CN220356308U

CN220356308U - Log gauge system

Info

Publication number: CN220356308U
Application number: CN202321446918.XU
Authority: CN
Inventors: 卢萌; 王�锋; 王德锋; 黄春来; 雷学初; 王书鹏; 杨华; 杨洪福; 庞家川; 张硕; 韩煜; 刘欣; 张成桥
Original assignee: Karos Iot Technology Co ltd; Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd
Current assignee: Karos Iot Technology Co ltd; Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2024-01-16
Anticipated expiration: 2033-06-07

Abstract

The application discloses a log scale system; the system comprises: the log marking device comprises an image acquisition device, a log marking device and a log writing device; the image acquisition equipment is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs; transmitting the cross-sectional image of the one or more logs to a log scale device; log gauge apparatus for analyzing the cross-sectional image of the one or more logs to obtain the size of the cross-section of each log; sending the size of the cross section of each log to a log writing ruler device; the log writing ruler device is used for spraying the size of the cross section of each log onto the corresponding log. According to the log gauge efficiency and accuracy can be greatly improved, meanwhile, labor cost can be reduced, and potential safety hazards are eliminated.

Description

Log gauge system

Technical Field

The embodiment of the application relates to the technical field of automatic detection, in particular to a log scale system.

Background

Log inspection is a method of measuring the size and length of wood. Before log shipment, log inspection is required to ensure that the log meets relevant standards and regulatory requirements. In general, log inspection will include measuring the diameter, length, degree of inclination, thickness of the bark, etc. of the wood in order to classify and rate the wood. The log gauge is very important in the wood industry, can ensure the quality and the specification of wood, and is beneficial to improving the value and the utilization value of log.

The log checking method at the current stage mainly adopts a manual mode, each wood is measured by a tape manually, and the method has low efficiency and cannot guarantee accuracy. According to the national standard, the specific practice is as follows: for each wood, determining the diameter level of each wood by using a box ruler manually according to the outline of the end with the smaller cross section; the volume number of the wood to be inspected, namely the material product number, can be obtained by multiplying the diameter of each wood by a predetermined coefficient to obtain the volume number of the wood and accumulating the volume numbers of all the wood to be inspected.

The existing rule checking mode has the defects of more personnel, high labor intensity, low efficiency and more potential safety hazards, and the rule checking error and fluctuation are large due to human factors. Even with the performance of the re-test and the intensive management, the ideal results are not achieved.

Disclosure of Invention

The utility model provides a log is examined chi device can increase substantially log is examined chi efficiency and accuracy, can reduce the cost of labor simultaneously, eliminates the potential safety hazard.

An embodiment of the present application provides a log scale system, the system comprising: the log marking device comprises an image acquisition device, a log marking device and a log writing device; wherein,

the image acquisition equipment is used for photographing the cross section of one or more logs to obtain a cross section image of the one or more logs; transmitting the cross-sectional image of the one or more logs to the log inspection device;

the log inspection equipment is used for analyzing the cross-section images of the one or more logs to obtain the size of the cross section of each log; transmitting the size of the cross section of each log to the log writing ruler device;

the log writing ruler device is used for spraying the size of the cross section of each log onto the corresponding log.

In the above embodiment, the image capturing device is an image capturing component provided on the truss robot, or an image capturing component provided on the unmanned aerial vehicle, or an image capturing component provided on the AGV robot; the log ruler writing equipment is a ruler writing part arranged on the truss robot or a ruler writing part arranged on the unmanned aerial vehicle or a ruler writing part arranged on the AGV robot.

In the above embodiment, the truss robot includes: truss manipulator lanes of the gantry structure and a scale frame fixed on the truss manipulator lanes of the gantry structure; the image acquisition component arranged on the truss robot is used for fixing one or more visual inspection cameras on the inspection frame and is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs.

In the above embodiment, the ruler writing part provided on the truss robot is a ruler writing code spraying mechanism fixed on the inspection frame, and is used for spraying the size of the cross section of each log onto the corresponding log; the ruler writing component arranged on the unmanned aerial vehicle is spraying equipment fixed on the unmanned aerial vehicle; the ruler writing component arranged on the AGV robot is spraying equipment fixed on the AGV robot.

In the above embodiment, the truss manipulator lane of the gantry structure includes: a first fixing rod, a second fixing rod, two or more first equal-length upright posts for supporting the first fixing rod, and two or more second equal-length upright posts for supporting the second fixing rod; the first equal-length upright posts and the second equal-length upright posts are respectively and vertically arranged on two sides of the truss manipulator lane.

In the above embodiment, the scale frame includes: a first scale frame and a second scale frame; wherein the distance between the first and second gauge frames is greater than the length of one standard log and less than the length of two standard logs.

In the above embodiment, the cross-sectional image of the one or more logs includes: a first cross-sectional image and a second cross-sectional image; the first cross-sectional image is a cross-sectional image of the one or more logs shot by one or more visual inspection cameras fixed on the first inspection frame; the second cross-sectional image is a cross-sectional image of the one or more logs captured by one or more vision inspection cameras fixed to the second inspection frame.

In the above embodiment, the cross-sectional image of the one or more logs includes: a first cross-sectional image and a second cross-sectional image; wherein the first cross-sectional image is a cross-sectional image taken by an image acquisition component on the drone on one side of the cross-section of the one or more logs; the second cross-sectional image is a cross-sectional image taken by an image acquisition component on the drone on the other side of the cross-section of the one or more logs.

In the above embodiment, the cross-sectional image of the one or more logs includes: a first cross-sectional image and a second cross-sectional image; wherein the first cross-sectional image is a cross-sectional image taken by an image acquisition component on the AGV robot on one side of the cross-section of the one or more logs; the second cross-sectional image is a cross-sectional image taken by an image acquisition component on the AGV robot on the other side of the cross-section of the one or more logs.

In the above embodiment, the log scale device is specifically configured to analyze the first cross-sectional image and the second cross-sectional image to obtain a size of a first cross-section of each log in the first cross-sectional image and a size of a second cross-section of each log in the second cross-sectional image; if the size of the first cross section in the first cross section image is smaller than the size of the second cross section in the second cross section, taking the size of the first cross section in the first cross section image as the size of the cross section of the log; if the size of the second cross section in the second cross section image is smaller than the size of the first cross section in the first cross section, the size of the second cross section in the second cross section is taken as the size of the cross section of the log.

The embodiment of the application provides a log scale system, wherein an image acquisition device 1 is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs; transmitting the cross-sectional image of the one or more logs to a log inspection device 2; the log inspection device 2 is used for analyzing the cross-section images of the one or more logs to obtain the size of the cross section of each log; sending the size of the cross section of each log to the log writing ruler apparatus 3; the log writing ruler apparatus 3 is used for spraying the size of the cross section of each log onto the corresponding log. That is, in the technical scheme of the application, the log can be automatically checked and written, and the machine operation replaces the manual operation, so that the efficiency is higher and the accuracy is higher. The log length detection mode at the current stage mainly adopts a manual mode, each wood is measured by a tape manually, and the method has low efficiency and cannot guarantee the accuracy. Therefore, compared with the prior art, the log scale system provided by the embodiment of the application can greatly improve the log scale efficiency and accuracy, reduce the labor cost and eliminate the potential safety hazard; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.

Drawings

Fig. 1 is a schematic structural diagram of a log inspection system according to an embodiment of the present application;

figure 2 is a schematic illustration of a cross-section of a log provided in an embodiment of the present application;

fig. 3 (a) is a first schematic diagram of implementing log inspection by truss robot according to an embodiment of the present application;

fig. 3 (b) is a second schematic diagram of implementing log inspection by truss robot according to an embodiment of the present application;

fig. 4 is a schematic diagram of log inspection implemented by an unmanned aerial vehicle according to an embodiment of the present application;

fig. 5 is a schematic diagram of an implementation of log inspection by an AGV robot according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a schematic structural diagram of a log inspection system according to an embodiment of the present application. As shown in fig. 1, the log inspection system may include: an image acquisition device 1, a log checking device 2 and a log writing device 3; the image acquisition device 1 is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs; transmitting the cross-sectional image of the one or more logs to a log inspection device 2; a log inspection device 2 for analyzing the cross-sectional image of the one or more logs to obtain the size of the cross-section of each log; sending the size of the cross section of each log to the log writing ruler apparatus 3; a log writing ruler device 3 for spraying the size of the cross section of each log onto the corresponding log.

The code spraying is a processing method for spraying information such as marks, patterns and the like on the surface of the log through code spraying equipment. The method can help to identify the source, variety, age and other information of various woods, and can also trace back the woods. The current general log code spraying ruler writing method can be generally divided into the following steps: 1) Selecting a proper code spraying device: the code spraying equipment generally adopts the technologies of ink spraying, laser and the like, and the code spraying effects and related requirements corresponding to different code spraying equipment are different, so that proper code spraying equipment is required to be selected according to actual conditions. 2) Preparing a writing ruler surface: in order to ensure the code spraying effect, the surface of the writing ruler needs to be cleaned and treated firstly, so that the surface is smooth, clean and free of impurities. This reduces errors in the surface roughness and irregularities of the code spraying apparatus. 3) Setting code spraying content: and setting code spraying content according to the information of the code spraying required. The information may be length, size, variety, batch, etc., and may also include information such as patterns, logos, etc. 4) And (3) performing code spraying operation: and aiming the code spraying equipment at the surface of the writing ruler, and performing code spraying operation at a set position. It should be noted that the code spraying process needs to keep the distance between the device and the surface and the parameters such as code spraying speed consistent, so as to ensure that the code spraying achieves the expected effect. 5) And (5) checking and recording a code spraying result: after the code spraying is finished, the code spraying needs to be checked and recorded, so that the code spraying result is ensured to be in line with expectations and is accurate.

Figure 2 is a schematic illustration of a cross-section of a log as provided in an embodiment of the present application. As shown in fig. 2, each log may include two cross sections, one for each log: a first cross section and a second cross section; a plurality of logs are stacked together to form a log stack. Thus, the log stack may also have two cross sections, respectively: a first cross section and a second cross section; the cross-section of the log stack is the cross-section of the one or more logs. The image acquisition equipment can take a picture of one side of the log pile to obtain a first cross-sectional image of the log pile; the other side of the log stack may also be photographed to obtain a second cross-sectional image of the log stack. The log inspection apparatus 2 may then analyze the first and second cross-sectional images of the one or more logs to obtain the cross-sectional dimensions of each log. Finally the log writing ruler device 3 codes the size of the cross section of each log onto the corresponding log.

Further, the log inspection apparatus 2 may analyze the first cross-sectional image and the second cross-sectional image to obtain a size of the first cross-section of each log in the first cross-sectional image and a size of the second cross-section of each log in the second cross-sectional image; if the size of the first cross section in the first cross section image is smaller than the size of the second cross section in the second cross section image, taking the size of the first cross section in the first cross section image as the size of the cross section of the log; if the size of the second cross section in the second cross section image is smaller than the size of the first cross section in the first cross section image, the size of the second cross section in the second cross section image is taken as the size of the cross section of the log.

Embodiments of the present application may be performed in analyzing the cross-sectional image size of one or more logs by: 1) A log to be analyzed is selected and a cross-sectional image of the log is acquired. 2) Introducing the cross-sectional image into a computer for processing, which may be performed using image processing software or code 3) using a processing tool to measure the size of the log cross-section in the image, which may typically be measured using pixel units; 4) Converting the pixel size into an actual size, and performing proportional calculation by using the actual length of the log to be detected, so as to obtain the size of the actual cross section; 5) And (3) carrying out the same operation on a plurality of logs, and repeating the steps to obtain the size data of the cross section of each log. It is noted that in performing the cross-sectional dimension analysis, it is necessary to ensure the sharpness and accuracy of the image and to reduce the influence of human measurement errors.

The log scale system provided by the embodiment of the application is characterized in that the image acquisition equipment 1 is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs; transmitting the cross-sectional image of the one or more logs to a log inspection device 2; the log inspection device 2 is used for analyzing the cross-section images of the one or more logs to obtain the size of the cross section of each log; sending the size of the cross section of each log to the log writing ruler apparatus 3; the log writing ruler apparatus 3 is used for spraying the size of the cross section of each log onto the corresponding log. That is, in the technical scheme of the application, the log can be automatically checked and written, and the machine operation replaces the manual operation, so that the efficiency is higher and the accuracy is higher. The log length detection mode at the current stage mainly adopts a manual mode, each wood is measured by a tape manually, and the method has low efficiency and cannot guarantee the accuracy. Therefore, compared with the prior art, the log scale system provided by the embodiment of the application can greatly improve the log scale efficiency and accuracy, reduce the labor cost and eliminate the potential safety hazard; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.

Example two

Fig. 3 (a) is a first schematic diagram of implementing log inspection by truss robot according to an embodiment of the present application. As shown in fig. 3 (a), the truss robot 11 may include: truss manipulator lane 111 of the gantry structure, and gauge frame 112 fixed on truss manipulator lane 111 of the gantry structure; the image capturing means provided on the truss robot 11 fixes one or more visual inspection cameras for photographing the cross section of the one or more logs to obtain a cross section image of the one or more logs to the inspection frame 112.

Further, the truss manipulator lane 111 of the gantry structure may include: the first fixing lever 1111, the second fixing lever 1112, two or more first equal length columns 1113 for supporting the first fixing lever 1111, and two or more second equal length columns 1114 for supporting the second fixing lever 1112; the first and second elongate columns 1113, 1114 are respectively queued on either side of the truss manipulator lane 111.

Further, the gauge frame 112 may include: a first scale frame 1121 and a second scale frame 1122; wherein the distance between the first and second gauge frames 1121, 1122 is greater than the length of one standard log and less than the length of two standard logs.

Fig. 3 (b) is a second schematic diagram of the implementation of log inspection by a truss robot according to an embodiment of the present application. As shown in fig. 3 (b), the gauge frame 112 may be a truss manipulator. The image capturing means provided on the truss robot 11 fixes one or more visual inspection cameras for photographing the cross section of the one or more logs to obtain a cross section image of the one or more logs to the inspection frame 112. The ruler writing part arranged on the truss robot 11 is a ruler writing and code spraying mechanism fixed on the ruler detecting frame 112 and used for spraying the size of the cross section of each log onto the corresponding log.

Example III

Fig. 4 is a schematic diagram of log inspection implemented by an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 4, the image capturing component disposed on the drone 12 may take a photograph of the cross-section of the one or more logs, resulting in a cross-sectional image of the one or more logs. The ruler writing means provided on the drone 12 may code the size of the cross section of each log onto the corresponding log. The ruler writing component provided on the drone 12 may be a spraying device fixed on the drone 12.

According to the embodiment of the application, the unmanned aerial vehicle is used for photographing, and the control is needed through a remote controller or a mobile phone APP. Some high-end unmanned aerial vehicles can set up automatic mode of shooing, let unmanned aerial vehicle independently accomplish the task of shooing. The specific operation steps are as follows: 1) Connecting an unmanned plane with a remote controller or a mobile phone APP; 2) Controlling the unmanned aerial vehicle to fly to a position to be photographed; 3) Triggering a photographing command through a remote controller or a mobile phone APP to control the unmanned aerial vehicle to start photographing; 4) If continuous shooting is required, shooting interval time and shooting quantity can be set on a remote controller or a mobile phone APP. It should be noted that the unmanned aerial vehicle needs to be noted for safety in the shooting process, so that the unmanned aerial vehicle is prevented from colliding or falling.

Example IV

Fig. 5 is a schematic diagram of an implementation of log inspection by an AGV robot according to an embodiment of the present application. As shown in fig. 5, the image acquisition component provided on the automated guided vehicle AGV robot 13 may take a photograph of the cross section of the one or more logs, resulting in a cross sectional image of the one or more logs. The ruler writing part provided on the AGV robot 13 can code the size of the cross section of each log onto the corresponding log. The ruler writing part provided on the AGV robot 13 may be a painting device fixed on the AGV robot 13.

According to the embodiment of the application, the AGV robot is controlled to take a picture, and the following aspects need to be considered: 1) Basic hardware facilities: the robot needs to carry a camera device and at the same time needs to install photographing software or an API so as to control the photographing function through code implementation. 2) The software control scheme is as follows: parameters such as conditions triggering photographing, photographing frequency, photographing duration and the like are defined in codes, and then the parameters are sent to the robot for execution through commands; 3) The sensor detects a triggering scheme: the robot may be triggered to take a picture by mounting it with certain sensors, such as light sensors, sound sensors, etc., when the sensors detect certain specific conditions. 4) Manual control scheme: in some cases, the robot needs to be manually controlled to take a picture, and if a complex scene is encountered, manual intervention is needed. In this case, the control may be performed by a remote controller or a control panel on the robot. Therefore, a proper control scheme needs to be selected according to specific scene requirements, so that photographing control of the AGV robot is realized.

In addition, the ruler can be written through a manual mode, through real-time analysis and recording of section data of the whole log stack, the section small-diameter data of the single log in the stack is input into the background, and the space coordinate points corresponding to spraying and spraying data are output to the AR glasses through 5G transmission, so that workers can write the corresponding minimum-diameter data on the section of the single log, and data spraying of all logs of the whole log stack is sequentially completed.

The method is based on production monitoring statistics of multiple batches of multiple log models, analysis statistics of the whole production condition can be achieved through a platform software system, the analysis statistics comprise product model library addition, deletion, verification and inspection, product production batch condition statistics, multi-period data statistics, unqualified product inquiry, unqualified type statistical analysis, unqualified product period statistical analysis, archiving and tracing and the like, and further the quality of optimized products is improved. And through the cloud shared data, remote inquiry and overall analysis, sharing, comparison and improvement of the cross-regional production condition data can be realized.

The system can realize that the key production content is detected by an automatic and digital vision detection integrated system instead of the traditional manual detection. The real-time performance, the continuity and the standardization of data acquisition can be improved, the black box data is subjected to transparent processing, the detection efficiency and accuracy are improved, and the labor cost is reduced. Through the platform software system, technologies such as 5G and cloud computing, effective analysis of production process data of a production enterprise is perfected, and cloud storage and remote management are achieved. A standard product production database of the video industry is established, a basis is provided for log industry management, and compared with the past, the functions of recording, analyzing, tracing and the like of production data are perfected.

The above embodiments do not limit the scope of the present utility model. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included in the scope of the present utility model.

Claims

1. A log inspection system, the system comprising: the log marking device comprises an image acquisition device (1), a log marking device (2) and a log writing device (3); wherein,

the image acquisition device (1) is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs; transmitting the cross-sectional image of the one or more logs to the log inspection device (2);

the log inspection device (2) is used for analyzing the cross-section images of the one or more logs to obtain the size of the cross section of each log; -sending the dimensions of the cross section of each log to the log writing ruler device (3);

the log writing ruler device (3) is used for spraying the size of the cross section of each log onto the corresponding log.

2. The system according to claim 1, characterized in that the image acquisition device (1) is an image acquisition component arranged on a truss robot (11) or an image acquisition component arranged on an unmanned aerial vehicle (12) or an image acquisition component arranged on an automatic guided vehicle, AGV, robot (13); the log ruler writing equipment (3) is a ruler writing part arranged on the truss robot (11) or a ruler writing part arranged on the unmanned aerial vehicle (12) or a ruler writing part arranged on the AGV robot (13).

3. The system according to claim 2, wherein the truss robot (11) comprises: a truss manipulator lane (111) of a gantry structure, and a scale frame (112) fixed on the truss manipulator lane (111) of the gantry structure; the image acquisition component arranged on the truss robot (11) is used for fixing one or more visual inspection cameras on the inspection frame (112) and is used for photographing the cross section of one or more logs to obtain the cross section image of the one or more logs.

4. A system according to claim 3, characterized in that the writing ruler part provided on the truss robot (11) is a writing ruler code-spraying mechanism fixed on the inspection frame (112) for spraying the size of the cross section of each log onto the corresponding log; the ruler writing part arranged on the unmanned aerial vehicle (12) is spraying equipment fixed on the unmanned aerial vehicle (12); the ruler writing part arranged on the AGV robot (13) is spraying equipment fixed on the AGV robot (13).

5. A system according to claim 3, characterized in that the truss manipulator lane (111) of the gantry structure comprises: a first fixing rod (1111), a second fixing rod (1112), two or more first equal-length columns (1113) for supporting the first fixing rod (1111), and two or more second equal-length columns (1114) for supporting the second fixing rod (1112); the first and second equal length columns (1113, 1114) are respectively queued up on both sides of the truss manipulator lane (111).

6. A system according to claim 3, wherein the gauge frame (112) comprises: a first scale frame (1121) and a second scale frame (1122); wherein a distance between the first gauge frame (1121) and the second gauge frame (1122) is greater than a length of one standard log and less than a length of two standard logs.

7. The system of claim 6, wherein the cross-sectional image of the one or more logs comprises: a first cross-sectional image and a second cross-sectional image; wherein the first cross-sectional image is a cross-sectional image of the one or more logs captured by one or more vision inspection cameras fixed to the first inspection frame (1121); the second cross-sectional image is a cross-sectional image of the one or more logs captured by one or more vision inspection cameras mounted on the second inspection frame (1122).

8. The system of claim 2, wherein the cross-sectional image of the one or more logs comprises: a first cross-sectional image and a second cross-sectional image; wherein the first cross-sectional image is a cross-sectional image taken by an image acquisition component on the drone (12) on one side of the cross-section of the one or more logs; the second cross-sectional image is a cross-sectional image taken by an image acquisition component on the drone (12) on the other side of the cross-section of the one or more logs.

9. The system of claim 2, wherein the cross-sectional image of the one or more logs comprises: a first cross-sectional image and a second cross-sectional image; wherein the first cross-sectional image is a cross-sectional image taken by an image acquisition component on the AGV robot (13) on one side of the cross-section of the one or more logs; the second cross-sectional image is a cross-sectional image taken by an image acquisition component on the AGV robot (13) on the other side of the cross-section of the one or more logs.

10. The system according to any one of claims 7 to 9, characterized by said log inspection device (2) being adapted in particular for analyzing said first cross-sectional image and said second cross-sectional image for a size of a first cross-section of each log in said first cross-sectional image and a size of a second cross-section of each log in said second cross-sectional image; if the size of the first cross section in the first cross section image is smaller than the size of the second cross section in the second cross section image, taking the size of the first cross section in the first cross section image as the size of the cross section of the log; and if the size of the second cross section in the second cross section image is smaller than the size of the first cross section in the first cross section image, taking the size of the second cross section in the second cross section image as the size of the cross section of the log.