CN212211199U - Ship shore side water gauge image acquisition system based on telescopic rail hanging robot - Google Patents
Ship shore side water gauge image acquisition system based on telescopic rail hanging robot Download PDFInfo
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- CN212211199U CN212211199U CN202020523003.4U CN202020523003U CN212211199U CN 212211199 U CN212211199 U CN 212211199U CN 202020523003 U CN202020523003 U CN 202020523003U CN 212211199 U CN212211199 U CN 212211199U
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Abstract
The utility model discloses a boats and ships alongside footage image acquisition system based on scalable rail robot, including image acquisition device, communication device, hand-held type management and control device and platform management and control device, image acquisition device includes camera, rotatory cloud platform, ultrasonic ranging sensor, positioner and scalable rail robot body, and communication device includes photoelectric conversion device and wireless communication device, and hand-held type management and control device includes handheld terminal and positioner, and platform management and control device includes information display device, manual control platform and server; the handheld terminal is connected with the telescopic rail hanging robot and the rotary holder through the wireless communication device, the server is connected with the telescopic rail hanging robot and the rotary holder through the photoelectric conversion device, and the camera is connected with the handheld terminal and the server through the wireless communication device and the photoelectric conversion device respectively. The system can replace personnel to approach the water gauge mark on the bank side, so that the acquisition of the ship water gauge image on the bank side becomes safe, accurate and convenient.
Description
Technical Field
The utility model relates to a boats and ships draw on shore side water gauge image acquisition specifically is a boats and ships water gauge value measuring tool, belongs to the heavy field of boats and ships water gauge meter.
Background
In the weighing operation of the ship water gauge, the accurate measurement of the draught value of the ship is the most critical factor influencing the weighing accuracy of the water gauge. The water gauge measurement usually requires that a commodity inspector, a receiver and a shipside respectively approach the water gauge marks of the bow, the midship and the stern of a ship by renting a boat or climbing a rope ladder to visually observe the draught value of the ship. Due to poor stability of the boat and serious corrosion of water-side equipment, particularly the narrow space at the shore side of the boat, the boat collision is easy to occur, and the safety of personnel is greatly threatened; in addition, the draft value is long in time requirement through visual inspection of a small ship or a climbing rope ladder, the delay cost of the ship is increased, and the benefit of a receiver is damaged. In some berthing wharfs, a commodity inspection person, a goods receiver and a shipside three-party person stand on the wharf to visually inspect the draught value of the ship on the side of the berth, but the water gauge marks are deformed to different degrees in overlooking measurement, the sight line is not horizontal, the error of the measured value is large, and a visual inspection result is often in greater dispute.
Chinese patent publication No. CN102785719A discloses a wall-climbing robot, system and method for shooting ship water gauge images, which are used for automatically and accurately acquiring ship water gauge images, but because the wall-climbing robot is located on a ship body and the distance from the wall-climbing robot to the water surface is difficult to control, the image acquisition lens faces a great risk of damage; the patent application with publication number CN102975826A discloses a portable automatic detection and identification method for a ship water gauge based on machine vision, which can realize automatic reading of water gauge data, but needs personnel to take a camera to shoot a water gauge video; patent application with publication number CN107340031A discloses a ship water gauge metering system and method based on an unmanned aerial vehicle, but the space of the ship on the shore side is narrow, the unmanned aerial vehicle is difficult to fly stably, and there is a great risk of falling.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of above-mentioned prior art, the utility model provides a boats and ships lean on bank side water gauge image acquisition system based on scalable rail robot that hangs that structural design is reasonable has solved the collection problem of boats and ships lean on bank side water gauge image.
The utility model provides a technical scheme that above-mentioned problem adopted is: a ship shore-approaching lateral water gauge image acquisition system based on a telescopic rail-mounted robot is characterized by comprising an image acquisition device, a communication device, a handheld control device and a platform control device, wherein the image acquisition device comprises a camera, a rotating holder, an ultrasonic distance measuring sensor, a first positioning device and a telescopic rail-mounted robot body; the camera is connected with the rotating holder, the ultrasonic distance measuring sensor is in contact with the camera, and the first positioning device and the rotating holder are connected with the telescopic rail-mounted robot body; the second positioning device is connected with the handheld terminal; the information display device and the manual console are connected with the server; the handheld terminal is connected with the telescopic rail hanging robot and the rotary holder through the wireless communication device, the server is connected with the telescopic rail hanging robot and the rotary holder through the photoelectric conversion device, and the camera is connected with the handheld terminal and the server through the wireless communication device and the photoelectric conversion device respectively. Therefore, the acquisition of the ship water gauge image at the shore side becomes safe, accurate, convenient and quick, and the justness and the high efficiency of the ship water gauge weight metering are ensured.
Furthermore, the handheld terminal is connected with the server through the wireless communication device, so that the remote storage control of the water gauge image in the server is realized, the image acquisition is more convenient, and the image transmission is more reasonable.
Compared with the prior art, the utility model, have following advantage and effect: the telescopic rail hanging robot is used for collecting the ship shore side water gauge image, and can replace personnel to approach the shore side water gauge mark, so that the collection of the ship shore side water gauge image becomes safe, accurate, convenient and quick; can compensate unmanned aerial vehicle in the aspect of bank side water gauge image acquisition's defect, perfect water gauge weighing system.
Drawings
Fig. 1 is a schematic structural diagram of a system according to an embodiment of the present invention.
In the figure: the system comprises a camera 1, a rotating tripod head 2, an ultrasonic distance measuring sensor 3, a first positioning device 4, a telescopic rail-mounted robot body 5, a photoelectric conversion device 6, a wireless communication device 7, a handheld terminal 8, a second positioning device 9, an information display device 10, a manual control platform 11, a server 12, a track 13, a water gauge mark 14 and a waterline 15.
Detailed Description
The present invention will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not intended to limit the present invention.
Examples are given.
Referring to fig. 1, in this embodiment, a boats and ships alongside side water gage image acquisition system based on scalable rail hanging robot includes image acquisition device, communication device, hand-held type management and control device and platform management and control device.
Image acquisition device includes camera 1, rotatory cloud platform 2, ultrasonic ranging sensor 3, positioner 4 and scalable string rail robot 5, and communication device includes photoelectric conversion device 6 and wireless communication device 7, and hand-held type management and control device includes handheld terminal 8 and No. two positioner 9, and platform management and control device includes information display device 10, manual platform 11 and the server 12 of controlling.
The camera 1 is connected with the rotating tripod head 2, the ultrasonic distance measuring sensor 3 is contacted with the camera 1, and the first positioning device 4 and the rotating tripod head 2 are connected with the telescopic rail-mounted robot body 5; the second positioning device 9 is connected with the handheld terminal 8; the information presentation apparatus 10 and the manual console 11 are connected to the server 12.
Hand-held terminal 8 is connected with scalable rail robot and rotatory cloud platform 2 through wireless communication device 7, and server 12 is connected with scalable rail robot and rotatory cloud platform 2 through photoelectric conversion device 6, and camera 1 is connected with hand-held terminal 8 and server 12 respectively through wireless communication device 7 and photoelectric conversion device 6, and hand-held terminal 8 is connected with server 12 through wireless communication device 7.
In this embodiment, after boats and ships berth, water gauge weight staff can select three kinds of mode according to actual conditions: a remote acquisition mode, a regulated acquisition mode, and an autonomous acquisition mode.
In this embodiment, under the remote control collection mode, the heavy personnel of water gauge meter remove respectively to the corresponding position of the trilateral water gauge image of the side of keeping to the bank, stand and operate handheld terminal 8 on the pier and gather boats and ships side water gauge image, scalable rail-mounted robot 5 follows No. two positioner 9 through positioner 4 in real time and removes the corresponding position to the water gauge image, handheld terminal 8 sets up the safe distance of image acquisition time and camera 1 apart from the surface of water, scalable rail-mounted robot 5 carries on rotatory cloud platform 2, visit under ultrasonic ranging sensor 3 and the camera 1 near the surface of water and aim at water gauge sign 14 and draft line 15 and carry out water gauge image acquisition. Hand-held terminal 8 gives scalable rail robot 5, rotatory cloud platform 2, camera 1 through wireless communication device 7 and assigns control command and set up information, and camera 1 shows the image on hand-held terminal 8's screen in real time through wireless communication device 7. The setting information of the handheld terminal 8 is sent to the server 12 for storage through the wireless communication device 7, and the water gauge image collected by the camera 1 is sent to the server 12 for storage through the photoelectric conversion device 6.
In this embodiment, in a specified acquisition mode, a water gauge weighing person presets an acquisition position of the telescopic rail-mounted robot 5 and a safe distance from the camera 1 to the water surface through the manual console 11, the telescopic rail-mounted robot 5 autonomously moves to the preset position, and carries the rotary pan-tilt 2, the ultrasonic distance measuring sensor 3 and the camera 1 to reach the position near the water surface to align the water gauge mark 14 and the waterline 15 for water gauge image acquisition. The position of the telescopic rail-hanging robot 5, the distance between the camera 1 and the water surface and the rotating angle of the rotating holder 2 are adjusted in real time through the manual control platform 11 in the acquisition process. The water gauge image collected by the camera 1 is transmitted to the information display device 10 through the photoelectric conversion device 6 for real-time display and is stored in the server 12.
In this embodiment, in the autonomous acquisition mode, after the ship is berthed, the retractable rail-mounted robot 5 carries the rotating pan/tilt 2, the ultrasonic distance measuring sensor 3 and the camera 1 and then probes to a default safe distance from the water surface, the retractable rail-mounted robot 5 moves from one end of the track 13 to the other end, the retractable rail-mounted robot 5 stops moving when the central part of the picture of the camera 1 coincides with the water gauge mark, the camera 1 acquires the water gauge image, and the retractable rail-mounted robot 5 continues to move to the other end of the track 13 after the image acquisition is completed at the position until the retractable rail-mounted robot moves to the other end of the track 13. The water gauge image collected by the camera 1 is transmitted to the information display device 10 through the photoelectric conversion device 6 for real-time display and is stored in the server 12.
In this embodiment, the program software involved in the image acquisition process belongs to the conventional technology.
Those not described in detail in this specification are well within the skill of the art.
In addition, it should be noted that the above contents described in the present specification are only illustrations of the structure of the present invention. All equivalent changes made according to the structure, characteristics and principle of the utility model are included in the protection scope of the utility model. Various modifications, additions and substitutions by those skilled in the art may be made to the described embodiments without departing from the scope of the invention as defined in the accompanying claims.
Claims (2)
1. A ship shore-approaching lateral water gauge image acquisition system based on a telescopic rail-mounted robot is characterized by comprising an image acquisition device, a communication device, a handheld management and control device and a platform management and control device, wherein the image acquisition device comprises a camera (1), a rotating cradle head (2), an ultrasonic distance measurement sensor (3), a first positioning device (4) and a telescopic rail-mounted robot body (5), the communication device comprises a photoelectric conversion device (6) and a wireless communication device (7), the handheld management and control device comprises a handheld terminal (8) and a second positioning device (9), and the platform management and control device comprises an information display device (10), a manual control platform (11) and a server (12); the camera (1) is connected with the rotating tripod head (2), the ultrasonic distance measuring sensor (3) is in contact with the camera (1), and the first positioning device (4) and the rotating tripod head (2) are connected with the telescopic rail-hanging robot body (5); the second positioning device (9) is connected with the handheld terminal (8); the information display device (10) and the manual console (11) are connected with the server (12); handheld terminal (8) are connected with scalable string rail robot and rotatory cloud platform (2) through wireless communication device (7), server (12) are connected with scalable string rail robot and rotatory cloud platform (2) through photoelectric conversion device (6), camera (1) are connected with handheld terminal (8) and server (12) respectively through wireless communication device (7) and photoelectric conversion device (6).
2. The image acquisition system of the ship ashore side water gauge based on the telescopic rail-hanging robot as claimed in claim 1, wherein the hand-held terminal (8) is connected with the server (12) through a wireless communication device (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020523003.4U CN212211199U (en) | 2020-04-10 | 2020-04-10 | Ship shore side water gauge image acquisition system based on telescopic rail hanging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020523003.4U CN212211199U (en) | 2020-04-10 | 2020-04-10 | Ship shore side water gauge image acquisition system based on telescopic rail hanging robot |
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| Publication Number | Publication Date |
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| CN212211199U true CN212211199U (en) | 2020-12-22 |
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| CN202020523003.4U Active CN212211199U (en) | 2020-04-10 | 2020-04-10 | Ship shore side water gauge image acquisition system based on telescopic rail hanging robot |
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| CN (1) | CN212211199U (en) |
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- 2020-04-10 CN CN202020523003.4U patent/CN212211199U/en active Active
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