Bulk cement alignment device and alignment method thereof

Abstract

The present invention discloses a bulk cement alignment device and an alignment method thereof. The device includes an industrial computer, a first lifting mechanism, a bulk head, an adjustment connecting frame, a first rotating mechanism, a second rotating mechanism, a second lifting mechanism, and an image positioning mechanism. The first rotating mechanism, the second rotating mechanism, the second lifting mechanism, the image positioning mechanism, and the first lifting mechanism are all electrically connected to the industrial computer. The second lifting mechanism is connected to the second rotating mechanism, the second rotating mechanism is connected to the first rotating mechanism, the first rotating mechanism is connected to the adjustment connecting frame, the adjustment connecting frame is connected to the bulk head, and the bulk head is connected to the first lifting mechanism. A bulk cement alignment device and an alignment method thereof using the above structure can accurately and quickly adjust the position of the bulk head, solving the problem of difficulty in aligning the bulk head with the filling port of a bulk vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of cement operation, in particular to a bulk cement alignment device and an alignment method thereof. Background Art

[0002] As the country's requirements for environmental protection are getting higher and higher, the proportion of bulk cement in the cement industry has increased year by year. However, the existing equipment in the bulk cement industry can no longer meet the requirements of industry development. In the existing technology, the bulk head in the bulk machine only has a lifting function, which makes it difficult to align the bulk head on the bulk machine with the filling port on the bulk truck. This is a big problem that troubles cement plants and drivers. Loading is difficult and greatly affects the filling speed. Summary of the invention

[0003] The purpose of the present invention is to provide a bulk cement alignment device and an alignment method thereof, which can accurately and quickly adjust the position of a bulk head and solve the problem of difficulty in aligning the bulk head with the filling port of a bulk truck.

[0004] To achieve the above-mentioned object, the present invention provides a bulk cement alignment device, comprising an industrial computer, a first lifting mechanism, a bulk loading head, an adjustment connection frame, a first rotating mechanism, a second rotating mechanism, a second lifting mechanism and an image positioning mechanism, wherein the first rotating mechanism, the second rotating mechanism, the second lifting mechanism, the image positioning mechanism and the first lifting mechanism are all electrically connected to the industrial computer.

[0005] The second lifting mechanism is connected to the second rotating mechanism, the second rotating mechanism is connected to the first rotating mechanism, the first rotating mechanism is connected to the adjusting connecting frame, the adjusting connecting frame is connected to the bulking head, and the bulking head is connected to the first lifting mechanism.

[0006] Preferably, the first lifting mechanism is a winch, and the wire rope of the winch is fixedly connected to the bulk loading head.

[0007] Preferably, the adjustment connecting frame includes an adjustment slide rail and a U-shaped connecting plate, the bottoms of the two adjustment slide rails are fixedly connected to the bulk head, and a slider is arranged in the adjustment slide rail, and the slider is fixedly connected to the U-shaped connecting plate.

[0008] Preferably, the first rotating mechanism includes a first rotating shaft and a first rotating motor, one end of the first rotating shaft is fixedly connected to the U-shaped connecting plate, and the other end of the first rotating shaft is fixedly connected to the first rotating motor.

[0009] Preferably, the second rotating mechanism includes a rotating arm, a second rotating shaft and a second rotating motor, the second rotating motor is fixedly connected to the second rotating shaft, the second rotating shaft is fixedly connected to one end of the rotating arm, and the first rotating motor is fixed to the other end of the rotating arm.

[0010] Preferably, the second rotating motor is fixed to the second lifting mechanism via a slide plate, and the second lifting mechanism is a lifting slide.

[0011] Preferably, the camera of the image positioning mechanism is arranged opposite to the loading station.

[0012] A bulk cement alignment method, the specific steps are as follows:

[0013] Step S1: The industrial camera captures the vehicle feed port in real time, and the vehicle port enters the monitoring acquisition range for image capture;

[0014] Step S2: performing image processing on the captured image to calculate the imaging coordinates of the vehicle feed port;

[0015] Step S3: The industrial computer controls the winch and the lifting slide to operate simultaneously, so that the bulk loading head descends to a set height;

[0016] Step S4: Calculate the angle of the rotating arm and the angle of the first rotating motor through the imaging coordinates, and perform angular rotation so that the bulk head is aligned with the filling port;

[0017] Step S5: The industrial computer controls the hoist to operate so that the bulk head and the filling port are connected to the filler;

[0018] Step S6: After the filling is completed, the industrial computer controls the hoist, the first rotating motor, the second rotating motor and the lifting slide to return the bulk loading head to the initial position.

[0019] Furthermore, the specific steps of image processing in step S2 are:

[0020] The image is binarized, and a reasonable threshold is approximated iteratively. Contour search is performed to find the contour closest to the bulk head in the imaging. The contour is drawn and the coordinates are recorded. The imaging position of the vehicle feed port is calculated, and the imaging coordinates of the bulk head are obtained.

[0021] Further, in step S4,

[0022] The calculation formula of imaging coordinates, arm angle and first rotation motor angle is as follows:

[0023]

[0024] Among them, a point Mc (Xc, Yc, Zc) in the camera coordinate system space, a point Mw (Xw, Yw, Zw) in the camera coordinate system space, R is a 3x3 orthogonal unit matrix, t is a three-dimensional translation vector, and after the external parameters are obtained, the angle of the swing arm and the angle of the first rotating motor are calculated according to the external parameters.

[0025] Further, in step S6, the specific steps are:

[0026] Step S61: The winch rotates in the opposite direction to raise the bulk loading head to a set height;

[0027] Step S62: the second rotating motor and the first rotating motor rotate so that the bulk loading head returns to the initial position angle;

[0028] Step S63: The winch and the lifting slide rise to the highest point, and the bulk loading head returns to the initial position.

[0029] Therefore, the present invention adopts a bulk cement alignment device and method of the above-mentioned structure, performs image acquisition and data calculation through a visual positioning mechanism, and an industrial computer sends control instructions to the first rotating mechanism, the second rotating mechanism, the first lifting mechanism and the second lifting mechanism to adjust the position of the bulk head, and the four mechanisms can be operated simultaneously, which greatly improves the adjustment efficiency and solves the problem of difficulty in aligning the bulk head with the filling port of the bulk truck.

[0030] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural schematic diagram of a bulk cement alignment device of the present invention;

[0032] Figure 2 The present invention is a control principle diagram of a bulk cement alignment device.

[0033] Reference numerals

[0034] 1. Bulk loading head; 2. Winch; 3. Adjusting connecting frame; 31. Adjusting slide rail; 32. Sliding block; 33. U-shaped connecting plate; 4. First rotating mechanism; 41. First rotating motor; 42. First rotating shaft; 5. Second rotating mechanism; 51. Rotating arm; 52. Second rotating shaft; 53. Second rotating motor; 6. Slide plate; 7. Lifting slide. DETAILED DESCRIPTION

[0035] Example

[0036] Figure 1The present invention is a structural schematic diagram of a bulk cement alignment device. As shown in the figure, a bulk cement alignment device includes an industrial computer, a first lifting mechanism, a bulk head 1, an adjustment connection frame 3, a first rotating mechanism 4, a second rotating mechanism 5, a second lifting mechanism and an image positioning mechanism. The first rotating mechanism 4, the second rotating mechanism 5, the second lifting mechanism, the image positioning mechanism and the first lifting mechanism are all electrically connected to the industrial computer. Figure 2 As shown, Figure 2 This is a control principle diagram of a bulk cement alignment device of the present invention. The camera of the image positioning mechanism is arranged opposite to the loading station to collect image information of the loading vehicle. The industrial computer controls the motor and the lifting mechanism, which belongs to the prior art, and its specific circuit and model will not be described in detail here.

[0037] The first lifting mechanism of this embodiment is a winch 2, and the wire rope of the winch 2 is fixedly connected to the bulk head 1. The adjusting connecting frame 3 includes an adjusting slide rail 31 and a U-shaped connecting plate 33. The bottoms of the two adjusting slide rails 31 are fixedly connected to the bulk head 1. A slider 32 is arranged in the adjusting slide rail 31, and the slider 32 is fixedly connected to the U-shaped connecting plate 33. The second rotating motor 53 is fixed to the second lifting mechanism through the slide plate 6. The second lifting mechanism of this embodiment is a lifting slide 7. The lifting movement of the lifting slide 7 is synchronized with the lifting movement of the winch 2, so that the slider 32 moves on the adjusting slide rail 31 during the adjustment and lifting process, ensuring that the bulk head is lifted and lowered directly, reducing shaking, and correcting the synchronization deviation by adjusting the slide rail 31.

[0038] The first rotating mechanism 4 includes a first rotating shaft 42 and a first rotating motor 41. One end of the first rotating shaft 42 is fixedly connected to the U-shaped connecting plate 33, and the other end of the first rotating shaft 42 is fixedly connected to the first rotating motor 41. The first rotating mechanism 4 is used to control the bulk head 1 to move horizontally at a certain angle. At the same time, the second rotating mechanism 5 includes a rotating arm 51, a second rotating shaft 52 and a second rotating motor 53. The second rotating motor 53 is fixedly connected to the second rotating shaft 52. The second rotating shaft 52 is fixedly connected to one end of the rotating arm 51, and the first rotating motor 41 is fixed to the other end of the rotating arm 51. To achieve the horizontal movement of the first rotating mechanism 4 at a certain angle, two-stage rotation can be performed simultaneously.

[0039] A bulk cement alignment method, the specific steps are as follows:

[0040] Step S1: The industrial camera captures the vehicle feed port in real time, and the vehicle port enters the monitoring acquisition range for image capture.

[0041] Step S2: Perform image processing on the captured image to calculate the imaging coordinates of the vehicle feed port.

[0042] The specific steps of image processing are as follows:

[0043] Binarize the image.

[0044] THRESH_BINARY: The value that exceeds the threshold is set to maxVal, and other values ​​are set to zero

[0045]

[0046] Due to the light problem, an iterative method is used to approximate a reasonable threshold. The iterative principle is as follows:

[0047] Assume r is the root of f(x) = 0, select x0 as the initial approximation of r, make a tangent line L of the curve y = f(x) through the point (x0, f(x0)), the equation of L is y = f(x0) + f'(x0)(x-x0), find the horizontal coordinate x1 = x0-f(x0) / f'(x0) of the intersection of L and the x-axis, and call x1 the first approximation of r. Make a tangent line of the curve y = f(x) through the point (x1, f(x1)), and find the horizontal coordinate x2 = x1-f(x1) / f'(x1) of the tangent line and the x-axis, and call x2 the second approximation of r. Get the most reasonable threshold, then perform contour search, find the contour closest to the bulk head in the imaging, draw the contour to record the coordinates, calculate the imaging position of the vehicle feed port, and get the imaging coordinates of the bulk head.

[0048] Step S3: The industrial computer controls the winch and the lifting slide to operate simultaneously, so that the bulk loading head descends to the set height and waits for the angle to be adjusted.

[0049] Step S4: Calculate the angle of the rotating arm and the angle of the first rotating motor through the imaging coordinates, and perform angular rotation so that the bulk head is aligned with the filling port.

[0050] The calculation formula of imaging coordinates, arm angle and first rotation motor angle is as follows:

[0051]

[0052] Among them, a point Mc (Xc, Yc, Zc) in the camera coordinate system space, a point Mw (Xw, Yw, Zw) in the camera coordinate system space, R is a 3x3 orthogonal unit matrix, t is a three-dimensional translation vector, and after the external parameters are obtained, the angle of the swing arm and the angle of the first rotating motor are calculated according to the external parameters.

[0053] Step S5: The industrial computer controls the hoist to operate so that the bulk head and the filling port are connected to filler;

[0054] Step S6: After the filling is completed, the industrial computer controls the winch, the first rotating motor, the second rotating motor and the lifting slide to return the bulk loading head to the initial position.

[0055] The specific steps of step S6 are:

[0056] Step S61: The winch rotates in the opposite direction to raise the bulk loading head to a set height;

[0057] Step S62: the second rotating motor and the first rotating motor rotate so that the bulk loading head returns to the initial position angle;

[0058] Step S63: The winch and the lifting slide rise to the highest point, and the bulk loading head returns to the initial position.

[0059] Therefore, the present invention adopts a bulk cement alignment device and an alignment method of the above structure, which can accurately and quickly adjust the position of the bulk head, solving the problem of difficulty in aligning the bulk head with the filling port of the bulk truck.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A bulk cement alignment device, comprising an industrial computer, characterized in that: It includes a first lifting mechanism, a bulk loading head, an adjustment connection frame, a first rotating mechanism, a second rotating mechanism, a second lifting mechanism and an image positioning mechanism, wherein the first rotating mechanism, the second rotating mechanism, the second lifting mechanism, the image positioning mechanism and the first lifting mechanism are all electrically connected to the industrial control machine, and the industrial camera of the image positioning mechanism is arranged opposite to the loading station; The second lifting mechanism is connected to the second rotating mechanism, the second rotating mechanism is connected to the first rotating mechanism, the first rotating mechanism is connected to the adjusting connecting frame, the adjusting connecting frame is connected to the bulking head, and the bulking head is connected to the first lifting mechanism; The adjusting connecting frame comprises an adjusting slide rail and a U-shaped connecting plate. The bottoms of the two adjusting slide rails are fixedly connected to the bulk loading head. A sliding block is arranged in the adjusting slide rail, and the sliding block is fixedly connected to the U-shaped connecting plate.

2. A bulk cement alignment device according to claim 1, characterized in that: The first lifting mechanism is a winch, and the steel wire rope of the winch is fixedly connected to the bulk loading head.

3. The bulk cement alignment device according to claim 1, characterized in that: The first rotating mechanism includes a first rotating shaft and a first rotating motor. One end of the first rotating shaft is fixedly connected to the U-shaped connecting plate, and the other end of the first rotating shaft is fixedly connected to the first rotating motor.

4. A bulk cement alignment device according to claim 3, characterized in that: The second rotating mechanism includes a rotating arm, a second rotating shaft and a second rotating motor, the second rotating motor is fixedly connected to the second rotating shaft, the second rotating shaft is fixedly connected to one end of the rotating arm, and the first rotating motor is fixed to the other end of the rotating arm.

5. A bulk cement alignment device according to claim 4, characterized in that: The second rotating motor is fixed on the second lifting mechanism through a slide plate, and the second lifting mechanism is a lifting slide.

6. A method for aligning a bulk cement aligning device according to any one of claims 1 to 5, characterized in that: The specific steps are as follows: Step S1: The industrial camera captures the vehicle feed port in real time, and the vehicle port enters the monitoring acquisition range for image capture; Step S2: performing image processing on the captured image to calculate the imaging coordinates of the vehicle feed port; Step S3: The industrial computer controls the winch and the lifting slide to operate simultaneously, so that the bulk loading head descends to a set height; Step S4: Calculate the angle of the rotating arm and the angle of the first rotating motor through the imaging coordinates, and perform angular rotation so that the bulk head is aligned with the filling port; Step S5: The industrial computer controls the hoist to operate so that the bulk head and the filling port are connected to filler; Step S6: After the filling is completed, the industrial computer controls the winch, the first rotating motor, the second rotating motor and the lifting slide to return the bulk loading head to the initial position.

7. A bulk cement alignment method according to claim 6, characterized in that: The specific steps of image processing in step S2 are: The image is binarized, and a reasonable threshold is approximated iteratively. Contour search is performed to find the contour closest to the bulk head in the imaging. The contour is drawn and the coordinates are recorded. The imaging position of the vehicle feed port is calculated, and the imaging coordinates of the bulk head are obtained.

8. A bulk cement alignment method according to claim 6, characterized in that: In step S4, The calculation formula of imaging coordinates, arm angle and first rotation motor angle is as follows: Among them, a point M in the camera coordinate system space c (X c , Y c , Z c ), a point M in the camera coordinate system space w (X w , Y w , Z w ), R is a 3x3 orthogonal unit matrix, t is a three-dimensional translation vector, and after the external parameters are obtained, the angle of the swing arm and the angle of the first rotating motor are calculated based on the external parameters.

9. A bulk cement alignment method according to claim 6, characterized in that: In step S6, the specific steps are: Step S61: The winch rotates in the opposite direction to raise the bulk loading head to a set height; Step S62: the second rotating motor and the first rotating motor rotate so that the bulk loading head returns to the initial position angle; Step S63: The winch and the lifting slide rise to the highest point, and the bulk loading head returns to the initial position.

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