CN220751978U

CN220751978U - Automatic offline detection system for engineering machinery

Info

Publication number: CN220751978U
Application number: CN202321011223.9U
Authority: CN
Inventors: 李俊; 陈�峰
Original assignee: Caterpillar SARL
Current assignee: Caterpillar SARL
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2024-04-09
Anticipated expiration: 2033-04-28

Abstract

The utility model provides an automatic offline detection system for a construction machine, which comprises a parking space provided with a detection area for parking the construction machine to be detected, auxiliary parking equipment configured to guide the construction machine into the detection area and acquire the actual position of the construction machine, detection equipment configured to be capable of moving around the construction machine and acquiring characteristic images of a plurality of preset points of the construction machine, and a management platform configured to be respectively in communication connection with the auxiliary parking equipment and the detection equipment for receiving and processing signals from the auxiliary parking equipment and the detection equipment. The automatic offline detection system can automatically finish appearance detection of the engineering machinery to be delivered, saves labor and has high efficiency.

Description

Automatic offline detection system for engineering machinery

Technical Field

The utility model relates to the technical field of detection of engineering machinery, in particular to a system suitable for automatically detecting engineering machinery which is in a line, wherein 'in-line' refers to the fact that the whole machine of the engineering machinery is manufactured and can be ready for delivery to customers.

Background

The engineering machinery is used as a necessity of foundation construction engineering such as roads, bridges, buildings and the like, the demand is increasing in the high-speed development process of the current society, and manufacturers generally perform offline detection on the engineering machinery at the tail end of an assembly production line in order to ensure the offline quality of the whole machine.

Current offline detection methods are usually based on manual detection, but such methods are not adapted to ever-increasing demands. Therefore, the detection mode is changed into an automatic detection mode, and the automatic detection needs to park the engineering machinery at a preset position in a standard space posture before detection. However, at present, the means for adjusting the spatial attitude of the engineering machinery stopped at the preset position is mainly visual inspection, and a large error exists.

In addition, the outer surface of the engineering machine is attached with labels related to the engineering machine, and the labels show various performance parameters of the engineering machine. If the label pasting quality is not detected before leaving the factory, the wrong pasting of the label can seriously influence the perception of a customer, and the detection which can influence the appearance perception can be generally uniformly detected before leaving the factory.

The detection equipment in the prior art is used for detecting only one aspect, or mainly comprises manual visual detection, and detection personnel are easy to fatigue, so that the detection efficiency is seriously reduced, and automatic detection and accurate identification cannot be realized.

Disclosure of Invention

The present utility model is directed to solving at least one of the problems discussed above and/or other problems in the prior art.

To achieve the above object, the present utility model provides an automated off-line inspection system for construction machinery, the automated off-line inspection system comprising:

the parking space is provided with a detection area for parking the engineering machinery to be detected;

an auxiliary docking device configured to guide the work machine into the detection area and configured to obtain an actual position of the work machine;

a detection device configured to be movable around the construction machine and to acquire feature images of a plurality of predetermined points of the construction machine; and

a management platform configured to be communicatively connected to the auxiliary dock and the detection device, respectively, for receiving and processing signals from the auxiliary dock and the detection device.

According to one embodiment of the utility model, the auxiliary docking device comprises a 2D camera mounted on top of the parking space and arranged relative to the detection area, the 2D camera being communicatively connected to the management platform.

According to one embodiment of the utility model, the 2D camera is configured to acquire a real-time two-dimensional image of the work machine, and the management platform is provided with adjustment means for comparing the real-time two-dimensional image with a standard two-dimensional image of the work machine and being able to adjust the position of the work machine according to the comparison result.

According to an embodiment of the utility model, the adjustment device is further configured to allow adjustment of the attitude of a component of the work machine.

According to one embodiment of the utility model, the detection device comprises a vision part, an adjusting arm and a mobile platform, the mobile platform being configured to be movable on the floor of the parking space, the vision part being connected to the mobile platform by means of the adjusting arm and being in communication with the management platform, the vision part being configured to acquire characteristic images of the predetermined points and to transfer information related to the characteristic images to the management platform.

According to one embodiment of the utility model, the vision portion includes a 2D camera and a 3D camera for capturing the plurality of predetermined points to obtain a feature image.

According to one embodiment of the utility model, the automated off-line detection system further comprises a starting device comprising one or more of a code scanner, a manual input interface, or a radio frequency identification proximity detector.

According to one embodiment of the utility model, the automatic offline detection system further comprises a warning device in communication connection with the management platform.

According to one embodiment of the present utility model, the automated off-line detection system further includes a display device communicatively coupled to the management platform, the display device configured to display information of one or more of a position, an angle, and a deviation value to be adjusted of the work machine.

According to the automatic offline detection system, the actual deviation value of the engineering machinery entering the parking space is fed back to a driver through the management platform, so that the engineering machinery can be parked in a detection area in a standard space posture before offline detection; the management platform forms an actual moving path of the detection equipment according to the actual attitude characteristics of the engineering machinery, so that the whole automatic offline detection process of the engineering machinery is completed. The automatic offline detection system can automatically and efficiently finish the appearance detection of the engineering machinery to be delivered, thereby being beneficial to saving the labor cost and ensuring the detection reliability.

Drawings

The above and other features and advantages of the present utility model will become more readily appreciated from the following description with reference to the accompanying drawings, in which:

fig. 1 is a schematic diagram of an automated off-line detection system for a work machine according to an exemplary embodiment of the present utility model.

FIG. 2 is an overall view of the detection device of the automated off-line detection system shown in FIG. 1;

fig. 3 is a comparison of a real-time projected image with a standard projected image obtained by an automated off-line detection system.

The figures are merely schematic and are not necessarily drawn to scale. The relative positional relationships of the various components shown in the drawings are also illustrative and are not intended to limit the scope of the utility model. Furthermore, only those parts necessary for elucidating the utility model are shown in the drawings, other parts being omitted or merely mentioned briefly.

Reference numerals illustrate:

1. engineering machinery; 11. a mechanical arm; 111. a first observation point; 2. parking space; 21. a detection region; 3. a starting device; 4. an auxiliary docking device; 5. a detection device; 51. a vision unit; 511. a vision acquirer; 512. a visual receiver; 52. an adjusting arm; 53. a mobile platform; 6. a management platform; 61. a receiving module; 62. a processing module; 63. a storage module; 7. a warning device; 8. a display device.

Detailed Description

Exemplary embodiments according to the present utility model will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model to those skilled in the art. It will be apparent, however, to one skilled in the art that the present utility model may be practiced without some of these specific details. Furthermore, it should be understood that the utility model is not limited to specific described embodiments. Rather, the utility model can be considered to be implemented with any combination of the following features and elements, whether or not they relate to different embodiments. Thus, the following features, embodiments, and advantages are merely illustrative and should not be considered elements or limitations of the claims except where explicitly set out in a claim.

In the description of the present utility model, the left-right direction is used to denote a lateral direction with respect to a traveling direction of a construction machine (excavator), that is, a direction transverse to the traveling direction, which is with respect to a traveling direction referred to as a front-rear direction. In this context, the terms "upper", "lower", "above", "below", etc. refer to the ground on which the work machine is operating, wherein the orientation closer to the ground is "lower", and vice versa.

Fig. 1 shows an automatic offline detection system for a construction machine 1 according to the present embodiment, which may include a parking space 2, a starting device 3, an auxiliary parking device 4, a detection device 5, and a management platform 6, wherein the parking space 2 may be formed by a building such as a factory building or a warehouse or a site with a ceiling, an inspection area in which the construction machine 1 is parked may be provided in the parking space 2, and the construction machine 1 may be parked at any position in the inspection area.

The management platform 6 may comprise a console and/or a computer or the like as a master controller for performing reception, processing, output, etc. of data and/or information in an automated offline detection process. The construction of the management platform 6 will be further described below.

The starting device 3 may be communicatively connected to the management platform 6 and used for starting a detection procedure, and the starting device 3 may include one or more of a code scanning gun, a manual input interface or a radio frequency identification proximity detector, wherein the code scanning gun may be used for scanning codes of the engineering machine 1. Specifically, the outer surface of the construction machine 1 is usually attached with a bar code or a two-dimensional code describing information such as a model number or a parameter of the construction machine, and the bar code or the two-dimensional code can be scanned by aiming at a code scanning gun so as to acquire information such as the model number of the construction machine 1 to be detected, and the information can be transmitted to the management platform 6, so that the management platform 6 can call out data required to be called for checking the construction machine 1.

Of course, it is also possible not to use a separate starting device, but to input or select the model or parameters of the working machine to be tested directly at the management platform 6 for the subsequent testing.

As shown in fig. 1, the auxiliary parking device 4 may be provided in the parking space 2 according to an embodiment of the present utility model. It may be fixedly provided with respect to the inspection area 21 so as to be able to capture the real-time posture and position of the construction machine 1 parked in the inspection area 21, but may be provided at an arbitrary position within the parking space 2 and be able to be moved to a position corresponding to the inspection area 21 so as to obtain the real-time posture and position characteristics of the construction machine 1.

Correspondingly, standard attitude features of the working machine 1, such as standard parking attitude photos, standard space coordinates or standard plane coordinates, etc., are preset in the management platform 6. The auxiliary docking device 4 is communicatively connected to the management platform 6, data information of the real-time posture feature for comparison with the standard posture feature, such as a real-time photograph, real-time spatial coordinates or real-time plane coordinates, etc. of the engineering machine 1 parked in the inspection area, can be acquired by the auxiliary docking device 4, and the real-time posture feature acquired by the auxiliary docking device 4 can be transmitted to the management platform 6, so that the management platform 6 compares the real-time posture feature with the standard posture feature, thereby assisting the operator to park the engineering machine 1 in the inspection area 21 in the standard spatial posture.

For this purpose, spatial or planar coordinates, which may be, for example, markings drawn in the detection area 21 or digitized virtual coordinates stored in the management platform 6, may be predefined in the parking space 2 and in particular in the detection area 21 thereof.

As shown in fig. 1, the auxiliary docking device 4 may include a 2D camera, which may be configured to be able to take a high frequency photograph of the work machine 1. The floor of the parking space 2 is typically a flat floor, and the 2D camera may be fixed to the top of the parking space 2 by a bracket or some other structure and positioned with respect to the detection area 21, for example, directly above the detection area 21, so that the 2D camera may take real-time two-dimensional images of the work machine 1 for transmission as real-time attitude features to the management platform 6.

As shown in fig. 1 and 3, a planar coordinate system having a point in the detection area 21 as an origin may be established in the detection area 21 corresponding to the parking space 2 on the management platform 6, and the x-axis direction may be defined as the left-right direction of the construction machine 1, and the y-axis direction may be defined as the front-rear direction of the construction machine 1. Taking a plurality of detection points to be detected on the engineering machine 1 as observation points, selecting one of the detection points on the engineering machine 1 as a first observation point 111, wherein the first observation point 111 is preferably located on the mechanical arm 11 of the engineering machine 1. The standard two-dimensional coordinates (x 1, y 1) of the first observation point 111 can be known from the standard two-dimensional image stored in the management platform 6.

Fig. 3 shows that a planar coordinate system is established with the position of the rear left end of the working machine 1 as the origin, wherein the solid line shows a standard two-dimensional image of the working machine 1 and the broken line shows an actual two-dimensional image of the working machine 1 acquired, for example, by a 2D camera. When the 2D camera photographs the construction machine 1, the actual two-dimensional coordinates (x 2, y 2) of the first observation point 111 can be obtained, and the default construction machine 1 is not shifted in the up-down direction. Thus, the first deviation Δy=y2-y 1, the second deviation Δx=x2-x 1, and the value at which the deviation angle α can be found is calculated, and when |Δy|150 mm, |Δx|150 mm, and |α|1°, the management platform 6 is configured to determine that the working machine 1 has been parked in the detection area 21 in the standard posture, and perform data processing on the actual positions of the plurality of observation points based on the first deviation value, the second deviation value, and the deviation angle of the working machine 1, thereby obtaining the actual plane coordinates of each of the observation points.

The management platform 6 is further configured to set a detection path, i.e. a movement path around the work machine 1 performed by the detection device 5, which will be described below, based on the actual plane coordinates of these observation points.

In the above embodiment, if the first observation point 111 is shifted forward, Δy is considered to be a positive number, and vice versa; if the first observation point 111 is shifted to the left, Δx is considered to be negative, and vice versa, and it is found that if the arm 11 of the construction machine 1 is shifted to the left, the deviation angle value of the arm 11 is negative, and vice versa.

As shown in fig. 1 and 2, an exemplary detection device 5 of the present utility model may comprise a vision portion 51, an adjustment arm 52 and a moving platform 53, and may be moved around the working machine 1, for example, under the control of a management platform 6, in order to obtain characteristic information of a plurality of predetermined points of the working machine 1, in particular image information of the predetermined points.

The moving platform 53 may be constituted by an AGV (automatic guided vehicle, mobile robot), for example, and may move on the floor of the parking space 2. For example, when the management platform 6 has determined that a certain predetermined portion to be detected of the construction machine 1 corresponds to the actual two-dimensional coordinates (x 3, y 3) in the detection area 21, the moving platform 53 may be moved to a position corresponding to the two-dimensional coordinates (x 3, y 3) so as to acquire an image of the predetermined portion through the vision portion 51.

The adjustment arm 52 may comprise at least two pivotally connected arm bodies, wherein one arm body may be pivotally connected at a lower end to the mobile platform 53 and an upper end to the lower end of the other arm body; while the upper end of the other arm body may carry a vision 51. The height coordinates of the point to be detected of the working machine 1 can be adapted by means of the adjusting arm 52. Furthermore, the vision portion 51 may be arranged on the adjustment arm 52 such that the angle of the vision portion 51 can be freely adjusted to adapt the photographing angle of the spot to be detected.

As shown in fig. 2, the vision part 51 may include a vision acquirer 511 and a vision receiver 512 electrically connected to the vision acquirer 511, and the vision receiver 512 may be communicatively connected to the management platform 6 by wire or wirelessly. The vision acquirer 511 may include several 3D cameras and/or 2D cameras for capturing specific structures on the body frame of the work machine 1, labels, whether there is oil leakage at pipe joints, etc. to form a 3D or 2D image. The captured images may be processed by the visual receiver 512 to be converted into electrical signals or other signals that are readily transmitted and transmitted to the management platform 6. In particular, the vision acquirer 511 may further include a white light and/or ultraviolet light fitting for capturing images

As shown in fig. 1, in order to more intuitively reflect whether the working machine 1 is parked in a standard space posture, the automatic offline detection system may further include a display device 8 and a warning device 7 that are respectively communicatively connected to the management platform 6. The display device 8 and the warning device 7 may be alternatively or simultaneously provided. The warning device 7 may be an indicator light, an alarm or an acousto-optic device with both audible and visual cues. The warning device 7 may emit an audible and visual warning when the management platform 6 determines that the construction machine 1 fails to stop in a standard spatial posture, and/or when the inspection apparatus 5 returns to its original position after completing all inspection contents, and/or when any prompt or warning is required. The display device 8 is communicatively connected to the controller. When the spatial attitude of the working machine 1 is adjusted, the real-time deviation value of the working machine 1 can be displayed on the display device 8, and the numerical value required to be adjusted by the working machine 1 can be displayed. A pop-up window may also be made after the inspection device 5 has completed all inspection to alert the operator that inspection has been completed.

For example, when the deviation angle value α between the posture of the mechanical arm 11 of the working machine 1 and the standard posture is within the normal allowable range, the plane coordinate, the deviation angle value α, and the OK letter of the first observation point 111 of the working machine 1 may be displayed on the display device 8, and the light of the warning device 7 may display a green light and/or indicate that the normal state is indicated by sound. When the deviation angle of the mechanical arm 11 needs to be adjusted, the plane coordinate of the first observation point 111 of the engineering machine 1, the deviation angle value α to be adjusted, and the NG word can be displayed on the display device 8, and the light of the warning device 7 is displayed as a red light and/or a sound prompt to adjust the mechanical arm 11 or the engineering machine 1.

As shown in fig. 1, the management platform 6 of the present utility model may comprise a receiving module 61, a processing module 62 and a storage module 63, which are communicatively connected to each other, wherein the receiving module 61 may be communicatively connected to the assisted docking device 4, the assisted docking device 4 obtains the real-time gesture feature and converts the real-time gesture feature into an electrical signal or some other kind of signal, and the receiving module 61 is configured to receive the signal regarding the real-time gesture feature and to transfer the signal to the processing module 62. The storage module 63 stores various standard posture features as described above, and standard movement paths for the standard posture features for use by the detection device 5. The real-time attitude characteristics are compared with the corresponding standard attitude characteristics by the processing module 62, and the real-time deviation value of the engineering machine 1 can be calculated or compared, so that the moving path of the detection device 5 under the actual attitude characteristics can be set, and the moving path is transmitted to the detection device 5.

Specifically, the receiving module 61 may be a Camera Link image acquisition card or some other image acquisition card of the PCI-X interface for the 2D Camera, and the storage module 63 may be one of various memories, so that the processing module 62 can read corresponding stored information.

INDUSTRIAL APPLICABILITY

The automatic off-line detection system for the engineering machine 1 can be used for off-line detection of the engineering machine 1, and is particularly applied to off-line detection of an excavator. Fig. 1 is a schematic diagram of an automated off-line detection system for an excavator according to an exemplary embodiment of the present utility model, in which a parking space 2, an auxiliary parking facility 4, and a management platform 6 are shown. The automated off-line detection system for a work machine 1 according to the present utility model may also be used for other work machines 1, in particular work machines having a robotic arm 11.

When the engineering machine 1 enters the parking space 2, the engineering machine 1 is guided to enter a detection area as much as possible, the starting device 3 is started to scan codes or other input modes of the engineering machine 1 to input information such as the model of the engineering machine 1 and transmit the information to the management platform 6, the management platform 6 is used for retrieving a stored file of the engineering machine 1 about the model, such as a standard posture feature of the engineering machine 1, a detection point position and a standard moving path of the detection equipment 5 corresponding to the engineering machine 1, the management platform 6 starts an auxiliary parking equipment 4 arranged right above the detection area to shoot the real-time posture feature of the engineering machine 1 in the detection area, the auxiliary parking equipment 4 performs signal conversion processing after shooting to generate a signal to be transmitted to the management platform 6, the management platform 6 is used for comparing the real-time posture feature with the standard posture feature to perform data processing to obtain a deviation value of the engineering machine 1, and when the deviation value is in a first range, the management platform 6 is used for considering that the engineering machine 1 is stopped in the detection area in the standard posture feature and planning a real-time moving path of the actual posture feature detection equipment 5 of the engineering machine 1.

The management platform 6 transmits the real-time moving path to the detection device 5, the detection device 5 moves to the position of each detection point according to the real-time moving path, the real-time plane coordinates of each detection point are adapted to the height position and the shooting angle of each detection point through the moving platform 53, the orientation of the adjusting arm 52 and the vision acquirer 511 is adapted to the real-time image of each detection point through the vision receiver 512, and the real-time image of each detection point is transmitted to the management platform 6.

The management platform 6 compares the real-time image with the standard image and carries out corresponding acousto-optic reminding through the warning device 7 and the display device 8. In addition, the management platform 6 may be further configured to generate a detection report and automatically record and save after the detection device 5 returns to the initial position after completing all the inspection contents, and further configured to generate a list of contents that cannot be inspected by the detection device 5 for the inspector to quickly complete the remaining inspection contents.

In the description of the present specification, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be either a fixed connection, a removable connection, or an integral connection. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

In the description of the present specification, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience in describing the embodiments of the present utility model and simplifying the description, and do not indicate or imply that the apparatus or unit referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore, should not be construed as limiting the embodiments of the present utility model.

In the description of the present specification, the terms "one embodiment," "a preferred embodiment," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present utility model and is not intended to limit the embodiment of the present utility model, and various modifications and variations can be made to the embodiment of the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present utility model should be included in the protection scope of the embodiments of the present utility model.

Claims

1. An automated off-line detection system for off-line detection of an engineering machine (1), characterized in that the automated off-line detection system comprises:

a parking space (2) provided with a detection area (21) for parking of the construction machine to be detected;

-an auxiliary docking device (4) configured to guide the work machine into the detection area and configured to obtain an actual position of the work machine;

a detection device (5) configured to be movable around the work machine and to acquire feature images of a plurality of predetermined points of the work machine; and

-a management platform (6) configured to be communicatively connected with the auxiliary docking device and the detection device, respectively, for receiving and processing signals from the auxiliary docking device and the detection device.

2. The automated off-line detection system according to claim 1, characterized in that the auxiliary parking device (4) comprises a 2D camera mounted on top of the parking space (2) and arranged with respect to the detection area (21), the 2D camera being communicatively connected to the management platform (6).

3. The automated off-line detection system according to claim 2, characterized in that the 2D camera is configured to acquire a real-time two-dimensional image of the work machine (1), the management platform (6) being provided with adjustment means for comparing the real-time two-dimensional image with a standard two-dimensional image of the work machine and being able to adjust the position of the work machine depending on the result of the comparison.

4. The automated off-line detection system of claim 3, wherein the adjustment device is further configured to allow adjustment of a pose of a component of the work machine.

5. The automated off-line detection system according to claim 1, characterized in that the detection device (5) comprises a vision (51) connected to the mobile platform by means of an adjusting arm (52) and in communicative connection with the management platform (6), and a mobile platform (53) configured to be movable on the ground of the parking space (2), the vision being configured to acquire a characteristic image of the predetermined point location and to communicate information related to the characteristic image to the management platform.

6. The automated off-line detection system of claim 5, wherein the vision portion (51) comprises a 2D camera and a 3D camera for capturing the plurality of predetermined points to obtain a feature image.

7. The automated off-line detection system of claim 1, further comprising an activation device (3) comprising one or more of a code scanner, a manual input interface, or a radio frequency identification proximity detector.

8. The automated off-line detection system according to claim 1, further comprising a warning device (7) in communicative connection with the management platform (6).

9. The automated off-line detection system of claim 1, further comprising a display device (8) communicatively coupled to the management platform (6), the display device configured to display information of one or more of a position, an angle, and a deviation value to be adjusted of the work machine.