CN219078548U - Coarse positioning guiding control system of powder ore tank truck - Google Patents

Abstract

The utility model discloses a coarse positioning guiding control system of a powder ore tank truck. The control system comprises a PLC control system, a correlation grating, a camera, a hard disk video recorder, a monitoring display, a laser marker and other devices. Because of the intelligent automatic positioning requirement of the mineral powder tank truck, the tank truck for loading goods must be stopped in a certain range, otherwise, the fixed bulk head or the bulk head with adjustable XY direction cannot be delivered, namely, the method and the device can rapidly finish the stopping work for a driver, and the driver can meet the control requirement of the follow-up automatic delivery system whether manual operation or image identification according to the guiding system. The laser marking machine which needs to be marked is arranged at the proper position for marking, and a driver can visually see whether the real-time position of the material hole to be loaded coincides with the specified position to be shipped in the future or not through the image of the monitoring display by using the cheap camera, the hard disk video recorder and the display screen, so that experience and memory are not needed.

Description

Coarse positioning guiding control system of powder ore tank truck

Technical Field

The utility model relates to the field of automatic loading application of powder ores, and can also be used for auxiliary positioning industry for coarse positioning or guiding by other people through expansion. In particular to a coarse positioning guiding control system of a powder ore tank truck.

Background

In the enterprises such as cement factories and steel industry, such as grinding of various blast furnace slag steelmaking steels into powder, the finished products, namely powder mineral powder, are transported mostly by cement tank trucks and powder filling ships. In recent years, in order to improve efficiency, simplify operators, realize equipment intellectualization and centralized operation monitoring, and be expected to realize one-key loading and reduce personnel intervention or operation. However, because the tank car has different overall dimensions such as length, height, width and the like, the number of the open holes of the charge car is 2 or 3, the hole sites for delivery are also different, and the randomness of the parking position of the driver is large, so that the conventional PLC automatic positioning control is difficult to realize. However, with the rapid development of image recognition technology, computer modeling and algorithm technology, servo system technology, and the like, people have begun to replace eyes of people with cameras. The coordinates of the material holes to be loaded and the diameters of the round holes are automatically identified through a camera and image identification technology and a computer algorithm, the measured coordinates and diameters of the circle centers are sent to a manipulator control system, the control system converts the coordinates into the moving distance of an actual XY 2-axis manipulator, and the centering and positioning of the bulk head for Z-direction shipment are generally realized by adopting a servo driver, motor and encoder closed-loop control mode. Considering that the vehicle length is large and the XY robot is also long, the camera for image recognition has one viewing angle range, and beyond the range, the resolution of the pixels is sacrificed in order to have a wider range. That is, when the imaging object is far away, the accuracy of measurement is greatly reduced due to the recognition and calculation, light rays, non-straight lines and the like, so that the photographed roof hole for loading is placed in the camera vision range as much as possible in consideration of the camera vision range for image recognition. In addition, the manipulator for positioning delivery has a certain movable space, and the movement range of the manipulator is fixed, but the position where the vehicle driven by the driver to be loaded is stopped depends on the driving level of the driver and the experience of loading. According to the actual delivery site investigation result, the situation that the position of a new driver is not right frequently happens, the operator is often required to command, the driver backs up or forwards, and the like, the parking efficiency is low, the time and the energy of the operator are wasted, the operation intensity is high, and the operator is restricted to drive a plurality of delivery manipulators simultaneously. Therefore, in view of the above, the utility model discloses a just through simple and easy method and device, guide the driver to stop the vehicle in suitable regulation position, this method does not need the excessive parking experience of driver on the one hand, as long as eyes observe the monitoring video image (roof hole centre of a circle and laser marking machine cross image center are in the tolerance range, i.e. roof hole centre of a circle is in the square frame of location that the screen was drawn (with laser marking machine cross center, the side length is 200 mm's square), another convenient parking does not need the operator to order, the driver can independently accomplish the parking, this kind of mode parking precision is high and fast.

Disclosure of Invention

The utility model aims to provide a coarse positioning guide control system of a powder ore tank truck, which aims to solve the problems in the background technology.

The utility model aims to provide favorable conditions (coarse positioning is realized) for subsequent intelligent full-automatic loading and delivery by using 1 camera, 1 laser marking machine, 1 display screen, 1 set of PLC control system, 1 set of video recorder and other devices, and particularly provides a quick and efficient parking method for new drivers or drivers with poor memory or experience, and can improve the parking precision and the loading and delivery efficiency.

In order to achieve the above object, the present utility model provides the following technical solutions: coarse positioning guiding control system of powder ore tank car: the system comprises a PLC control system (9), a camera (6), a hard disk video recorder (10), a monitor display (13), a laser marker (5) and peripheral sensors and devices (detecting whether a vehicle is on a grating on a scale of a driver or not, a laser marker power supply controls an opening and closing signal), wherein the laser marker (5) is arranged at the top of a workshop, the laser marker is electrically connected with the PLC control system (9) through a signal wire, the camera (6) is arranged at the top of a tank car, the camera (6) is in wireless connection with the hard disk video recorder (10) through a wireless signal wire, the hard disk video recorder (10) is in electrical connection with the monitor display (13) through the signal wire, the monitor display (13) is arranged in a viewable area of the driver, in particular to the right front of the left wall surface of the outlet side of the workshop or the outlet door, the laser marker (5) is automatically connected with a laser luminous power supply when the inlet roller shutter door is opened, the laser marker (5) projects red or green cross patterns to the tank car, when the vehicle is in the front of the vehicle, the cross head (6) is close to the front of the monitor display (10) and the front of the monitor display video recorder is close to the left wall (10) together, when the driver observes that the center position of the material hole to be loaded is basically coincident with the laser marking cross center image or the deviation of the center image in the directions of XY two axes is within 200mm, the vehicle can be stopped. And then the intelligent delivery system can automatically search the round center coordinates of the material hole to be loaded, command the XY mechanical arm for delivery to move, and enable the delivery chute bulk head fixed on the XY mechanical arm frame to be aligned with the material hole of the vehicle to descend, so that the valve can be opened for delivery.

Further, the monitoring display (13) is arranged at the front and rear 1 meter position on the left hand side of the final parking position of the cab or at the left-hand position in front of the driver.

Furthermore, the laser marker (5) is positioned near the central line of the camera for measuring the coordinate image recognition of the center of the material hole, and the position deviation of the laser marker is required to be within the visual field of the shot picture of the camera.

Furthermore, the running distance controlled in the XY direction is a servo motor with a band-type brake and an absolute value encoder by using a servo driver, and the frequency converter can be used, but the control precision is higher than that of the servo driver.

Furthermore, the lifting walking distance controlled in the Z direction is a conventional conical motor with a frequency converter, a band-type brake and an absolute value encoder.

Further, the electric cylinder for adjusting the height of the camera is combined with the camera lens, and the camera lens is vertically arranged in the middle of the extending cross beam on the right side of the large and small car and is vertical to the ground.

Further, the laser rangefinder is mounted near the straight line of the forward limit of the car, which measures straight-on-top places on the right side of the car (the car is straight on both sides, and is arc-shaped in the middle). The laser range finder 485 is connected with a 485 communication module beside the PLC, and meanwhile, a DC24V power supply is also needed to be provided for the laser range finder.

Furthermore, the laser marking machine, the display screen and the camera can assist a driver to stop the vehicle in a specified range, and the circle center coordinates of the material opening are ensured to be in the view field of the camera.

In the technical scheme, the utility model has the technical effects and advantages that:

the laser marking machine which needs marking is arranged at the proper position for marking, and the driver can visually see whether the real-time position of the material hole to be loaded coincides with the specified position to be loaded in the future through the image of the monitoring display by using the cheap camera, the hard disk video recorder and the display screen, so that experience and memory are not needed, and the laser marking machine is particularly suitable for new drivers or drivers who load goods occasionally. In addition, the driver can independently finish the operation without the command of an operator, the efficiency is high, particularly the parking precision is high, the image recognition and the positioning precision in XY alignment of a follow-up camera are improved, because the follow-up control camera is arranged in a vertical roof plane, if the center of the visual range of the camera is basically coincident with the center of a material hole (similar to the center of the material hole under the vertical roof plane), the obtained image of the material hole is approximately in an orthogonal pattern, if the center of the circle of the camera is not coincident with the center of the material hole, and the center of the circle is larger in distance, although the circle is in the visual range of the camera, the circle of the material hole is deformed in the camera imaging, and the calculated radius and center of the circle coordinate error are larger, so that the accurate positioning control of the manipulator is not facilitated.

Drawings

FIG. 1 is a schematic diagram of the operation of the control system of the present utility model;

FIG. 2 is a schematic diagram of the overall system equipment composition of the present utility model;

reference numeral 1 illustrates:

1. bulk tank car headstock; 2. a vehicle body for charging (fine ore); 3. a tail; 4. a material hole (with a cover) on the roof; 5. a laser marking machine; 6. a camera; 7. the slide tube steel sleeve (used for delivery and can be folded up and down); 8. a chute; 9. a PLC control system (CPU module, IO module, communication module, etc.); 10. a hard disk video recorder; 11. laser cross image (graphic displayed on monitor display screen); 12. material Kong Yingxiang (graphics displayed on a monitor display screen); 13. and monitoring a display screen. Hole(s)

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 and 2, the utility model provides a coarse positioning guiding control system of a powder ore tank truck, which comprises: the system comprises a PLC control system (9), a camera (6), a hard disk video recorder (10), a monitoring display (13), a laser marker (5) and peripheral sensors and equipment (detecting whether a vehicle is on a scale of a driver or not, and controlling on-off signals by a laser marker power supply). The method is characterized in that: when the entrance rolling door is opened, the laser marking device (5) is automatically connected with a laser light-emitting power supply, the laser marking device (5) projects a red or green cross pattern on the roof of the tank truck, when the vehicle moves forwards, the camera (6) on the roof of the vehicle can transmit laser marking cross images and video images such as roof material holes to the hard disk video recorder (10) in real time, the video recorder (10) outputs video information to the monitoring display (13) hung on the left wall surface (or right front of the exit door) close to the exit side, and when a driver observes that the center position of a material hole to be loaded basically coincides with the laser marking cross center image or the deviation of the center in the XY two-axis direction is within 200mm, the vehicle can be stopped. And then the intelligent delivery system can automatically search the round center coordinates of the material hole to be loaded, command the XY mechanical arm for delivery to move, and enable the delivery chute bulk head fixed on the XY mechanical arm frame to be aligned with the material hole of the vehicle to descend, so that the valve can be opened for delivery. The composition schematic diagram of the whole electromechanical system is shown in figure 1, the working schematic diagram of the control system is shown in figure 2,

preferably, the running distance controlled in the XY direction is a servo motor with a band-type brake and an absolute value encoder, and the frequency converter can be of course, but the control precision is higher than that of the servo motor with a servo driver.

Preferably, the lifting walking distance controlled in the Z direction is a conventional conical motor with a frequency converter, a band-type brake and an absolute value encoder.

Preferably, the electric cylinder for adjusting the height of the camera is combined with the camera lens, and the camera lens is vertically arranged in the middle of the extending cross beam on the right side of the large and small car and is vertical to the ground.

Preferably, the laser rangefinder is mounted near the line of travel of the cart, which measures straight-on-top right of the cart (the cart is straight on both sides, circular arc in the middle). The laser range finder 485 is connected with a 485 communication module beside the PLC, and meanwhile, a DC24V power supply is also needed to be provided for the laser range finder.

Preferably, the laser marking machine, the display screen and the camera can assist a driver to stop the vehicle in a specified range, so that the center coordinates of the material inlet are ensured to be in the view range of the camera.

The utility model provides a laser marking machine which can be automatically opened and closed, a camera which is used for shooting overlapping range of a cross star image projected by the laser marking machine and a material hole physical image used for loading, a hard disk video recorder which is used for monitoring and collecting, a monitoring display which is used for observing images for a driver, and other sensors or signals of a matched opening and closing power supply and a PLC control system. The schematic diagram of the system control composition principle is shown in figure 2;

furthermore, in the above technical solution, the installation position of the laser marking machine is very important to select, and the position needs to be compatible with various tank trucks allowing loading for the previous loading. Otherwise, on the one hand, the subsequent camera view angle range for automatically identifying the coordinates of the round center of the material hole is influenced, and in the extreme case, the position of the material hole to be loaded is not in the view field range of the camera; on the other hand, even if the camera can find the material hole, and the coordinate or the moving distance of the manipulator in the XY direction can be output to the PLC control system, the XY manipulator cannot move to a required position (namely, exceeds the movable space (limited by various limit positions)).

Further, in the above technical solution, the monitor display screen mounting position must be mounted at a position which is easy to be seen by the driver, and of course, the monitor display screen mounting position must be mounted right in front of the driver, but most of the monitor display screen mounting position is mounted on the left side of the driver after parking due to the exit roller shutter door being right in front of the monitor display screen mounting position, the height is basically within the range of 0,5 meters up and down of the driver's sight line, the monitor is mounted with a protective cover to prevent the driver from getting off the vehicle and opening the door, and finally the size of the display screen is above 32 inches, otherwise, the monitor display screen is inconvenient to observe.

Furthermore, in the above technical scheme, the laser marking machine is controlled by the PLC to start and stop, so as to prolong the service life of the laser marking machine, i.e. the laser marking machine starts to be put into the power supply of the laser marking machine at the rising edge sent by the manual or automatic rising command of the garage door (3 seconds are required for starting the laser marking machine and starting the working chamber of the camera is identified at the material hole, and then the power supply of the laser marking machine is turned off.

Working principle:

referring to fig. 2 of the specification, when a driver receives a command or a message for loading or observes prompt information of an entrance monitor, the driver drives the vehicle into a garage, an entrance roller shutter door (used for shading light to prevent interference of outside light on camera image recognition of a material hole recognition, and meanwhile, the door also prevents dust from overflowing during loading) automatically rises, at the moment, a PLC also automatically starts a power supply of a laser marking machine, the device projects 2 vertical straight lines with a cross star after 3 seconds, a camera near the laser marking machine always shoots a cross image projected by the material hole of the vehicle and the laser marking machine, the driver can see a video monitoring image on the left side (or right in front of) the vehicle before the driver approaches an exit door 5 meters, and the driver can stop a hole cover as long as the material center of the material hole to be loaded is in the rectangular frame. The method can well solve the problem that the original mode of stopping by experience is inaccurate when the same driver drives different vehicles to load due to inconsistent length and width of the vehicles, the operator is required to command the vehicles to stop by using a loudspeaker, all the original XY mechanical arm is manually operated, the follow-up sliding barrel is used for carrying out drive adjustment on the middle delivery action by using an automatic mode of image recognition and PLC (programmable logic controller), and the mechanical arm has limited moving range, and meanwhile, the visual range of the image recognition camera for measuring the circular center coordinates and the radius of the material hole is limited, so that the automatic middle delivery control mode is limited on the stopping position by certain than the previous manual mode, otherwise, the follow-up automatic centering and automatic delivery functions are difficult to realize.

While certain exemplary embodiments of the present utility model have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the utility model, which is defined by the appended claims.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (3)

1. The utility model provides a coarse positioning guide control system of powder ore tank car, this control system includes PLC control system (9), camera (6), hard disk video recorder (10), monitor display (13), laser marking ware (5), its characterized in that: the laser marking device (5) is arranged at the top of a workshop, the laser marking device is electrically connected with the PLC control system (9) through a signal wire, the camera (6) is arranged at the top of the tank car, the camera (6) is in wireless connection with the hard disk video recorder (10) through a wireless signal wire, the hard disk video recorder (10) is electrically connected with the monitoring display (13) through the signal wire, the monitoring display (13) is arranged in an observable area of a driver, and the laser marking device (5) is automatically connected with a laser luminous power supply and irradiates the top of the tank car when the entrance rolling shutter door is opened.

2. The coarse positioning guide control system of the powder ore tank truck according to claim 1, wherein: the monitoring display (13) is arranged at the front and rear 1 meter position on the left hand side of the final parking position of the cab or at the left-hand position in front of the driver.

3. The coarse positioning guide control system of the fine ore tank truck according to claim 1, wherein: the laser marker (5) is positioned near the central line of the camera for measuring the coordinate image identification of the center of the material hole, and the position deviation of the laser marker is required to be within the visual field of the shot picture of the camera.

Images