CN216736095U - Unattended automatic alignment coke collecting vehicle - Google Patents
Unattended automatic alignment coke collecting vehicle Download PDFInfo
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- CN216736095U CN216736095U CN202123086323.1U CN202123086323U CN216736095U CN 216736095 U CN216736095 U CN 216736095U CN 202123086323 U CN202123086323 U CN 202123086323U CN 216736095 U CN216736095 U CN 216736095U
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Abstract
The utility model provides a coke car is pulled to automatic alignment of unmanned on duty, include: a vehicle body; the moving mechanism is arranged at the bottom of the vehicle body; the displacement motor is connected with the moving mechanism, and the moving mechanism is controlled by the displacement motor to drive the coke collecting vehicle to move; the control unit is electrically connected to the displacement motor and controls the operation of the displacement motor; the automatic alignment device is arranged on the vehicle body and connected with the control unit, the automatic alignment device comprises a coding cable coarse adjustment unit and a visual alignment unit, and the coding cable coarse adjustment unit and the visual alignment unit are respectively connected to the control unit. The utility model has the advantages of with positive effect lie in, this system utilizes multiple alignment, has solved the low inaccurate problem that leads to aligning of degree of automation when current seizing burnt car and aim at the operation.
Description
Technical Field
The utility model belongs to the technical field of cable burnt car, especially, relate to a cable burnt car of unmanned on duty automatic alignment.
Background
When the existing coke collecting vehicle is operated, all operations are carried out by workers, including the operations of moving, aligning, picking the furnace door, pushing the coke and closing the furnace door. Before a mechanical arm of the coke collecting vehicle is used for picking up the furnace door, the coke collecting vehicle needs to be manually moved, the position alignment work of the intercepting vehicle and the furnace door is carried out after the coke collecting vehicle is moved, the whole alignment work is carried out, the coded cable is roughly positioned, the operation experience of an operator is added, and the alignment is further carried out by visual observation, so that the conditions of insufficient experience of the operator, visual observation error and fatigue of the working state exist in the mode, the alignment position of the coke collecting vehicle and the furnace door is not good when the conditions occur, and then the mechanical arm is damaged by collision when the furnace door is picked up, and other equipment is damaged, even related personnel are injured and killed. Meanwhile, the coke oven position is manually finely adjusted to realize positioning, so that the production efficiency is reduced.
SUMMERY OF THE UTILITY MODEL
To the weak point that exists among the correlation technique, the utility model provides a coke car is pulled to automatic alignment of unmanned on duty to at least, solve the present low inaccurate problem that leads to aligning of degree of automation when pulling coke car and aim at the operation.
In order to achieve the above object, the utility model discloses a technical scheme be:
an unattended self-aligning coke collecting vehicle, comprising: a vehicle body; the moving mechanism is arranged at the bottom of the vehicle body; the displacement motor is connected with the moving mechanism, and the moving mechanism is controlled by the displacement motor to drive the coke collecting vehicle to move; the control unit is electrically connected to the displacement motor and controls the operation of the displacement motor; the automatic alignment device is arranged on the vehicle body and connected with the control unit, and comprises a coding cable coarse adjustment unit and a visual alignment unit which are respectively connected with the control unit; the coding cable coarse adjustment unit acquires first alignment information and transmits the first alignment information to the control unit, and the control unit controls the displacement motor to drive the focus taking vehicle to displace according to the first alignment information; the vision alignment unit acquires second alignment information and then transmits the second alignment information to the control unit, and the control unit controls the displacement motor to drive the coke collecting vehicle to displace according to the second alignment information.
Preferably, the visual alignment unit comprises an industrial camera and an industrial personal computer, the industrial camera is electrically connected with the industrial personal computer, and the visual alignment unit is connected with the control unit through the industrial personal computer.
Preferably, the industrial personal computer comprises a target recognition module, the second alignment information is an image acquired by the industrial camera, the image acquired by the industrial camera is transmitted to the target recognition module of the industrial personal computer, the target recognition module performs data processing and then sends a pose feedback instruction to the control unit, and the control unit controls the displacement motor to drive the focus pulling vehicle to displace.
Preferably, there are two industrial-grade cameras.
Preferably, the automatic alignment device further comprises a laser alignment unit, the laser alignment unit is connected to the control unit, third alignment information is acquired and then transmitted to the control unit, and the control unit controls the displacement motor to drive the coke collecting vehicle to displace according to the third alignment information.
Preferably, the laser alignment unit includes an industrial-grade laser ranging device, and the third alignment information is laser ranging data.
Preferably, the industrial-grade laser ranging device has two.
Preferably, two industrial laser ranging devices are respectively installed on two sides of the car body, each industrial laser ranging device comprises two ranging laser lines, and the two ranging laser lines respectively correspond to the furnace door and the furnace wall on the same side.
Preferably, the automatic alignment device further comprises an acoustic auxiliary unit, the acoustic auxiliary unit is connected with the control unit, the acoustic auxiliary unit acquires fourth alignment information and transmits the fourth alignment information to the control unit, and the control unit controls the visual alignment unit or the laser alignment unit to work according to the fourth alignment information.
Preferably, the acoustic auxiliary unit is an acoustic detection sensor, and the fourth alignment information is acoustic sensing positioning data.
The utility model provides an unmanned on duty automatic alignment hold burnt car, the risk hidden danger that exists when will avoiding carrying out artifical location by operating personnel, improve and hold burnt car alignment accuracy of during operation, work safety factor and work efficiency, carry out communication connection through the computer with holding burnt car and control the position adjustment who holds burnt car, the displacement control parameter who holds burnt car position then by the vision, the combination of laser and acoustics unit provides the feedback, thereby it holds burnt car alignment mode to have formed one set of automation that need not personnel's operation, specifically have following advantage:
1. the whole set of alignment work is completely controlled by the computer, so that the safety risk caused by operating equipment by personnel can be greatly reduced, the time for completing the set of alignment action is far shorter than the time for manual operation, the work is efficient, and the time cost can be effectively reduced;
2. the time for completing one set of alignment action is far shorter than the time for manual operation, the work is efficient, and the time cost can be effectively reduced;
3. the investment of manpower cost is effectively reduced, and the enterprise cost can be effectively reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the laser ranging of the present invention;
in the above figures:
1. a control unit; 2. an automatic alignment device; 21. a coded cable coarse tuning unit; 22. a vision alignment unit; 23. a laser alignment unit; 24. an acoustic auxiliary unit.
Detailed Description
The present invention is specifically described below by way of exemplary embodiments. It should be understood, however, that elements, structures, and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, an unattended coke collecting vehicle provided by the embodiment of the present application includes a vehicle body, a moving mechanism, a displacement motor, a control unit 1 and an automatic alignment device 2, wherein the moving mechanism is installed at the bottom of the vehicle body, the displacement motor is connected with the moving mechanism, and the moving mechanism is controlled by the displacement motor to drive the coke collecting vehicle to move.
The automatic alignment device 2 is mounted on the vehicle body and includes a code cable rough adjusting unit 21, a visual alignment unit 22, a laser alignment unit 23 and an acoustic auxiliary unit 24, specifically, the code cable rough adjusting unit 21, the visual alignment unit 22, the laser alignment unit 23 and the acoustic auxiliary unit 24 are respectively connected to the control unit 1 wirelessly or electrically, in some embodiments, the acoustic auxiliary unit 24 may also be connected to the visual alignment unit 22 and the laser alignment unit 23 wirelessly or electrically.
The control unit 1 directly controls the operation of the focus tracking displacement motor through an electronic circuit, can receive feedback of pose information including the coded cable coarse adjustment unit 21, the vision alignment unit 22 and the laser alignment unit 23, and controls the focus tracking displacement motor to move according to the feedback.
In specific implementation, the coded cable coarse tuning unit 21 acquires first alignment information and then transmits the first alignment information to the control unit 1, and the control unit 1 controls the displacement motor to drive the coke collecting vehicle to displace according to the first alignment information; the vision alignment unit 22 acquires the second alignment information and transmits the second alignment information to the control unit 1, and the control unit 1 controls the displacement motor to drive the coke collecting vehicle to move according to the second alignment information 22
In a specific implementation, when the focus acquisition vehicle starts to be aligned, the control unit 1 receives the position data provided by the coded cable rough adjusting unit 21, performs primary positioning on the focus acquisition vehicle, and the primary positioning is finished by the vision aligning unit 22.
The vision alignment unit 22 uses two industrial cameras to acquire high-definition images in real time in a field environment, and the second alignment information is an image acquired by the industrial cameras. The acquired image data is transmitted to a built-in industrial personal computer for real-time data processing, accurate target identification is carried out through an algorithm in a built-in target identification module of the industrial personal computer, and alignment information of the target is synchronously transmitted to the coke car capturing control unit 1 in real time for further position adjustment, wherein the fine adjustment is of a first level.
The laser alignment unit 23 acquires the third alignment information and transmits the third alignment information to the control unit 1, and the control unit 1 controls the displacement motor to drive the coke collecting vehicle to displace according to the third alignment information. The laser alignment unit 23 is designed by adopting double-industrial-level laser ranging equipment, and aims to acquire high-precision spatial position information in a severe environment, the third alignment information is laser ranging data, on the premise that the vision alignment unit 22 completes alignment, the data is verified, further fine adjustment of the position of the coke-catching vehicle is performed on the basis of successful verification, the accuracy of alignment of the coke-catching vehicle is ensured, and the fine adjustment is a second-level fine adjustment.
The acoustic auxiliary unit 24 acquires the fourth alignment information and transmits the fourth alignment information to the control unit 1, and the control unit 1 controls the visual alignment unit 33 or the laser alignment unit 23 to work according to the fourth alignment information. The acoustic auxiliary unit 24 adopts an acoustic sensor to perform precision verification and monitoring work on the basis of the first and second levels of fine tuning, the fourth alignment information is acoustic sensing positioning data, and the acoustic auxiliary unit 24 assists the accuracy of the front two-level alignment fine tuning process.
The data detected by the acoustic detector is relatively poor in accuracy compared with vision and laser, but the detection range is wide, so that the acoustic detector is used for checking the alignment position. So as to prevent the occurrence of small-probability accidental deviation, namely the situation that the data is aligned and finished by vision and laser display due to accidental reasons, but the actual integral displacement is deviated by a larger deviation.
Referring to fig. 2, in an implementation, the laser alignment unit 23 is composed of two industrial-level laser ranging devices (hereinafter referred to as a and B), each of which can emit two ranging laser lines (one far away and one near, with a distance difference), and the distance LD between the two ranging lines just satisfies: one of which detects the edge of the oven door (in practice, the oven door protrudes from the oven wall) and the other of which detects the oven wall. The distance of the LD is determined by a number of field experiments to ensure the accuracy of the positioning.
On the basis of the completion of the visual alignment, when the detected distance values of a and B reach the condition shown in fig. 2, the laser alignment unit 23 sends an alignment signal indicating that the laser alignment is completed. If the distance values detected by the A and the B do not reach the values shown in the figure 2, the fine tuning signals are sent to the coke car control unit 1 for position adjustment left or right according to the data of the distance detected by the two groups of laser ranging devices until the alignment is finished.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may use the above-mentioned technical contents to change or modify the equivalent embodiments into equivalent variations to apply to other fields, but all those persons do not depart from the technical contents of the present invention, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical matters of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (10)
1. An unmanned on duty automatic alignment draws burnt car, its characterized in that includes:
a vehicle body;
the moving mechanism is arranged at the bottom of the vehicle body;
the displacement motor is connected with the moving mechanism, and the moving mechanism is controlled by the displacement motor to drive the coke collecting vehicle to move;
the control unit is electrically connected to the displacement motor and controls the operation of the displacement motor;
the automatic alignment device is arranged on the vehicle body and connected with the control unit, the automatic alignment device comprises a coding cable coarse adjustment unit and a visual alignment unit, and the coding cable coarse adjustment unit and the visual alignment unit are respectively connected with the control unit;
the coding cable coarse adjustment unit acquires first alignment information and then transmits the first alignment information to the control unit, and the control unit controls the displacement motor to drive the coke collecting vehicle to displace according to the first alignment information;
the vision alignment unit acquires second alignment information and then transmits the second alignment information to the control unit, and the control unit controls the displacement motor to drive the coke collecting vehicle to displace according to the second alignment information.
2. The focus pulling vehicle according to claim 1, wherein the visual alignment unit comprises an industrial camera and an industrial personal computer, the industrial camera is electrically connected to the industrial personal computer, and the visual alignment unit is connected to the control unit through the industrial personal computer.
3. The coke collecting vehicle as claimed in claim 2, wherein the industrial personal computer comprises a target identification module, the second alignment information is an image obtained by the industrial camera, the image obtained by the industrial camera is transmitted to the target identification module of the industrial personal computer, the target identification module processes data and sends a pose feedback instruction to the control unit, and the control unit controls the displacement motor to drive the coke collecting vehicle to displace.
4. The focus pull cart according to claim 2 or 3, wherein there are two industrial cameras.
5. The coke pulling vehicle according to any one of claims 1 to 3, wherein the automatic alignment device further comprises a laser alignment unit, the laser alignment unit is connected to the control unit, and transmits third alignment information to the control unit after acquiring the third alignment information, and the control unit controls the displacement motor to drive the coke pulling vehicle to displace according to the third alignment information.
6. The coke pulling vehicle of claim 5, wherein the laser alignment unit comprises industrial-grade laser ranging equipment, and the third alignment information is laser ranging data.
7. The coke pulling cart of claim 6, wherein there are two industrial-grade laser ranging devices.
8. The coke pulling vehicle as claimed in claim 7, wherein two said industrial laser distance measuring devices are respectively installed on both sides of the vehicle body, each said industrial laser distance measuring device comprises two distance measuring laser lines, and the two said distance measuring laser lines respectively correspond to the furnace door and furnace wall on the same side.
9. The coke oven car as claimed in claim 5, wherein said automatic alignment device further comprises an acoustic auxiliary unit, said acoustic auxiliary unit is connected to said control unit, said acoustic auxiliary unit obtains fourth alignment information and transmits the fourth alignment information to said control unit, and said control unit controls said visual alignment unit or said laser alignment unit to operate according to said fourth alignment information.
10. The coke oven vehicle of claim 9, wherein the acoustic auxiliary unit is an acoustic detection sensor, and the fourth alignment information is acoustic sensing positioning data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123086323.1U CN216736095U (en) | 2021-12-09 | 2021-12-09 | Unattended automatic alignment coke collecting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123086323.1U CN216736095U (en) | 2021-12-09 | 2021-12-09 | Unattended automatic alignment coke collecting vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216736095U true CN216736095U (en) | 2022-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123086323.1U Active CN216736095U (en) | 2021-12-09 | 2021-12-09 | Unattended automatic alignment coke collecting vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216736095U (en) |
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2021
- 2021-12-09 CN CN202123086323.1U patent/CN216736095U/en active Active
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