CN209128027U - A kind of automobile truss load crane-pipe based on 3D machine vision - Google Patents
A kind of automobile truss load crane-pipe based on 3D machine vision Download PDFInfo
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- CN209128027U CN209128027U CN201821128708.5U CN201821128708U CN209128027U CN 209128027 U CN209128027 U CN 209128027U CN 201821128708 U CN201821128708 U CN 201821128708U CN 209128027 U CN209128027 U CN 209128027U
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- truss
- walking dolly
- automobile
- oil filling
- filling riser
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Abstract
The utility model discloses a kind of automobile truss load crane-pipes based on 3D machine vision, including oil filling riser, walking dolly, truss, lifting device, power device, NI Vision Builder for Automated Inspection, oil filling riser top is connected with lifting device, lifting device is arranged on walking dolly, walking dolly is arranged on truss, before walking dolly can be carried out using power device driving on truss rail, afterwards, it is left, right four direction movement, sealing device is correspondingly arranged on oil filling riser, lower position switch is provided on sealing device, laser distance sensor, light source is correspondingly arranged on truss, NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection, laser distance sensor, power device, lifting device, lower position switch, the brake apparatus of walking dolly is connect with industrial personal computer, jumper can be made to the existing precisely contraposition of automobile tank cause for gossip, manual operation bring is reduced accidentally to grasp Make risk, and greatly shorten position aligning time, reduce labor intensity, improve labor efficiency, and improves sealing effect.
Description
Technical field
The utility model relates to a kind of automobile truss load crane-pipe, in particular to based on a kind of machine vision location technology and
Industrial personal computer control technology finds tank by acquiring and handling tank truck tank mouth image using NI Vision Builder for Automated Inspection as detection core
The centre coordinate of mouth, then executing agency is controlled by industrial personal computer, driving automobile truss oil filling riser is travelled to tank mouth position, automatic right
Quasi- tank car tank mouth, and the lifting closed tank mouth of sealing device is driven, realize that contraposition is regarded with the full automatic one kind of entrucking based on 3D machine
The automobile truss load crane-pipe of feel.
Background technique
Oil filling riser: the special equipment during petrochemical industry fluid assembly and disassembly, also known as fluid assembly and disassembly arm.It is using rotary joint
It is connected with rigid conduit and elbow, transmits liquid medium between train, tank wagon and trestle storage and transportation pipeline to realize
Vehicular equipment has the features such as very high safety, flexibility and long service life to replace old-fashioned hose to connect.Product meets
GB 50074-2002 " Code for design of petroleum depots " standard is a kind of ideal special equipment in transmitting-receiving oil plant technique, can use extensively
All kinds of liquid charging stocks are received and dispatched in chemical industry and other industry.
Requirement with country to safety in production is higher and higher and all trades and professions improve product quality and management level meaning
The continuous improvement of knowledge, universal top fills deficiency existing for oil filling riser and is gradually exposed, according to different oil filling riser structures, major embodiment
At following aspect:
Purely mechanic oil filling riser: being made of pipeline, rotary joint, hose and balance mechanism, and production procedure is dragged and drawn by manually dragging
Oil filling riser is to target position, and existing main problem is that labor intensity is high, security risk is big, and poisonous and harmful medium is to operator
The personal injury of work is serious.
Semi-automatic automobile truss oil filling riser: being mounted on the truss for being parallel to track, in original machine tool structure basis, in truss
Increase power device on trolley, by electronic, hydraulic or pneumatic actuation, the forward or backward of oil filling riser is realized by hand-operated valve.In the presence of
Defect be: contraposition needs manually to observe back and forth, the phenomenon that mechanism collision easily occurs, operation time-consuming and very troublesome.It leans on
The alignment with tank car tank mouth is realized in operating, steering and the stopping of manual operation Pneumatic valve or electric cabinet control trundle, by
In the range estimation of personnel and the error of operation, repeated multiple times forward and reverse crawl operation, oil filling riser could be precisely directed in tank car
Tank mouth center.If contraposition is inaccurate, it will cause decentralization oil filling riser sealing cover that tank mouth cannot be completely covered, live oil gas volatilization causes
Security risk.
Utility model content
To solve above-mentioned existing problem, the utility model provides a kind of automobile truss load crane-pipe, utilizes machine vision skill
Art to carry out tank mouth fixation and recognition, and output coordinate value, and industrial personal computer is by calling the centre coordinate to control oil filling riser walking and rise
Drop finally obtains a kind of truss-like automobile full-automatic entrucking oil filling riser that can intelligently align.
The technical solution that the utility model is taken is as follows: a kind of automobile truss load crane-pipe based on 3D machine vision, packet
Oil filling riser, walking dolly, truss, lifting device, power device, NI Vision Builder for Automated Inspection are included, the oil filling riser top is connected with lifting dress
It sets, the lifting device is arranged on walking dolly, and the walking dolly is arranged on truss, setting and walking on the truss
The corresponding truss track of trolley, the walking dolly can carry out front, rear, left and right using power device driving on truss track
Four direction moves, and left limit switch corresponding with truss track, right limit switch, front limit are provided on the walking dolly
Switch, rear limit switch are correspondingly arranged on sealing device on the oil filling riser, be provided on the sealing device lower position switch,
Laser distance sensor, is correspondingly arranged on light source, NI Vision Builder for Automated Inspection on the truss, the NI Vision Builder for Automated Inspection, laser away from
From sensor, power device, lifting device, left limit switch, right limit switch, front limit switch, rear limit switch, lower limit
Switch, walking dolly brake apparatus connect with industrial personal computer, in the case where environmental condition meets image acquisition request, NI Vision Builder for Automated Inspection
Collecting work tank car image within the vision is identified through microprocessor and is positioned, and target tank mouth coordinate value is exported, by industrial personal computer tune
With the target tank mouth coordinate value, drive walking dolly mobile towards coordinate position, when oil filling riser reaches above target tank mouth, by laser away from
From sensor reaffirm oil filling riser whether alignment target tank mouth, after confirmation alignment, industrial personal computer controls oil filling riser and sealing device and declines,
When down position reaches set distance, lower position switch triggering, sealing device stops decline, and contraposition is completed, and waits entrucking, entrucking
After the completion, reset button is pressed on the control panel of industrial personal computer, oil filling riser returns to original position of readiness, and truck fill flow terminates.
Further, the truss track includes cross track, long rails, and the long rails both ends are arranged in transverse direction
It on track, can be moved on cross slide way, the walking dolly is arranged on long rails, can move on longitudinal rail, institute
State between long rails and cross track, between walking dolly and longitudinal rail by transmission device connect, the transmission device
It is driven using power device, the front, rear, left and right convenient for preferably realizing walking dolly are mobile.
Further, the transmission device is gear & rack structure, ball screw type drive mechanism, track-mounted drive mechanism
One of, it is mobile convenient for preferably driving walking dolly.
Further, the power device is air motor with encoder or explosion-proof servo motor, convenient for better
Drive walking dolly mobile, convenient for preferably realizing walking positioning.
Further, the light source is correspondingly arranged at according to field condition on truss or on corresponding bracket, the light source
Type be LED light source, optical fiber halogen light source, high-frequency florescent lamp one or more combination, convenient in the case where light is weak
It is preferably illuminated, is conducive to the use for more preferably cooperating NI Vision Builder for Automated Inspection.
Further, the lifting device is one of lifting cylinder, lifting hydraulic cylinder, Motorized lift device, is convenient for
The preferably lifting of control oil filling riser.
Further, power switch, power supply indicator, starting, contraposition are provided on the control panel on the industrial personal computer
Success indicator light, reset, manual left lateral, manual right lateral, moves ahead manually, manual rear row, rises manually, Manual descending function at emergency stop
Energy key, convenient for preferably control oil filling riser running fix.
Further, the NI Vision Builder for Automated Inspection be integrated with microprocessor CCD or CMOS integrated industrial camera or
It is the NI Vision Builder for Automated Inspection form seperated with controller using industrial camera；Its functional form is 3D NI Vision Builder for Automated Inspection or figure
As vision system, the coordinate output result of corresponding target tank mouth is image coordinate or world coordinates, convenient for preferably right
The coordinate information of target tank mouth is acquired and exports, convenient for more accurately being positioned.
Further, the industrial personal computer using PLC control or single-chip microcontroller control, convenient for preferably with each drive system,
Transmission device, sensor, limit switch, NI Vision Builder for Automated Inspection cooperation, and then oil filling riser is preferably controlled, it is accurately positioned.
What the utility model obtained using the above structure has the beneficial effect that: this programme is using machine vision technique come to tank
Mouth carries out fixation and recognition, and output coordinate value, and industrial personal computer is walked by calling centre coordinate control oil filling riser and lifting, final to obtain
The truss-like automobile full-automatic entrucking oil filling riser that can be intelligently aligned to one kind, in the case where environmental condition meets image acquisition request, machine
Device vision system collecting work tank car image within the vision is identified through microprocessor and is positioned, and exports target tank mouth coordinate value,
The target tank mouth coordinate value is called by industrial personal computer, driving walking dolly is mobile towards coordinate position, when oil filling riser reaches in target tank mouth
Side, by laser distance sensor reaffirm oil filling riser whether alignment target tank mouth, confirmation alignment after, industrial personal computer control oil filling riser with it is close
Seal apparatus decline, when down position reaches set distance, lower position switch triggering, sealing device stops decline, and contraposition is completed, etc.
To entrucking, after the completion of entrucking, reset button is pressed on the control panel of industrial personal computer, oil filling riser returns to original position of readiness, entrucking
Process terminates, and jumper can be made to the existing precisely contraposition of automobile tank cause for gossip, reduce manual operation bring maloperation risk, and big
It is big to shorten position aligning time, labor intensity is reduced, is improved labor efficiency, and improves sealing effect, on original oil filling riser basis
On to do automatic updating transformation simple, it is consistent effectively, plant maintenance point is few, and it is big to invest small income.
Detailed description of the invention
Fig. 1 is the plainly-packed figure of the utility model vehicle cantilever truss oil filling riser.
Fig. 2 is the NI Vision Builder for Automated Inspection automatic aligning programme diagram of the utility model.
Fig. 3 is the NI Vision Builder for Automated Inspection structure chart of the utility model.
Fig. 4 is the control panel figure of the NI Vision Builder for Automated Inspection of the utility model.
Specific embodiment
In conjunction with attached drawing, the utility model is described in further details.
As shown in Figs 1-4, the present embodiment provides a kind of automobile truss load crane-pipes based on 3D machine vision, including oil filling riser
15, walking dolly 6, truss 2, lifting device 4, power device 3, NI Vision Builder for Automated Inspection 11,15 top of oil filling riser are connected with liter
Falling unit 4, the lifting device 4 are arranged on walking dolly 6, and the walking dolly 6 is arranged on truss 2, on the truss 2
Truss track corresponding with walking dolly is set, and the walking dolly 6 can be carried out using the driving of power device 3 on truss track
Front, rear, left and right four direction moves, and is provided with left limit switch 7 corresponding with truss track, right limit on the walking dolly
Bit switch 9, front limit switch 8, rear limit switch 10 are correspondingly arranged on sealing device 14, the sealing device on the oil filling riser
It is provided with lower position switch 13, laser distance sensor 12 on 14, light source 1, machine vision system are correspondingly arranged on the truss
System 11, the NI Vision Builder for Automated Inspection 11, laser distance sensor 12, power device 3, lifting device 4, left limit switch 7, right limit
Bit switch 9, front limit switch 8, rear limit switch 10, lower position switch 13, the brake apparatus of walking dolly 6 and industrial personal computer 20 connect
It connects, in the case where environmental condition 17 meets the requirement of Image Acquisition 18,11 collecting work of NI Vision Builder for Automated Inspection tank car figure within the vision
Picture is identified through microprocessor 19 and is positioned, and is exported target tank mouth coordinate value, is called the target tank mouth coordinate value by industrial personal computer, is driven
Walking dolly is mobile towards coordinate position, carries out contraposition and executes 21, works as crane, and 15 reach above target tank mouth, is sensed by laser distance
Device 12 reaffirm oil filling riser whether alignment target tank mouth, after confirmation alignment, industrial personal computer controls oil filling riser and sealing device and declines, decline
When position reaches set distance, lower position switch 13 is triggered, and sealing device 14 stops decline, align successfully 22, and waiting entrucking fills
After the completion of vehicle, reset button is pressed on the control panel of industrial personal computer 20, oil filling riser returns to original position of readiness, truck fill flow knot
Beam.
Wherein, the truss track includes cross track, long rails, and the long rails both ends are arranged in cross track
On, it can be moved on cross slide way, the walking dolly is arranged on long rails, can move on longitudinal rail, described vertical
It is connected between track and cross track, between walking dolly 6 and longitudinal rail by transmission device 5, the transmission device is adopted
It is driven with power device 3, the front, rear, left and right convenient for preferably realizing walking dolly are mobile.
The transmission device 5 is gear & rack structure, ball screw type drive mechanism, one in track-mounted drive mechanism
Kind, it is mobile convenient for preferably driving walking dolly.
The power device 3 is air motor with encoder or explosion-proof servo motor, convenient for preferably driving walking
Trolley is mobile, convenient for preferably realizing walking positioning.
The light source 1 is correspondingly arranged at according to field condition on truss 2 or on corresponding bracket, and the type of the light source is
The one or more combination of LED light source, optical fiber halogen light source, high-frequency florescent lamp, convenient in the case where light is weak preferably into
Row illumination is conducive to the use for more preferably cooperating NI Vision Builder for Automated Inspection.
The lifting device 4 is one of lifting cylinder, lifting hydraulic cylinder, Motorized lift device, convenient for preferably control
The lifting of oil filling riser processed.
It is provided with power switch on control panel on the industrial personal computer, power supply indicator, starting, aligns and successfully indicates
Lamp, reset, manual left lateral, manual right lateral, moves ahead manually, manual rear row, rises manually, Manual descending function key at emergency stop, is convenient for
Preferably control oil filling riser running fix.
The NI Vision Builder for Automated Inspection 11 is to be integrated with CCD the or CMOS integrated industrial camera of microprocessor or using work
The industry camera NI Vision Builder for Automated Inspection form seperated with controller；Its functional form is 3D NI Vision Builder for Automated Inspection or image vision system
System, corresponding target tank mouth coordinate output result be image coordinate or world coordinates, convenient for preferably to acquisition and it is defeated
The coordinate information of target tank mouth out, convenient for more accurately being positioned.
The industrial personal computer 20 is controlled using PLC or single-chip microcontroller control, convenient for preferably filling with each drive system, transmission
It sets, the cooperation of sensor, limit switch, NI Vision Builder for Automated Inspection, and then preferably controls oil filling riser, be accurately positioned.
The use of the present embodiment forms an automobile truss-like automatic aligning oil filling riser system based on machine vision and mainly wraps
It includes environmental condition 17, Image Acquisition 18, image procossing identification and positioning 19, industrial personal computer 20 and calls coordinate, executing agency's movement control
System 21 uses NI Vision Builder for Automated Inspection as tank mouth identification locator, daytime using natural light as light conditions, night or light compared with
Front illumination is carried out with types of light sources such as LED, halogen light source or fluorescent lamps in dark situation, uses industrial personal computer as controller, makes
The air motor or explosion-proof servo motor for using configuration code device are swashed as oil filling riser walking dolly power device using limit switch
Position sensor of the light probe as oil filling riser walking dolly, using the truss oil filling riser that top is walked as filling device；Machine vision
System first can be acquired the image of tank car, and industrial camera is directly anchored on truss or bracket, then to target tank
Mouth is identified and positioned, and the coordinate at tank mouth center is calculated, and tank mouth identifies locator position and jumper position, target tank mouth
Position constitutes a coordinate system, and by the matrix conversion of three, visual spatial attention part obtains the world coordinates of tank mouth, will sit
Scale value is saved, and industrial personal computer is made corresponding kinematics and decomposed, driving oil filling riser moves to target position by calling the coordinate value
It sets；Industrial personal computer is used to control electric control valve or A.C. contactor or other motor drivers, to control air motor or anti-
Operating, steering and the stopping of quick-fried servo motor, industrial personal computer control walking dolly along truss track in tank car by transferring coordinate value
Top walking, industrial personal computer is got in touch with during controlling carriage walking by the real-time, interactive of encoder and locator, to tank mouth target
Position is accurately corrected, and is precisely aligned in driving transferring oil jumper and the sealing cover and the position at tank mouth center of control system,
Subsequent controller issues decline instruction, control oil filling riser lifting device fall laser on oil filling riser sealing cover and jumper sealing cover away from
From sensor can the position to jumper detect and feedback signal, confirmation oil filling riser is aligned with tank mouth, when sealing means of crane-pipe and
When oil filling riser drops to lower position switch set distance, then sealing device and oil filling riser stop declining, and waiting is completed in system confirmation contraposition
Entrucking.After oil product is filling, truss-like automobile oil filling riser returns to initial position, and entire entrucking process terminates, and can make jumper
To the existing precisely contraposition of automobile tank cause for gossip, manual operation bring maloperation risk is reduced, and greatly shorten position aligning time, reduced
Labor intensity, improves labor efficiency, and improve sealing effect, does on the basis of original oil filling riser automatic updating transformation letter
Single, consistent effective, plant maintenance point is few, and it is big to invest small income.
The utility model and embodiments thereof are described above, this description is no restricted, shown in attached drawing
Be also one of the embodiments of the present invention, actual structure is not limited to this.All in all if this field
Those of ordinary skill is enlightened by it, without deviating from the purpose of the present invention, not inventively design with
The similar frame mode of the technical solution and embodiment, all should belong to the protection range of the utility model.
Claims (9)
1. a kind of automobile truss load crane-pipe based on 3D machine vision, it is characterised in that: including oil filling riser, walking dolly, truss,
Lifting device, power device, NI Vision Builder for Automated Inspection, the oil filling riser top are connected with lifting device, and the lifting device setting exists
On walking dolly, the walking dolly is arranged on truss, and truss track corresponding with walking dolly, institute are arranged on the truss
Front, rear, left and right four direction movement, the walking can be carried out using power device driving on truss track by stating walking dolly
Left limit switch corresponding with truss track, right limit switch, front limit switch, rear limit switch are provided on trolley, it is described
It is correspondingly arranged on sealing device on oil filling riser, lower position switch, laser distance sensor, the purlin are provided on the sealing device
Light source, NI Vision Builder for Automated Inspection, the NI Vision Builder for Automated Inspection, laser distance sensor, power device, lifting are correspondingly arranged on frame
The braking of device, left limit switch, right limit switch, front limit switch, rear limit switch, lower position switch, walking dolly fills
It sets and is connect with industrial personal computer.
2. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 1, it is characterised in that: described
Truss track includes cross track, long rails, and the long rails both ends are arranged on cross track, can be on cross slide way
Mobile, the walking dolly is arranged on long rails, can move on longitudinal rail, the long rails and cross track it
Between, connected by transmission device between walking dolly and longitudinal rail, the transmission device is using power device driving.
3. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 2, it is characterised in that: described
Transmission device is one of gear & rack structure, ball screw type drive mechanism, track-mounted drive mechanism.
4. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 2, it is characterised in that: described
Power device is air motor with encoder or explosion-proof servo motor.
5. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 1, it is characterised in that: described
Light source is correspondingly arranged at according to field condition on truss or on corresponding bracket, and the type of the light source is LED light source, optical fiber halogen
The one or more combination of plain light source, high-frequency florescent lamp.
6. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 1, it is characterised in that: described
Lifting device is one of lifting cylinder, lifting hydraulic cylinder, Motorized lift device.
7. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 1, it is characterised in that: described
Be provided on control panel on industrial personal computer power switch, power supply indicator, starting, align successfully indicator light, emergency stop, reset,
Manual left lateral manual right lateral, moves ahead manually, manual rear row, rises manually, Manual descending function key.
8. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 1, it is characterised in that: described
NI Vision Builder for Automated Inspection is to be integrated with CCD the or CMOS integrated industrial camera of microprocessor or use industrial camera and controller
Seperated NI Vision Builder for Automated Inspection form；Its functional form is 3D NI Vision Builder for Automated Inspection or Image Vision System, corresponding
The coordinate output result of target tank mouth is image coordinate or world coordinates.
9. a kind of automobile truss load crane-pipe based on 3D machine vision according to claim 1, it is characterised in that: described
Industrial personal computer is controlled using PLC or single-chip microcontroller control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821128708.5U CN209128027U (en) | 2018-07-17 | 2018-07-17 | A kind of automobile truss load crane-pipe based on 3D machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821128708.5U CN209128027U (en) | 2018-07-17 | 2018-07-17 | A kind of automobile truss load crane-pipe based on 3D machine vision |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111115538A (en) * | 2020-01-06 | 2020-05-08 | 阜阳国祯燃气有限公司 | Multifunctional crane pipe moving device |
| CN111762748A (en) * | 2020-07-10 | 2020-10-13 | 连云港华恒石化设备制造有限公司 | Train cantilever loading crane pipe based on 3D machine vision |
| CN111994865A (en) * | 2020-09-17 | 2020-11-27 | 中国石油化工股份有限公司西北油田分公司 | Crane tube video alignment system |
| CN112093768A (en) * | 2020-09-17 | 2020-12-18 | 郑州智慧通测控技术有限公司 | Anti-drip oil liquid loading and unloading platform device |
| CN112782686A (en) * | 2020-12-15 | 2021-05-11 | 浙江中控技术股份有限公司 | Automatic alignment system and method for loading based on multidimensional identification and positioning technology |
| CN113697755A (en) * | 2021-08-23 | 2021-11-26 | 江苏德大石化科技有限公司 | Automatic alignment loading system |
| CN113800460A (en) * | 2021-09-27 | 2021-12-17 | 深圳市奥图威尔科技有限公司 | Automatic loading control method and control device for loading crane pipe |
| CN113838148A (en) * | 2021-10-08 | 2021-12-24 | 中科海拓(无锡)科技有限公司 | Automatic positioning method of oil filling riser oil loading and unloading device based on machine vision |
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2018
- 2018-07-17 CN CN201821128708.5U patent/CN209128027U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111115538A (en) * | 2020-01-06 | 2020-05-08 | 阜阳国祯燃气有限公司 | Multifunctional crane pipe moving device |
| CN111762748A (en) * | 2020-07-10 | 2020-10-13 | 连云港华恒石化设备制造有限公司 | Train cantilever loading crane pipe based on 3D machine vision |
| CN111762748B (en) * | 2020-07-10 | 2021-02-05 | 连云港华恒石化设备制造有限公司 | Train cantilever loading crane pipe based on 3D machine vision |
| CN111994865A (en) * | 2020-09-17 | 2020-11-27 | 中国石油化工股份有限公司西北油田分公司 | Crane tube video alignment system |
| CN112093768A (en) * | 2020-09-17 | 2020-12-18 | 郑州智慧通测控技术有限公司 | Anti-drip oil liquid loading and unloading platform device |
| CN112782686A (en) * | 2020-12-15 | 2021-05-11 | 浙江中控技术股份有限公司 | Automatic alignment system and method for loading based on multidimensional identification and positioning technology |
| CN113697755A (en) * | 2021-08-23 | 2021-11-26 | 江苏德大石化科技有限公司 | Automatic alignment loading system |
| CN113800460A (en) * | 2021-09-27 | 2021-12-17 | 深圳市奥图威尔科技有限公司 | Automatic loading control method and control device for loading crane pipe |
| CN113838148A (en) * | 2021-10-08 | 2021-12-24 | 中科海拓(无锡)科技有限公司 | Automatic positioning method of oil filling riser oil loading and unloading device based on machine vision |
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