CN215728846U - Modeling device of transport vehicle without baffle at top of carriage - Google Patents
Modeling device of transport vehicle without baffle at top of carriage Download PDFInfo
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- CN215728846U CN215728846U CN202121333651.4U CN202121333651U CN215728846U CN 215728846 U CN215728846 U CN 215728846U CN 202121333651 U CN202121333651 U CN 202121333651U CN 215728846 U CN215728846 U CN 215728846U
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Abstract
The utility model provides a modeling device of a transport vehicle without a baffle plate at the top of a carriage, wherein the cross section of the carriage is rectangular and comprises a control device, a moving end, a cradle head, a solid laser radar and a limiting device, the cradle head comprises a fixed part and a rotating part which is rotatably arranged at the lower end of the fixed part, the cradle head is arranged above the transport vehicle at intervals through the fixed part, the limiting device and the solid laser radar are both arranged on the rotating part, the solid laser radar is limited to rotate by the limiting device, the rotating direction of the rotating part is parallel to the extending direction of the long edge of the carriage, the control device is connected with the cradle head to control the cradle head to rotate among a first position, a second position and a third position, the first position is a position vertical to the plane where the top of the carriage is located, the second position and the third position are respectively located on two sides of the first position, and the control device is respectively in communication connection with the solid laser radar and the moving end. The utility model can completely scan the carriage only by rotating the solid laser radar twice, and has the advantages of higher speed, higher precision, simple installation and lower cost.
Description
Technical Field
The utility model relates to a modeling device of a transport vehicle without a baffle plate at the top of a carriage.
Background
The quality of the container of the transport vehicle is directly related to the safety of the transport vehicle and the safety of goods in the carriage in the transportation process. With the development trend of informatization and intellectualization of freight transportation in China, the optimization design of the carriage loading process of a transport vehicle through three-dimensional visualization and data analysis technology becomes a necessary trend. The three-dimensional visualization analysis can analyze some hidden problems existing in the carriage while giving good data expression experience to workers, thereby finding the problems in the aspects of extrusion, dumping and the like of goods possibly occurring in the carriage loading and unloading operation process and avoiding unnecessary economic loss.
In the prior art, the schemes for three-dimensional modeling of the carriage use either a plurality of lidar, 2D lidar or multiline lidar, and all have the following defects: the cost is increased by using a plurality of laser radars, and the relative installation positions of the laser radars have certain requirements; the 2D laser radar can realize three-dimensional modeling only by rotating or moving the carriage or the radar at a certain frequency, but the carriage cannot move in the cargo packing process, and the three-dimensional modeling can be realized only by rotating or moving the 2D laser radar in a holder mode, so that the control precision of the holder is extremely high; the resolution ratio of the multi-line laser radar is limited, the line beam and the price are in positive correlation, and due to the characteristic of repeated scanning, the density of the point cloud is relatively low, and the high-density point cloud cannot be obtained through the scheme of overlapping multiple point clouds at the same position.
SUMMERY OF THE UTILITY MODEL
The utility model provides a modeling device of a transport vehicle without a baffle on the top of a carriage, which can completely scan the carriage by only rotating a solid laser radar twice, and has the advantages of higher speed, higher precision, simple installation and lower cost.
The utility model is realized by the following technical scheme:
a modeling device of a transport vehicle without a baffle plate at the top of a carriage, the cross section of the carriage is rectangular, and the modeling device comprises a control device, a moving end, a cradle head, a solid-state laser radar and a limiting device, wherein the cradle head comprises a fixed part and a rotating part which is rotatably arranged at the lower end of the fixed part, the cradle head is arranged above the transport vehicle at intervals through the fixed part, the limiting device and the solid-state laser radar are both arranged on the rotating part, the solid-state laser radar is limited to rotate by the limiting device, the rotating direction of the rotating part is parallel to the extending direction of the long edge of the carriage, the control device is connected with the cradle head to control the rotation of the control device among a first position, a second position and a third position, the carriage is completely scanned, the first position is the position perpendicular to the plane where the top of the carriage is located, the second position and the third position are located on two sides of the first position respectively, and the control device is in communication connection with the solid-state laser radar and the mobile terminal respectively.
Furthermore, the ground where the transport vehicle is located is provided with a to-be-detected area, the length and the width of the to-be-detected area are both larger than those of the carriage, and the edge of the to-be-detected area is pasted with a light-reflecting label band.
Further, the region to be detected is a rectangular region with the length of 20m and the width of 4 m.
Further, the transport vechicle is in the factory building, the fixed part and the controlling means of cloud platform all set up at the factory building top through bolt nut mechanism detachably, the removal end sets up at the distal end.
Further, stop device is including the interval setting at rotation portion lower extreme and downwardly extending's two risers, solid-state laser radar is located between two risers.
Furthermore, the solid-state laser radar is in communication connection with a control device through a network cable, and the control device is connected with the mobile terminal through a wireless communication module.
Further, the control device comprises an embedded development board.
Further, the mobile terminal comprises a mobile phone or a tablet.
The utility model has the following beneficial effects:
1. according to the utility model, the solid laser radar is arranged above the transport vehicle through the cradle head, the control device is used for controlling the solid laser radar to rotate among the first position, the second position and the third position, so that the carriage can be scanned completely, complete and accurate three-dimensional point cloud information of the carriage can be obtained, the solid laser radar is used for transmitting the three-dimensional point cloud information to the control device, the control device is used for carrying out three-dimensional modeling according to the three-dimensional point cloud information so as to analyze the condition of the carriage, and the analyzed visual result is sent to the mobile terminal, so that a worker can know the specific condition in the carriage in real time; based on the characteristic of a non-repetitive scanning pattern of the solid-state laser radar, 100% of field angle coverage can be achieved by overlapping multi-frame point clouds, the coverage is superior to that of any multi-line laser radar, only the laser radar needs to be controlled to rotate twice in the whole scanning process, compared with a 2D laser radar and holder mode, the speed is higher, the precision is higher, and high-precision data are provided for a control device to perform a carriage analysis algorithm; the installation can be completed only through the bolt and nut mechanism, the installation is simple and quick, and the cost is lower; in the scanning process, the solid laser radar is limited by the limiting device to rotate, so that the solid laser radar is prevented from micro-rotation in the use process, the stability of the laser radar is ensured, the accuracy of scanning data is further improved,
2. and a reflective label tape is pasted on the edge of the area to be detected, so that the analysis of the control device can be facilitated.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic block diagram of the present invention.
1. A transport vehicle; 2. a control device; 3. a mobile terminal; 4. a holder; 41. a fixed part; 42. a rotating part; 5. a solid state laser radar; 6. a limiting device; 71. a first position scan range; 72. a second position scan range; 73. a third position scan range; 8. a network cable; 9. and a wireless communication module.
Detailed Description
As shown in fig. 1, the carriage top of transport vechicle 1 does not have the baffle, and the carriage cross section is the rectangle, and the modeling device includes controlling means 2, removes end 3, cloud platform 4, solid-state laser radar 5 and stop device 6, during the scanning, the ground that transport vechicle 1 is located is provided with and waits to detect the region, and the length and the width that wait to detect the region all are greater than the length and the width of carriage, and in order to make things convenient for controlling means 2 when follow-up three-dimensional point cloud is handled, select to be located and wait to detect the useful data in the region, it has the reflection of light label area to paste at the region edge that waits to detect.
Generally, the area to be detected is arranged in a factory building, the control device 2 is arranged at the top of the factory building through a bolt and nut mechanism, and the moving end 3 is arranged on the hand of a worker at a far end (namely, the ground). The cloud deck 4 comprises a fixed part 41 and a rotating part 42 rotatably arranged at the lower end of the fixed part 41, the fixed part 41 is detachably arranged at the top of a factory building through a bolt-nut mechanism, the limiting device 6 comprises vertical plates which are arranged at the lower end of the rotating part 42 at intervals and extend downwards, the solid state laser radar 5 is detachably arranged on the rotating part through the bolt-nut mechanism and is positioned between the two vertical plates, more specifically, a support is arranged on the rotating part 42, the vertical plates and the solid state laser radar 5 are both arranged on the support, the support can be a horizontal plate arranged at the lower end of the rotating part 42, the specific structure of the support arranged on the rotating part 42 is the prior art, the interval between the solid state laser radar 5 and the vertical plates is very small, the position of the solid state laser radar 5 is positioned above a carriage, when the rotating part 42 rotates, the solid state laser radar 5 and the limiting device 6 are driven to rotate together, and the two vertical plates can limit the micro-rotation of the solid state laser radar 5, guarantee the stability of scanning, the rotation direction of 4 rotating parts 42 of cloud platform is parallel with the long limit extending direction in carriage, controlling means 2 is connected with cloud platform 4 and rotates part 42 in the primary importance with control, second place and third position rotate, in order to guarantee that the carriage is scanned completely, the primary importance is the position of perpendicular to carriage top place plane (or perpendicular to ground), the secondary importance, the third place is located the primary importance both sides respectively, solid-state laser radar 5 passes through net twine 8 and 2 both way communication connection of controlling means, controlling means 2 passes through wireless communication module 9 and removes 3 both way communication connection of end. The structure of the fixed part 41 and the rotating part 42 is the prior art. It is also prior art that the control device 2 controls the rotation portion 42 to rotate accurately between the first position, the second position, and the third position. The first position scanning range 71, the second position scanning range 72 and the third position scanning range 73 are shown with different fills in fig. 1, which is merely an example, and the actual scanning range is not only filled in the portion, but also continues to spread downward along the sector where each filled portion is located.
In this embodiment, the region to be detected is a rectangular region having a length of 20m and a width of 4 m. The control device 2 is an embedded development board. The mobile terminal 3 is a mobile phone.
The working process is as follows: the transport vehicle 1 is driven to the area to be detected, after the staff confirms that no object except the transport vehicle 1 exists in the area to be detected, sending an instruction to the control device 2 from the mobile terminal 3, controlling the solid-state laser radar 5 to start scanning at the first position by the control device 2 according to the instruction, feeding the scanning data back to the control device 2 by the solid-state laser radar 5, after the scanning is finished, the control device 2 superposes the scanned multi-frame radar point clouds to obtain a point cloud image of the transport vehicle 1 at the first position, and records the rotating position of the pan-tilt 4 at the first position, then the control device 2 controls the solid state laser radar 5 to respectively rotate to the second position and the third position for scanning, and corresponding cloud pictures and rotating positions are obtained, the control device 2 controls the rotation of the rotating device according to the cloud pictures and the rotating positions, the complete transport vehicle 1 point cloud picture can be obtained, and the visual result of the transport vehicle 1 point cloud picture is sent to the mobile terminal 3. The process of processing by the control device 2 according to the scan data is the prior art.
The above description is only a preferred embodiment of the present invention, and therefore should not be taken as limiting the scope of the utility model, which is defined by the appended claims and their equivalents and modifications within the scope of the description.
Claims (8)
1. The utility model provides a modeling device of transport vechicle of baffle is not had at carriage top, and the carriage cross section is the rectangle, its characterized in that: including controlling means, remove the end, the cloud platform, solid-state laser radar and stop device, the cloud platform includes the fixed part and rotationally sets up the rotation portion at the fixed part lower extreme, the cloud platform passes through the fixed part interval and sets up in the transport vechicle top, stop device and solid-state laser radar all set up in the rotation portion, solid-state laser radar is rotated by the stop device restriction, rotation portion rotation direction is parallel with the long limit extending direction in carriage, controlling means is connected with the cloud platform in order to control it at the primary importance, rotate between secondary importance and third place, in order to guarantee that the carriage is completely scanned, the primary importance is the planar position in perpendicular to carriage top place, the second, the third place is located primary importance both sides respectively, controlling means respectively with solid-state laser radar and removal end communication connection.
2. The modeling apparatus for a transportation vehicle without a baffle on the top of the carriage as claimed in claim 1, wherein: the ground where the transport vehicle is located is provided with a to-be-detected area, the length and the width of the to-be-detected area are both larger than those of the carriage, and the edge of the to-be-detected area is pasted with a light-reflecting label band.
3. The modeling apparatus for a transportation vehicle without a baffle on the top of the carriage as claimed in claim 2, wherein: the region to be detected is a rectangular region with the length of 20m and the width of 4 m.
4. The modeling apparatus for a transportation vehicle without a baffle on the top of the vehicle body as claimed in claim 1, 2 or 3, wherein: the transport vehicle is arranged in the plant, the fixed part and the control device of the cradle head are detachably arranged at the top of the plant through the bolt and nut mechanism, and the moving end is arranged at the far end.
5. The modeling apparatus for a transportation vehicle without a baffle on the top of the vehicle body as claimed in claim 1, 2 or 3, wherein: stop device includes that the interval sets up at rotation portion lower extreme and downwardly extending's two risers, solid-state laser radar is located between the two risers.
6. The modeling apparatus for a transportation vehicle without a baffle on the top of the vehicle body as claimed in claim 1, 2 or 3, wherein: the solid laser radar is in communication connection with the control device through a network cable, and the control device is connected with the mobile terminal through the wireless communication module.
7. The modeling apparatus for a transportation vehicle without a baffle on the top of the vehicle body as claimed in claim 1, 2 or 3, wherein: the control device comprises an embedded development board.
8. The modeling apparatus for a transportation vehicle without a baffle on the top of the vehicle body as claimed in claim 1, 2 or 3, wherein: the mobile terminal comprises a mobile phone or a flat plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121333651.4U CN215728846U (en) | 2021-06-16 | 2021-06-16 | Modeling device of transport vehicle without baffle at top of carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121333651.4U CN215728846U (en) | 2021-06-16 | 2021-06-16 | Modeling device of transport vehicle without baffle at top of carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215728846U true CN215728846U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121333651.4U Active CN215728846U (en) | 2021-06-16 | 2021-06-16 | Modeling device of transport vehicle without baffle at top of carriage |
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| CN (1) | CN215728846U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
| CN117420562A (en) * | 2023-10-21 | 2024-01-19 | 广州市西克传感器有限公司 | Top-open carriage identification measurement system based on three-dimensional data of cradle head |
-
2021
- 2021-06-16 CN CN202121333651.4U patent/CN215728846U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
| CN116594024B (en) * | 2023-07-13 | 2023-10-20 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
| CN117420562A (en) * | 2023-10-21 | 2024-01-19 | 广州市西克传感器有限公司 | Top-open carriage identification measurement system based on three-dimensional data of cradle head |
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