Flexible automobile tie bar automatic identification method

Abstract

The invention discloses an automatic identification method for a flexible automobile tie bar, which realizes automatic identification and avoidance of the flexible automobile tie bar through a vehicle information applet, laser radar positioning and mathematical logic calculation, and specifically comprises the following steps: 1) a driver inputs vehicle information in advance through the vehicle information applet; the flexible automobile tie bar automatic identification system obtains vehicle information through license plate identification and assigns the vehicle information to a database; (2) when the sampling machine moves and detects the side frame of the carriage, the sampling machine stops running, the laser radar positions the positions of the tail and the side frame of the vehicle in a sampling coordinate system, and coordinates of the positions of the whole carriage and the tie bars are calculated in a program by combining vehicle information; and 3) during automatic automobile sampling, comparing the transverse coordinate of the random sampling point with the transverse coordinate of the tie bar, if the random sampling point is in the tie bar position interference area, automatically compensating the transverse coordinate, repositioning the sampling point, and preventing the sampling spiral from colliding with the tie bar of the automobile. The device is safe, reliable, accurate in positioning and capable of automatically avoiding the position of the lacing wire.

Description

Technical Field

[0001] The invention relates to the field of automobile automatic sampling, and in particular to a method for automatically identifying flexible automobile reinforcement bars. Background Art

[0002] The fully automatic sample collection system for automobile-transported ore has been widely used in the steel, energy and other industries. However, the problem it faces is the diversity of vehicle models and the locations of the reinforcement bars used in transporting ore. In particular, the location of the reinforcement bars cannot be accurately located, resulting in frequent collisions between the reinforcement bars and the sampling heads of the sample collection equipment, damaging the sampling equipment and the transport vehicles.

[0003] Therefore, it is necessary to develop a new type of automatic identification method for automobile tie bars to accurately locate the position of the tie bars. Summary of the invention

[0004] Purpose of the invention: In view of the shortcomings and defects of the prior art, the present invention provides a flexible method for automatically identifying automobile tie rods, which achieves safe and reliable, accurate positioning, and automatic avoidance of tie rod positions.

[0005] Technical solution: A method for automatically identifying flexible automobile tie bars of the present invention is characterized in that the flexible automobile tie bars are automatically identified and avoided through a vehicle information applet + laser radar positioning + mathematical logic calculation, and specifically includes the following steps:

[0006] 1) The driver enters the vehicle information in advance through the vehicle information applet, and the flexible automobile reinforcement automatic recognition system obtains the vehicle information through license plate recognition and assigns it to the database;

[0007] 2) The sampling machine stops running when it moves and detects the side frame of the car body. The laser radar locates the position of the rear of the vehicle and the side frame in the sampling coordinate system, and the coordinates of the entire car body and the reinforcement position are calculated in the program based on the vehicle information;

[0008] 3) When the car is automatically sampled, the lateral coordinates of the random sampling point are compared with the lateral coordinates of the reinforcement. If the random sampling point is within the interference area of ​​the reinforcement position, the lateral coordinate is automatically compensated and the sampling point is repositioned to avoid collision between the sampling spiral and the vehicle reinforcement.

[0009] Wherein, the laser radar positioning is performed by a laser ranging sensor.

[0010] Among them, the vehicle information in the step 1) includes the length of the carriage, the width of the carriage, the height of the carriage, the tie rod position 1, the tie rod position 2, the tie rod position 3, the tie rod position 4, and the tie rod position 5.

[0011] Among them, in the step 2), a laser ranging sensor is installed at the end of the truss track to measure the X-direction travel distance of the running truss trolley, and an ultrasonic radar is installed on the two sampling spiral horizontal lines to move with the running truss trolley to measure the relative distance of the sampling car side frame. The longitudinal sampling trolley measures the Y-direction travel distance through the frequency converter, and the origin of the 1# sampling spiral is used as the zero point (0,0) of the X, Y coordinate system.

[0012] Among them, in the step 3), when the sampling vehicle is parked and the driver starts the sampling program, the sampler moves laterally toward the rear of the car with the ultrasonic radar origin. When the ultrasonic radar detects the rear of the car, the sampling machine running truss stops running. At this time, the automatic sampling flexible automobile reinforcement automatic identification system records the X-direction walking distance of the laser ranging sensor and the distance of the ultrasonic radar detecting the car side frame. Combined with the vehicle information, the coordinates of the entire car body and the reinforcement position can be calculated in the program.

[0013] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: The present invention overcomes the characteristics of the diversity of sampling environments and realizes a safe, reliable, accurate positioning and automatic avoidance method for the position of the reinforcement: ① It is not limited to the size of the vehicle body and can be automatically identified; ② The position of the vehicle reinforcement can still be accurately determined even if the parking position is deviated; ③ When the random sampling point is in the interference zone of the reinforcement position, the lateral coordinate is automatically compensated to avoid the collision between the sampling head and the vehicle reinforcement; ④ It meets the diversity of the working environment and improves the stability of the equipment and production efficiency. It realizes full automatic unmanned operation, 100% automatic identification and avoidance of the reinforcement of the transport vehicle, and adapts to the equipment failure caused by the diversity of vehicle models and parking positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0015] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0016] The present invention provides a method for automatically identifying flexible automobile tie bars, which is characterized by: automatically identifying and avoiding flexible automobile tie bars through a vehicle information applet + laser radar positioning + mathematical logic calculation, and specifically includes the following steps:

[0017] 1) The driver enters the vehicle information in advance through the vehicle information applet. The flexible automobile reinforcement automatic recognition system obtains the vehicle information through license plate recognition and assigns it to the database; the lidar positioning is carried out through the laser ranging sensor.

[0018] 2) The sampling machine stops running when it moves and detects the side frame of the car body. The laser radar locates the position of the rear of the vehicle and the side frame in the sampling coordinate system, and the coordinates of the entire car body and the tie rod position are calculated in the program based on the vehicle information; the vehicle information includes the length of the car body, the width of the car body, the height of the car body, the tie rod position 1, the tie rod position 2, the tie rod position 3, the tie rod position 4, and the tie rod position 5.

[0019] 3) When the car is automatically sampled, the lateral coordinates of the random sampling point are compared with the lateral coordinates of the reinforcement. If the random sampling point is within the interference area of ​​the reinforcement position, the lateral coordinate is automatically compensated and the sampling point is repositioned to avoid collision between the sampling spiral and the vehicle reinforcement.

[0020] A laser distance measuring sensor is installed at the end of the truss track to measure the X-direction travel distance of the running truss trolley. Ultrasonic radars are installed on the two horizontal sampling spiral lines to move with the running truss trolley to measure the relative distance of the sampling car side frame. The longitudinal sampling trolley measures the Y-direction travel distance through the frequency converter, and the origin of the 1# sampling spiral is used as the zero point (0,0) of the X and Y coordinate systems.

[0021] When the sampling vehicle stops and the driver starts the sampling program, the sampler moves laterally from the ultrasonic radar origin to the rear of the car. When the ultrasonic radar detects the rear of the car, the sampler running truss stops running. At this time, the automatic sampling flexible automobile reinforcement automatic identification system records the X-axis travel distance of the laser ranging sensor and the distance of the ultrasonic radar detected by the car side frame. Combined with the vehicle information, the coordinates of the entire car and the reinforcement position can be calculated in the program.

[0022] As shown in the figure, take sampling head 1# as an example:

[0023] Assume that the travel distance of the running truss trolley is X0;

[0024] The ultrasonic radar detects the rear of the car as Y0;

[0025] The horizontal distance between the 1# sampling spiral head and the radar is a;

[0026] The error of the radar detecting the rear of the transport vehicle is c;

[0027] The input reinforcement for transport vehicles is D1;

[0028] The position of the reinforcement in the X direction of the sampling system coordinate system is L;

[0029] Then L=X0+a-c+D.

[0030] When the sample is automatically collected when the ore raw materials are transported by automobile, the horizontal coordinate X of the random sampling point is compared with the horizontal coordinate of the reinforcement. If the random sampling point is in the interference area of ​​the reinforcement position, the horizontal coordinate is automatically compensated, and a jump is executed to regenerate the sampling point coordinate to avoid collision between the sampling spiral and the vehicle reinforcement.

[0031] For example, If L-200m≤X≤L+200mm, Then execute jump to fill in the point.

[0032] The automatic sampling system continues to run the sampling program according to the regenerated sampling point coordinates to complete automatic sample collection.

Claims

1. A flexible automobile tie rod automatic identification method, characterized in that: The vehicle information applet + laser radar positioning + mathematical logic calculation are used to realize the automatic identification and avoidance of flexible automobile reinforcement, which specifically includes the following steps: 1) The driver enters the vehicle information in advance through the vehicle information applet, and the flexible automobile reinforcement automatic recognition system obtains the vehicle information through license plate recognition and assigns it to the database; 2) The sampling machine stops running when it moves and detects the side frame of the car body. The laser radar locates the position of the rear of the vehicle and the side frame in the sampling coordinate system, and the coordinates of the entire car body and the reinforcement position are calculated in the program based on the vehicle information; 3) When the car is automatically sampled, the transverse coordinates of the random sampling point are compared with the transverse coordinates of the reinforcement. If the random sampling point is within the interference area of ​​the reinforcement position, the transverse coordinate is automatically compensated and the sampling point is repositioned to avoid collision between the sampling spiral and the vehicle reinforcement.

2. The method for automatically identifying flexible automobile tie bars according to claim 1, characterized in that: The laser radar positioning is performed by a laser ranging sensor.

3. The method for automatically identifying flexible automobile tie bars according to claim 1, characterized in that: The vehicle information in step 1) includes the length of the carriage, the width of the carriage, the height of the carriage, the tie rod position 1, the tie rod position 2, the tie rod position 3, the tie rod position 4, and the tie rod position 5.

4. The method for automatically identifying flexible automobile tie bars according to claim 1, characterized in that: In the step 2), a laser ranging sensor is installed at the end of the truss track to measure the X-direction travel distance of the running truss trolley, and an ultrasonic radar is installed on the two sampling spiral horizontal lines to move with the running truss trolley to measure the relative distance of the sampling car side frame. The longitudinal sampling trolley measures the Y-direction travel distance through the frequency converter, and the origin of the 1# sampling spiral is used as the zero point (0,0) of the X, Y coordinate system.

5. The method for automatically identifying flexible automobile tie bars according to claim 1 is characterized in that: In the step 3), when the sampling vehicle is parked and the driver starts the sampling program, the sampler moves laterally toward the rear of the vehicle from the ultrasonic radar origin. When the ultrasonic radar detects the rear of the vehicle, the sampling machine running truss stops running. At this time, the automatic sampling flexible automobile reinforcement automatic identification system records the X-direction travel distance of the laser ranging sensor and the distance of the ultrasonic radar detecting the automobile side frame. Combined with the vehicle information, the coordinates of the entire car body and the reinforcement position can be calculated in the program.

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