Study Of Big Crane-Form Pipeline Positioning Technique Based On Multi Sensor For Automatic Loading System

Automatic loading and unloading control system is a integrated loading and counting management system in the loading stage, whose advanced extent is one of the important signs of the modernization level of tank farm. As an auxiliary system of fully automatic and airtight loading and unloading control system, the perfect of the automatic positioning system of big crane-form pipeline is very necessary. The traditional way is to use manpower guide big crane-form pipeline to opening positioning. In this way, the operation of the workers is labor-intensive, easy fatigues and easily leads to security incidents. Therefore, acquiring images of circular opening on real-time and positioning fast and accurately has great meanings to improve efficiency in industrial production and avoid safety accidents. Currently, the automatic positioning system of big crane-form pipeline adopts visual positioning technology, whose disadvantages lie in low efficiency,and it needing human intervention when the circular opening isn’t within the camera field of view.According to these cases, a positioning technology based on multi-sensor is put forward in this paper, namely infrared sensing jointly using machine vision technology. Infrared laser positioning system detects the edge of the circular opening on real-time to rough positioning, while vision system acquires images of circular opening continuously after rough positioning and uses a composite method of template matching and circle center detection to precise positioning. The system transmits the data of position of circular opening to PLC. And then, the oil pile is controlled to forward, backward, stop, lower and transport oil by PLC. The key technology of this system is template matching technique based on edge and improved algorithm of Hough circle center detection.This paper briefly describes the technological flow and the field equipment of automatic loading and unloading control system. Based on it, the implementation scheme of the automatic positioning system of big crane-form pipeline is mainly discussed in this thesis including implementation scheme of infrared rapid positioning, main image processing algorithms, software implementation, and simulation results.