CN208072152U - A kind of milling machine automatically transporting materials system of view-based access control model identification - Google Patents
A kind of milling machine automatically transporting materials system of view-based access control model identification Download PDFInfo
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- CN208072152U CN208072152U CN201820351830.2U CN201820351830U CN208072152U CN 208072152 U CN208072152 U CN 208072152U CN 201820351830 U CN201820351830 U CN 201820351830U CN 208072152 U CN208072152 U CN 208072152U
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Abstract
Include for conveying the transmission device of building stones, visual identifying system, milling equipment, image calibration device and truck for storing building stones the utility model discloses a kind of milling machine automatically transporting materials system of view-based access control model identification；The visual identifying system includes image capturing system, image identification system, storage unit, master controller, display screen；The transmission device includes material-conveying belt, oscillating oil cylinder and lift cylinder, and material-conveying belt top is equipped with conveying motor.The milling machine automatically transporting materials system of view-based access control model identification provided by the utility model, can automatically adjust the speed of service, the conveyer belt elevation angle and the amplitude of fluctuation of conveyer belt, building stones is made accurately to shed into truck；The operation difficulty and intensity for reducing milling machine and truck operating personnel, avoid leading to construction safety accident because of operating personnel's error in judgement or fatigue driving.
Description
Technical field
The utility model is related to a kind of milling machine automatically transporting materials systems of view-based access control model identification, belong to mechanical equipment technology neck
Domain.
Background technology
Key equipment of the milling machine as pavement maintenance machinery, China step into curing period, milling with a large amount of highways
The market occupancy volume of machine is also rising year by year, the market of especially large-scale milling machine.When large-scale milling machine operation, old pavement is shelled
From the waste material that milling is got off is sent by I and II conveyor belt machine to material collecting trolley.Traditional milling machine, when conveying building stones, nothing
Method is accurately transported in truck, and milling machine, during continuous advance, truck, which needs constantly to follow, moves position, even if this
Sample, building stones often still can leak out material collecting trolley, and operate material-conveying belt, it is also necessary to expend the prodigious energy of machine hand, operation difficulty
Greatly, long-duration driving labor intensity is high, easy tos produce fatigue, conveying is caused to shed, or even cause construction safety accident.
Disclose a kind of visual intelligent conveying milling machine in 202849911 U patents of CN, including milling railcar body and
Overall view monitoring system on milling railcar body is set, for detecting milling railcar body conveying frame head and peripheral regions barrier
Distance, avoid milling machine conveying from shedding, have good conveying guiding function.But it can not be come from according to the image taken
The dynamic relative position determined and adjust milling machine and truck, it is desired nonetheless to which operating personnel are judged by observation display screen and gone forward side by side
Row operation.
A kind of band visual identity flapping articulation manipulator is disclosed in 107443428 A of CN, by by visual recognition line
The image recognition of system and control to manipulator, to realize that manipulator accurately captures product, and adjust the angle of product
Degree, accurately can be put into accommodating tool by product, not only increase working efficiency, also reduce the spoilage of product, still
For the service condition of milling machine, directly using the above method there are many defects, the building stones of material-conveying belt conveying need to throw
It spills in feeding car, rather than is put into frame as manipulator, and between the building stones of milling machine milling and the type of truck
There are prodigious difference, unlike there are standard modes in foregoing invention, easily it can be identified and handle.
And by visual identity method, space coordinates can be accurately established, conveyer belt is precisely controlled so that material-conveying belt is real-time
It is matched with truck, reduction operation intensity and difficulty；Image calibrating installation is installed simultaneously, visual identifying system is facilitated to correct different material
The measurement error of vehicle and system itself so that building stones can be more accurately sent into truck.
Utility model content
Purpose：In order to overcome the deficiencies in the prior art, the utility model to provide a kind of milling of view-based access control model identification
Planer automatically transporting materials system.
Technical solution：In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of milling machine automatically transporting materials system of view-based access control model identification, includes for conveying the transmission device of building stones, vision
Identifying system, milling equipment, image calibration device and the truck for storing building stones；The visual identifying system includes that image is adopted
Collecting system, image identification system, storage unit, master controller, display screen；The transmission device includes material-conveying belt, oscillating oil cylinder
And lift cylinder, material-conveying belt top are equipped with conveying motor；
The input terminal of described image acquisition system and storage unit connects, described image identifying system and storage unit it is defeated
Outlet connects, and the input terminal of described image identifying system and master controller connects, the display screen, conveying motor, oscillating oil cylinder
It is connected with the output end of lift cylinder and master controller.
Further, velocity sensor is installed in the conveying motor on the material-conveying belt top；It the oscillating oil cylinder and carries
Displacement sensor is separately installed in oil-lifting jar.
Further, described image acquisition system is made of infrared camera, and the infrared camera is mounted on material-conveying belt top.
Further, it there are two the display screen is set, is separately mounted in milling machine driver's cabin and truck driver's cabin.
Further, described image calibrating installation is mounted on the rear top of truck driver's cabin.
Further, warning indicator light, the output end of the warning indicator light and master controller are installed on the truck
Connection.
Advantageous effect：A kind of milling machine automatically transporting materials system of view-based access control model identification provided by the utility model, can be automatic
The speed of service, the conveyer belt elevation angle and the amplitude of fluctuation for adjusting conveyer belt, make building stones accurately shed into truck；Reduce milling machine and
The operation difficulty and intensity of truck operating personnel avoids leading to construction safety thing because of operating personnel's error in judgement or fatigue driving
Therefore.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model milling machine part；
The trajectory diagram that relative position and building stones when Fig. 2 is conveying between milling machine material-conveying belt and truck fly out；
Fig. 3 is the module frame schematic diagram of the utility model.
Specific implementation mode
The utility model is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of milling machine automatically transporting materials system of view-based access control model identification, includes the transmission for conveying building stones
Device, visual identifying system, milling equipment 6, image calibration device and the truck 7 for storing building stones；Store the truck of building stones
It follows in the side of milling machine, and is maintained a certain distance with milling machine；The transmission device, milling equipment 6 are mounted on milling
On machine, transmission device transfers out the building stones that milling equipment milling is got off, and is received by truck.
The visual identifying system includes image capturing system, image identification system, storage unit, master controller, display
Screen；The transmission device includes material-conveying belt 3, oscillating oil cylinder 5 and lift cylinder 4, and material-conveying belt top is equipped with conveying motor 2, by defeated
Send the transmission speed of motor control material-conveying belt.
The input terminal of described image acquisition system and storage unit connects, described image identifying system and storage unit it is defeated
Outlet connects, and the input terminal of described image identifying system and master controller connects, the display screen, conveying motor, oscillating oil cylinder
It is connected with the output end of lift cylinder and master controller, refering to Fig. 3.
Described image acquisition system is made of infrared camera 1, and the infrared camera is mounted on the top of conveyer belt 3.Image
Acquisition system the image collected is preserved to storage unit, and image identification system is identified from storage unit extraction image.Figure
As identifying system major function is to identify skip position, and the specific three-dimensional coordinate by truck relative to origin sends master to
Controller, aforementioned three-dimensional coordinate be using discharge port as origin, with perpendicular to ground upwardly for Z axis, with it is horizontal with ground to truck
Direction is X-axis, and Y-axis is perpendicular to X-axis, Z axis.Operating personnel can watch the position of truck and related prompt letter in real time by display screen
It ceases, display screen is equipped in milling machine driver's cabin and truck driver's cabin.
Image calibration device is the cross mark post of a required standard size, and mounted on the rear top of truck driver's cabin.
For the image of image capturing system acquisition on the basis of the cross mark post, the size of the cross mark post is defined standard size, because
This can calibrate the distance currently measured to reduce measurement error, to can ensure that conveying system can be more accurately by stone
Material is transported in truck.
Velocity sensor, the input of the velocity sensor and master controller are installed in the conveying motor on material-conveying belt top
End connection, can obtain speed when current building stones fly away from feeding device in real time；In the oscillating oil cylinder and promotion oil of transmission device
Displacement sensor is respectively provided in cylinder.
Speed and truck when flying away from transmission device by building stones instantly are at a distance from milling machine, material-conveying belt top and material
The parameters such as the relative height differential of vehicle can accurately calculate the elevation angle of current transmission device and determine the sky of current transmission device
Between position.The computational methods at the transmission device elevation angle are as follows：
Referring to Fig.2, assuming that horizontal distance of the 7 target filling position of truck apart from 3 head of milling machine material-conveying belt is S, vertically
Difference in height is h, and the angle of material-conveying belt and horizontal direction is α, and speed when building stones fly away from material-conveying belt is V, then is not considering windage
In the case of, following equation can be obtained：
S-S1=Vtcos α；
S1=2Vcos α Vsin α/g；
H=Vtsin α+0.5gt2；
In above-mentioned equation, t indicates that building stones are flown away from during material-conveying belt declines and reaches height identical as conveying headed and start
To falling into truck time used, S1It indicates to reach height point identical as conveying headed and conveying headed after building stones decline
Horizontal distance between outlet port.Assuming that x=tan (α/2), simultaneous above three equation can obtain the equation about x：
ax4+bx3+cx2+ dx+e=0；
Wherein,
The value that unary biquadratic equation formula acquires x is solved, corresponding α is calculated；Unary biquadratic equation can there are four solutions, to meeting
Four α values are obtained, but α values only it is unreasonable can to exclude other between 0~pi/2 in conjunction with this range under actual conditions
Angle value finally determines specific α values.
After α values determine, main controller controls oscillating oil cylinder makes conveyer belt be reached with horizontal direction angle with lift cylinder work
It to α values, and controls transmission device and the state is kept to work, truck holding follows milling at a distance from milling machine under this state
Machine moves；When the distance between truck and milling machine beyond as defined under aforesaid state apart from when, the warning indicator light on truck
Can automatically start flicker, truck machine hand according to display screen display skip position coordinate operation truck reach it is aforementioned regulation away from
From.
There is very big difference in the truck model that is used when practice of construction, during receiving building stones, it is desirable to which building stones can be with
The low material packet in the high both sides in a centre is formed in truck, in this way can farthest splicing, and building stones will not leak out material
Vehicle.The image shot by camera camera identifies the appearance and size of truck, specific identification using number pixel method, often
The distance that a pixel represents is determined by image calibration device, then calculates the pixel spot size of discharging car.It is larger for size
Truck repeatedly adjust the parameters such as conveying tape speed, elevation angle of transmission device, determine different discharging points according to its size,
Multiple building stones packets are formed in truck, can make full use of the space of truck.
The above is only the preferred embodiment of the utility model, it should be pointed out that：For the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (6)
1. a kind of milling machine automatically transporting materials system of view-based access control model identification, it is characterised in that：It include the transmission for conveying building stones
Device, visual identifying system, milling equipment, image calibration device and the truck for storing building stones；The visual identifying system
Including image capturing system, image identification system, storage unit, master controller, display screen；The transmission device includes conveying
Band, oscillating oil cylinder and lift cylinder, material-conveying belt top are equipped with conveying motor；
The input terminal of described image acquisition system and storage unit connects, the output end of described image identifying system and storage unit
The input terminal of connection, described image identifying system and master controller connects, and the display screen conveys motor, oscillating oil cylinder and carries
The output end of oil-lifting jar and master controller connects.
2. the milling machine automatically transporting materials system of view-based access control model identification according to claim 1, it is characterised in that：The conveying
Velocity sensor is installed in conveying motor with top；It is separately installed with displacement sensing in the oscillating oil cylinder and lift cylinder
Device.
3. the milling machine automatically transporting materials system of view-based access control model identification according to claim 1, it is characterised in that：Described image
Acquisition system is made of infrared camera, and the infrared camera is mounted on material-conveying belt top.
4. the milling machine automatically transporting materials system of view-based access control model identification according to claim 1, it is characterised in that：The display
Screen is separately mounted to there are two setting in milling machine driver's cabin and truck driver's cabin.
5. the milling machine automatically transporting materials system of view-based access control model identification according to claim 1, it is characterised in that：Described image
Calibrating installation is mounted on the rear top of truck driver's cabin.
6. the milling machine automatically transporting materials system of view-based access control model identification according to claim 1, it is characterised in that：The truck
On warning indicator light is installed, the output end of the warning indicator light and master controller connects.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108221610A (en) * | 2018-03-14 | 2018-06-29 | 徐州徐工筑路机械有限公司 | A kind of milling machine automatically transporting materials system of view-based access control model identification |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108221610A (en) * | 2018-03-14 | 2018-06-29 | 徐州徐工筑路机械有限公司 | A kind of milling machine automatically transporting materials system of view-based access control model identification |
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