CN217676808U

CN217676808U - Tank opening automatic alignment truss crane pipe based on image recognition

Info

Publication number: CN217676808U
Application number: CN202222082509.8U
Authority: CN
Inventors: 刘明芹; 刘杰; 凌舒心; 孙学华
Original assignee: Lianyungang City Top Technology Development Co ltd; Jiangsu Ocean University
Current assignee: Lianyungang City Top Technology Development Co ltd; Jiangsu Ocean University
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2022-10-28
Anticipated expiration: 2032-08-09

Abstract

The utility model discloses an automatic truss crane pipe that counterpoints of jar mouth based on image recognition, including outdoor ceiling, install the truss stand on the outdoor ceiling. The utility model has the advantages of structural strength is high, bearing capacity is strong, the precision is high, consider the problem that the aforesaid was mentioned, hang down the pipe with the oil filling riser and replace truss Z axle's vertical lift structure, high stability, can effectively avoid dragging the oil filling riser with the truss dolly and hang down the pipe produced receive the strong wind swing problem, utilize the edge position that infrared laser detection device and the machine vision device that installs in the pipe both sides that hang down detect the jar mouth and the center of jar mouth, and pass the jar mouth central coordinate that image recognition arrived for the industrial computer, industrial computer analysis processes the coordinate value then send out the instruction and give the actuating system of truss each axle, the control oil filling riser carries out the linear motion of XY axle and the vertical lift of Z axle at the truss, accomplish the butt joint, take out the oil filling riser after the butt joint is accomplished and get back to initial position.

Description

Tank opening automatic alignment truss crane pipe based on image recognition

Technical Field

The utility model relates to an automatic discernment tank wagon jar mouth drives the oil filling riser and carries out butt joint technical field, especially relates to a jar mouth automatic alignment truss oil filling riser based on image recognition.

Background

At present, petroleum transportation in China still mainly depends on railway transportation, and the loading and unloading difficulty of a tank truck used in the railway transportation is very high, and the loading and unloading of oil is a key link influencing the benefits of petroleum-related enterprises. At present, three methods, namely a pure mechanical oil filling riser, a semi-automatic oil filling riser and an automatic oil filling riser, are mainly used for aligning the oil filling riser. The pure mechanical oil filling riser is pulled by a worker to carry out manual alignment, and the problems that the labor intensity of the worker is high, the potential safety hazard is large, and toxic and harmful media generated in the butt joint process seriously hurt the bodies of the workers exist. Semi-automatic oil filling riser is on pure mechanical oil filling riser basis, improve each rotary joint, each joint adopts power drive, operating personnel carries out independent control to each rotary joint, the adjustment oil filling riser reachs the assigned position and accomplishes the butt joint, or on former mechanical structure basis, increase a truss dolly, increase power device such as electronic, hydraulic pressure or pneumatics on the truss dolly, let the dolly move on the truss through manual valve's mode, the truss dolly can drive the oil filling riser and dock, this kind of semi-automatic oil filling riser counterpoint method is because operating personnel need observe the position of jar mouth at any time, need repeat many times operation, just can be with the accurate alignment of oil filling riser at tank car jar mouth center, and if operating personnel counterpoint inaccurate, can cause oil gas leakage to cause the potential safety hazard.

The current full-automatic alignment crane pipe mainly comprises an alignment system, a truss trolley, a truss, an upright post and the like, and the working principle is as follows: after the tank truck stops, a camera arranged on the truss is used for collecting a tank opening photo, the central coordinate of the tank opening is analyzed, the trolley arranged on the truss is controlled by an industrial control machine, after the truss trolley receives a transmitted signal, the truss trolley can move forwards all around on the truss, the crane pipe vertical pipe is driven to move right above the tank truck opening to complete positioning work, and the rear vertical lifting module drives the vertical pipe to descend to be in butt joint with the tank opening of the tank truck, so that alignment work is completed. The automatic alignment oil filling riser has the problems that under the condition of outdoor strong wind, the tail end of the oil filling riser can be blown away from a vertical state by wind, the vertical pipe shakes, so that electric sparks are possibly generated due to collision with a tank opening, and the automatic alignment oil filling riser has very high potential safety hazard.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the technical problem and providing an automatic aligning truss oil filling riser based on image recognition.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a jar mouth automatic alignment truss oil filling riser based on image recognition, includes outdoor ceiling, install the truss stand on the outdoor ceiling, planer-type truss stand mainly has crossbeam X axle, crossbeam Y axle, truss Z epaxial installation oil filling riser pipe that hangs down, crossbeam X axle, crossbeam Y are epaxial to install respectively on the crossbeam X axle transport mechanism, the crossbeam Y axle on transport mechanism, truss Z epaxial vertical lift structure, crossbeam Y axle is installed on crossbeam X epaxial transport mechanism, truss Z axle is installed on crossbeam Y epaxial transport mechanism, the oil filling riser pipe that hangs down is installed on truss Z epaxial vertical lift structure, infrared laser detection device and machine vision device are installed to the both sides that the oil filling riser pipe droops down the pipe.

Preferably, the beam X-axis transmission mechanism, the beam Y-axis transmission mechanism and the truss Z-axis vertical lifting structure are powered by a servo motor, and the servo motor on the beam Y-axis transmission mechanism is wrapped with a motor cover.

Preferably, the beam X-axis conveying mechanism, the beam Y-axis conveying mechanism and the truss Z-axis vertical lifting structure are controlled by an industrial personal computer, and the industrial personal computer is controlled by a PLC (programmable logic controller).

Preferably, transport mechanism on the crossbeam X axle, transport mechanism on the crossbeam Y axle include servo motor, first backup pad, slider, guide rail, gear, rack, the slider slides on the guide rail, servo motor, gear installation are on the slider, the gear is installed on servo motor's output, and the rack is installed on the guide rail, gear, rack toothing, first backup pad is installed on the slider.

Preferably, the truss Z-axis vertical lifting structure mainly comprises a second support plate, a ball screw, a ball nut and a servo motor, wherein the ball nut is sleeved on the ball screw and is in sliding support with the second support plate, and the ball screw is fixedly connected with the output end of the servo motor.

Preferably, two opposite double LED lamps are mounted at the bottom of the truss upright post.

Compared with the prior art, the utility model, its beneficial effect does:

the utility model has the advantages of structural strength is high, bearing capacity is strong, the precision is high, consider the problem that the aforesaid was mentioned, hang down the pipe with the oil filling riser and replace truss Z axle's vertical lift structure, high stability, can effectively avoid dragging the oil filling riser with the truss dolly and hang down the pipe produced receive the strong wind swing problem, utilize the edge position that infrared laser detection device and the machine vision device that installs in the pipe both sides that hang down detect the jar mouth and the center of jar mouth, and pass the jar mouth central coordinate that image recognition arrived for the industrial computer, industrial computer analysis processes the coordinate value then send out the instruction and give the actuating system of truss each axle, the control oil filling riser carries out the linear motion of XY axle and the vertical lift of Z axle at the truss, accomplish the butt joint, take out the oil filling riser after the butt joint is accomplished and get back to initial position.

Drawings

FIG. 1 is a simplified illustration of an automatic mouth alignment truss arm based image recognition;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of section C of FIG. 1;

FIG. 4 is a flow chart of the inspection operation of the automatic alignment truss arm crane;

fig. 5 is a flow chart of the control operation of the automatic alignment truss arm crane.

In the figure: the system comprises an outdoor ceiling 1, truss columns 2, a crossbeam X-axis 3, two opposite LED lamps 4, a tank truck 5, a machine vision device 6, a loading arm drop tube 7, an infrared laser detection device 8, a cross frame 9, a servo motor 10, a truss Z-axis 11, a motor cover 12, a crossbeam Y-axis 13, a slider 14, a guide rail 15, a gear 16, a rack 17, a first support plate 18, a ball nut 19, a second support plate 20 and a ball screw 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-5, an automatic aligning truss crane pipe for a tank opening based on image recognition comprises an outdoor ceiling 1, a truss upright column 2 is installed on the outdoor ceiling 1, the gantry truss upright column 2 mainly comprises a beam X-axis 3, a beam Y-axis 13 and a truss Z-axis 11, a crane pipe vertical pipe 7 is installed on the truss Z-axis 11, a beam X-axis transmission mechanism, a beam Y-axis transmission mechanism and a truss Z-axis vertical lifting structure are respectively installed on the beam X-axis 3 and the beam Y-axis 13, wherein the beam X-axis transmission mechanism and the beam Y-axis transmission mechanism comprise a servo motor 10, a first supporting plate 18, a sliding block 14, a guide rail 15, a gear 16 and a rack 17, the sliding block 14 slides on the guide rail 15, the servo motor 10 and the gear 16 are installed on the sliding block 14, the gear 16 is installed on an output end of the servo motor 10, the rack 17 is installed on the guide rail 15, the gear 16 is engaged with the rack 17, the first supporting plate 18 is installed on the sliding block 14, the beam Y-axis transmission mechanism is installed on the first supporting plate 18 through a transverse frame 9, a main ball lifting structure of the Z-axis is fixed with a second ball screw nut 20, and a ball screw nut 21 is connected with the servo motor 10 and a second ball screw nut 21.

Wherein, the vertical lift structure of transport mechanism, truss Z axle on the crossbeam X axle is gone up transport mechanism, crossbeam Y axle is controlled through the industrial computer, and the industrial computer adopts PLC control, be convenient for better with crossbeam X on the axle transport mechanism, crossbeam Y on the axle transport mechanism, truss Z axle vertical lift structure, infrared laser detection device 8 and machine vision device 6 cooperate, and then better control oil filling riser pipe plumbing 7, accurate and 5 jar mouths of tank wagon counterpoint.

The beam X-axis conveying mechanism, the beam Y-axis conveying mechanism and the truss Z-axis vertical lifting structure are powered by a servo motor 10, and the servo motor 10 on the beam Y-axis conveying mechanism is wrapped by a motor cover 12.

A beam Y shaft 13 is arranged on a beam X shaft transmission mechanism, a truss Z shaft 11 is arranged on the beam Y shaft transmission mechanism, a loading arm vertical tube 7 is arranged on a truss Z shaft vertical lifting structure, an infrared laser detection device 8 and a machine vision device 6 are arranged on two sides of the loading arm vertical tube 7, the machine vision device 6 is an industrial camera, and two opposite double LED lamps 4 are arranged at the bottom of a truss upright post 2 in order to prevent the industrial camera from shooting and sampling under natural light conditions; specifically, infrared laser detection device 8 and the tank mouth state of on-spot tank wagon 5 of real-time detection, after finding the tank mouth edge, pass to the PLC controller with information, PLC control machine vision device 6 opens the camera and carries out the acquirement of tank mouth image, then carry out corresponding processing to the image that acquirees, confirm whether the tank mouth, after confirming the tank mouth, calculate the center of tank mouth, calculate the distance that oil filling riser vertical pipe 7 need remove, send information for PLC by the serial ports, PLC control oil filling riser vertical pipe 7 advances to target in place, accomplish the butt joint, after the oil discharge, control oil filling riser vertical pipe 7 returns initial position, the loading flow finishes.

The utility model discloses during the use:

treat tank wagon 5 after the assigned position steadiness, install infrared laser detection device 8 on oil filling riser vertical tube 7 and begin to start, judge at first whether the natural light source condition need use the light to carry out the light filling, if need open two LED lamps of subtend 4, oil filling riser vertical tube 7 carries out 5 jar mouths of butt joint tank wagon and mainly divide into three steps: fast moving, slow moving, stopping and returning to the initial position.

In the moving process, the infrared laser detection device 8 detects the position state of the tank opening on site in real time, light beams vertically irradiate the surface of the oil tank truck 5, the edge of the tank opening is searched in the horizontal moving process of the oil filling riser pipe 7, when the edge is detected, the detected position information of the edge is transmitted to the PLC, and the process is a rapid moving process. After the information is transmitted to the PLC, the PLC controls the opening of the industrial camera through a switching value output module according to a pre-programmed program, the camera is fixed on the crane pipe vertical pipe 7 and moves along with the crane pipe vertical pipe 7, and the PLC sends an instruction to a servo motor 10 driving system to control the crane pipe vertical pipe 7 to decelerate;

the industrial camera collects images of the oil tank truck 5 in a working range, corresponding processing is carried out on the obtained images, whether the images are tank openings or not is confirmed, when the images are confirmed to be the tank openings, the computer vision system calculates the centers of the tank openings, the distance of the large oil filling riser to be moved is calculated, a signal is sent to the PLC through a serial port, and the PLC controls the oil filling riser vertical tube 7 to move in place through the switching value output module to complete automatic positioning; after the loading is finished, the driving system controls the oil filling riser vertical pipe 7 to return to the original standby position, the loading process is finished, the alignment time is greatly shortened, the labor intensity of workers is reduced, the labor efficiency is improved, and it is required to be noted that when the infrared laser detection device 8 detects the edge of the tank opening during the installation, the tank opening is ensured to be within the view field of the industrial camera.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a jar mouth automatic alignment truss oil filling riser based on image recognition, includes outdoor ceiling (1), its characterized in that, install truss stand (2) on outdoor ceiling (1), truss stand (2) mainly have crossbeam X axle (3), crossbeam Y axle (13), truss Z axle (11), install oil filling riser pipe on truss Z axle (11) and hang down pipe (7), install respectively on crossbeam X axle (3), crossbeam Y axle (13) on the crossbeam X axle transport mechanism, crossbeam Y axle on transport mechanism, the vertical lift structure of truss Z axle, crossbeam Y axle (13) are installed on crossbeam X axle transport mechanism, truss Z axle (11) are installed on crossbeam Y axle on transport mechanism, oil filling riser pipe hangs down pipe (7) and is installed on the vertical lift structure of truss Z axle, infrared laser detection device (8) and machine vision device (6) are installed to the both sides of oil filling riser pipe (7).

2. The truss crane pipe capable of automatically aligning the tank mouth based on image recognition is characterized in that a transverse beam X-axis conveying mechanism, a transverse beam Y-axis conveying mechanism and a truss Z-axis vertical lifting mechanism are powered by a servo motor (10), and a motor cover (12) is wrapped on the servo motor (10) on the beam Y-axis conveying mechanism.

3. The automatic aligning truss crane pipe for the tank opening based on image recognition as claimed in claim 1, wherein the cross beam X-axis conveying mechanism, the cross beam Y-axis conveying mechanism and the truss Z-axis vertical lifting structure are controlled by an industrial personal computer, and the industrial personal computer is controlled by a PLC.

4. The truss crane pipe for automatic tank mouth alignment based on image recognition is characterized in that the transmission mechanism on the X-axis and the transmission mechanism on the Y-axis of the cross beam comprise a servo motor (10), a first supporting plate (18), a sliding block (14), a guide rail (15), a gear (16) and a rack (17), the sliding block (14) slides on the guide rail (15), the servo motor (10) and the gear (16) are installed on the sliding block (14), the gear (16) is installed on the output end of the servo motor (10), the rack (17) is installed on the guide rail (15), the gear (16) and the rack (17) are meshed, and the first supporting plate (18) is installed on the sliding block (14).

5. The truss crane pipe capable of automatically aligning the tank mouth based on image recognition is characterized in that the truss Z-axis vertical lifting structure mainly comprises a second support plate (20), a ball screw (21), a ball nut (19) and a servo motor (10), wherein the ball nut (19) is sleeved on the ball screw (21) and is in sliding contact with the second support plate (20), and the ball screw (21) is fixedly connected with the output end of the servo motor (10).

6. The automatic tank mouth aligning truss crane pipe based on image recognition is characterized in that two opposite double LED lamps (4) are installed at the bottom of the truss upright post (2).