A railway freight location and loading system is designed in this paper.After the operator binds the hoisting rope for the goods and place on the characteristic board,the system can position each of the cargo to be loaded and lift goods and load them into the truck.Then it will load the next cargo until all the goods are loaded.The present situation of railway freight loading is described in this paper.According to the railway freight requirements of "automatic loading" and "fast loading",it designed the railway freight location and loading system based on binocular vision with industrial control computer as the core,the binocular camera as the detection means,the corresponding hardware device and software system for operating hardware devices.The system positions free truck,hook and the goods to be loaded by binocular vision.Comparing to positioning by means of a single camera,a sensor,or a combination of a single camera and a sensor,binocular vision has the advantages of good stability and high accuracy.It can avoid the incorrect operation of the system because of false position.Then,the hardware and software of this system are introduced in detail.The hardware part takes the industrial control computer as the core.The binocular visual image of the detection area is taken by the camera.According to the results of the image detection through the USB module,It controls the servo motor,cylinder and other devices to complete the lifting equipment action.The system characteristics of plastic plate drawing board is a specific pattern,convenient detection of the goods to be loaded and the hook.The software part includes camera calibration module,loading process control module,image information processing module,carriage goods position detection module and data storage module.Camera calibration is used to calculate the parameters of binocular camera.It detects the hook and the position of goods to be loaded through the camera image.Binocular visual image feature points detection and matching is based on the FAST algorithm to improve the scale invariance and the matching accuracy.It controls the lifting equipment action by detecting the position information and the USB module input and output signals.It detects the position of the steel coil in the carriage by the picture of the vehicle.The results of the test are saved to the database.In this paper,the design of the railway freight location and loading system has the following innovative points:(1)In theory,The system introduces the scale invariance to the FAST algorithm.The matching accuracy is improved by constructing the characteristic vector,calculating the cosine value of the vector and establishing the gradient histogram.The system recovers 3D information of spatial points by the least square method.(2)In terms of application,the system realizes the positioning and automatic loading of goods.After the operator presses the button of system’s operating table,the system will position the cargo to be loaded and automatically load them into the target truck..It reduces the human consumption of ordinary goods loading mode,and improves the speed and efficiency of loading.