Port machinery rotation position detection device based on machine vision

Abstract

The invention relates to the technical field of harbor machinery, in particular to a harbor machinery rotation position detection device based on machine vision, which comprises a tower body, a fixed disc, a rotating platform, a vision machine body and a fixed steel ring, the tower body is mounted at the top of the fixed disc, and the rotating platform is mounted at the top end of the tower body; the fixing steel ring is fixed to the position of the outer side of the top of the tower body, the outer side of the fixing steel ring is fixedly connected with a plurality of evenly-distributed mounting shells, and through mutual cooperation of the fixing steel belt, the mounting shells, a driving motor, a mounting plate, a storage shell, a first servo motor and the like, a second servo motor drives a transmission belt to rotate through a grooved wheel; the mounting plate can slide back and forth on the mounting shell, and while the mounting plate slides, the movable plate and the visual machine body move in a runway shape, so that the purpose of automatically replacing the visual machine body by separating the damaged visual machine body and then taking the standby visual machine body is achieved, and the problem of difficulty in maintenance is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of port machinery, in particular to a device for detecting a rotary position of a port machinery based on machine vision. Background Art

[0002] In port logistics operations, mechanical slewing devices are core equipment for efficient cargo transfer between ship and shore. The accuracy and safety of their operation are directly related to the operating efficiency and operational safety of the entire port. This type of device lifts cargo from the ship to a designated area on shore through rotational motion. However, due to the high height and large size of port mechanical slewing devices, it is difficult for operators in the control room to intuitively and accurately grasp their rotation angle and final position. This puts an urgent need for real-time and accurate detection of the rotation position. Only by promptly feeding back the detection data to the operator can a reliable decision-making basis be provided to ensure that the operation process is carried out more efficiently and safely.

[0003] At present, the existing rotation position detection device mainly uses a sensor combined with a scale to realize angle detection, but in actual application, this type of solution has significant defects: on the one hand, since the rotation device itself is relatively large, the sensor installation position is often at a high altitude. Once a failure occurs, maintenance and replacement work is extremely difficult, especially during the critical period of emergency loading and unloading of cargo. The faulty sensor will directly cause the rotation device to be unable to be used normally, seriously affecting the progress of the operation and causing a significant decrease in work efficiency; on the other hand, some rotation devices rely on a dial to indicate the rotation angle position, and the port environment is special. The dial is exposed to high altitude for a long time and is easily contaminated by dust, snow and other debris. Once these pollutants adhere to the surface of the dial, the angle reading will be unclear. In addition, because the dial is located at a high altitude, the cleaning operation is very inconvenient, which further reduces the use effect of the device and makes it difficult to meet the actual needs of high-intensity and continuous operations in the port.

[0004] Based on this, the present invention discloses a port machinery rotation position detection device based on machine vision. Summary of the Invention

[0005] In order to solve the problem raised in the background technology, since the rotary device itself is relatively tall, the sensor installation position is often at a high altitude. Once a fault occurs, it is extremely difficult to repair and replace it. Especially during the critical period of emergency loading and unloading of goods, the faulty sensor will directly cause the rotary device to be unable to be used normally, seriously affecting the progress of the operation and causing a significant drop in work efficiency. In addition, some rotary devices rely on dials to indicate the rotation angle position, and the port environment is special. The dial is exposed to the air for a long time and is easily contaminated by dust, snow and other debris. After these pollutants adhere to the surface of the dial, it will cause the angle reading to be unclear. The present invention provides a port machinery rotary position detection device based on machine vision, which includes a tower body, a fixed disk, a rotating platform, The visual machine body and the fixed steel ring, the tower body is installed on the top of the fixed disk, the rotating platform is installed on the top of the tower body, the fixed steel ring is fixed at the position outside the top of the tower body, the outside of the fixed steel ring is fixedly connected with a number of evenly distributed mounting shells, the tops of the several mounting shells are slidably connected with mounting plates, the tops of the mounting plates are slidably connected with movable plates, the tops of the movable plates are fixedly connected with fixed clamping rings, a rectangular column is provided in the fixed clamping rings, the visual machine body is installed on the top of the rectangular column, the bottom end surface of the rotating platform is fixedly connected with evenly distributed connecting plates, annular plates are fixedly connected between the ends of several connecting plates away from the rotating platform, and evenly distributed visual positioning scale blocks are fixedly connected to the outside of the annular plate; A quick-change assembly, the quick-change assembly being located in the mounting housing and capable of being used in conjunction with the visual machine body in the event of a malfunction; A cleaning component, located on the outer wall of the rotating platform, and used in conjunction with the visual machine body; The anti-detachment component is used to prevent the visual machine body from falling during use.

[0006] Preferably, the quick-change assembly includes a groove wheel, a transmission belt, a shift rod, a mounting plate, a movable opening, a movable plate and a second servo motor. The bottom of the inner cavity of the mounting shell is symmetrically and movably connected with the groove wheel through the rotating shaft A and the bearing A. A transmission belt is installed between the two groove wheels on the same mounting shell. The bottom end of the rotating shaft A on the groove wheel passes through the inner ring of the bearing A and extends to the bottom of the mounting shell. The bottom of the mounting shell and the end away from the fixed steel ring is fixedly connected with the second servo motor. The output end of the second servo motor is fixedly connected to the bottom end of the rotating shaft A on the corresponding groove wheel. The outer wall of the transmission belt is fixedly connected with a shift rod. A movable opening is opened at the top of the mounting plate. The top of the shift rod passes through the movable opening and is rotatably connected to the bottom of the movable plate.

[0007] Preferably, the quick-change assembly further includes a fixing plate, a storage shell, a transmission rod, a circular plate bracket, an active snap ring, a first servo motor, a synchronous wheel and a synchronous belt, the outer walls of both sides of the mounting shell are fixedly connected to the fixing plate, the fixing plate is arranged in an L-shape, the top of the fixing plate is fixedly connected to the storage shell, a transmission rod is provided in the storage shell, the top of the transmission rod passes through the storage shell and is movably connected to the storage shell, the bottom end of the transmission rod extends to the end portion of the bottom of the fixed plate and is fixedly connected to the synchronous wheel, a synchronous belt is installed between the corresponding two synchronous wheels, the transmission rod extends to the end portion inside the storage shell and is fixedly connected to the circular plate bracket, the four end corners of the circular plate bracket are fixedly connected to the active snap ring, the first servo motor is installed on the top of the storage shell on one side of the mounting shell, and the output end of the first servo motor is fixedly connected to the corresponding top end of the transmission rod.

[0008] Preferably, the cleaning assembly includes a support plate, a transverse plate, a roller, a cleaning plate, an upper brush and a side brush. The outer wall of the fixed steel ring is fixedly connected to a uniformly distributed support plate, the top of the support plate is fixedly connected to a transverse plate, the top of the transverse plate is rotatably connected to a roller away from the fixed steel ring through a rotating shaft B and a bearing B, the top of the roller is fixedly connected to a cleaning plate, the outer side of the roller is fixedly connected to uniformly distributed side brushes, and the bottom of the cleaning plate is fixedly connected to several uniformly distributed upper brushes.

[0009] Preferably, the cleaning assembly also includes a transmission gear, a pulley, a transmission belt and an inner gear ring. The bottom of several of the connecting plates is fixedly connected to the inner gear ring. The top of the horizontal plate and the position close to the fixed steel ring are rotatably connected to the transmission gear through the rotating shaft B and the bearing B. The transmission gear is meshed with the inner gear ring. The rotating shaft B on the roller and the transmission gear passes through the inner ring of the bearing B and extends to the bottom end of the horizontal plate and is fixedly connected to the pulley. A transmission belt is installed between the corresponding two pulleys.

[0010] Preferably, the anti-separation component includes an arc-shaped positioning plate, a square rod, an L-shaped plate, an anti-separation spring and a baffle, the end of the mounting shell away from the fixed steel ring is fixedly connected to the L-shaped plate, the L-shaped plate is slidably connected to the inner side of the top away from the mounting shell with the square rod, the end of the square rod close to the fixed steel ring is fixedly connected to the arc-shaped positioning plate, the arc-shaped end face of the arc-shaped positioning plate is in conflict with the fixed retaining ring, the end of the square rod away from the arc-shaped positioning plate is fixedly connected to the baffle, the outer side of the square rod close to the fixed steel ring is provided with an anti-separation spring, the end of the anti-separation spring close to the fixed steel ring is fixedly connected to the arc-shaped positioning plate, and the end of the anti-separation spring away from the fixed steel ring is fixedly connected to the L-shaped plate.

[0011] Furthermore, a power connection plug is fixedly connected to the inner side of the fixed clamp and close to the end face of the fixed steel ring, a power socket is provided at the bottom of the rectangular column and at a position corresponding to the power connection plug, and an inclined slide is fixedly connected to the top of the movable plate and at a position located on the inner side of the fixed clamp.

[0012] Furthermore, a T-shaped slider is fixedly connected to the bottom of the movable plate, and a T-shaped slot is provided on the top of the mounting plate at a position corresponding to the T-shaped slider, and the movable plate is slidably connected to the mounting plate through the T-shaped slider.

[0013] Furthermore, the inner walls of the fixing clamping ring on both sides away from the fixing steel ring are fixedly connected with first limiting spring pieces, and the first limiting spring pieces are arranged in an arc shape.

[0014] Furthermore, several of the movable snap rings are arranged in an open manner, and the inner walls on both sides of the movable snap rings are fixedly connected with second limiting spring pieces, the second limiting spring pieces are arranged in an arc shape, and several of the movable snap rings are arranged in a ring array.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This machine vision-based port machinery rotary position detection device utilizes a fixed steel belt, a mounting housing, a drive motor, a mounting plate, a storage housing, and a first servo motor to coordinate with each other, enabling a second servo motor to drive a transmission belt via a sheave. The mounting plate can slide back and forth on the mounting housing, and as the mounting plate slides, the movable plate and the vision machine body move in a runway-like manner. This allows the damaged vision machine body to be separated before a spare one is used, achieving the purpose of automatically replacing the vision machine body, effectively solving the problem of difficult maintenance. 2. In this machine vision-based port machinery rotary position detection device, the inner gear ring, cross plate, cleaning plate, side brush, transmission belt and transmission gear cooperate with each other, so that the rotating platform can drive the inner gear ring to rotate through its own rotation when working, and the inner gear ring drives the roller to rotate in the opposite direction of the inner gear ring, so as to achieve the purpose of cleaning the visual positioning scale block on the annular plate, effectively solving the problem that the dial is exposed to the air for a long time and is easily contaminated by dust, snow and other debris. After these pollutants adhere to the surface of the dial, the angle reading will be blurred. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall bottom-up structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the fixed steel ring of the present invention; Figure 4This is a bottom view of the fixed steel ring structure of the present invention; Figure 5 Schematic diagram of the position distribution of the visual positioning scale in the present invention; Figure 6 It is a schematic diagram of the overall structure of the installation shell in the present invention; Figure 7 This is a bottom view of the mounting housing of the present invention; Figure 8 Schematic diagram of the internal structure of the storage shell in the present invention; Figure 9 It is a structural schematic diagram of the mounting plate in the present invention; Figure 10 Schematic diagram of the position distribution of the shift lever in the present invention; Figure 11 A schematic structural diagram of the transmission gear in the present invention; Figure 12 Schematic diagram of the structure of the horizontal plate in the present invention; Figure 13 It is a structural diagram of the visual machine body in the present invention.

[0017] The meaning of each number in the figure is: 1. Fixed steel ring; 2. Mounting shell; 3. Grooved pulley; 4. Drive belt; 5. Shift lever; 6. Mounting plate; 7. Movable opening; 8. Movable plate; 9. Fixed snap ring; 10. Power connection plug; 11. First limit spring; 12. Tilt slide; 13. Fixed plate; 14. Storage shell; 15. Drive rod; 16. Circular plate bracket; 17. Movable snap ring; 18. Second limit spring; 19. First servo motor; 20. Synchronous pulley; 21. Synchronous belt; 22. Second servo motor; 23. Tower body; 24. Fixed plate; 25. Rotating platform; 26. Connecting plate; 27. Ring plate; 28. Visual positioning scale block; 29. ​​Visual machine body; 30. Rectangular column; 31. Support plate; 32. Horizontal plate; 33. Roller; 34. Cleaning plate; 35. Upper brush; 36. Side brush; 37. Transmission gear; 38. Power socket; 39. Pulley; 40. Transmission belt; 41. Internal gear ring; 42. Arc positioning plate; 43. Square rod; 44. L-shaped plate; 45. Anti-slip spring; 46. Baffle. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] Since the rotary device itself is tall and large, the sensor installation location is often at high altitude. Once a failure occurs, repair and replacement work is extremely difficult, especially during the critical period of emergency loading and unloading of cargo. The faulty sensor will directly cause the rotary device to be unable to be used normally, seriously affecting the progress of the operation and causing a significant drop in work efficiency. In addition, some rotary devices rely on dials to indicate the rotation angle position. However, the port environment is special and the dials are exposed to high altitude for a long time. They are easily contaminated by dust, snow and other debris. Once these pollutants adhere to the surface of the dial, the angle readings will be unclear.

[0020] To this end, the present invention provides a device for detecting the rotary position of port machinery based on machine vision, see Figures 1-13 As shown, it includes a tower body 23, a fixed plate 24, a rotating platform 25, a visual machine body 29 and a fixed steel ring 1. The tower body 23 is installed on the top of the fixed plate 24, the rotating platform 25 is installed on the top of the tower body 23, the fixed steel ring 1 is fixed to the position outside the top of the tower body 23, and the outside of the fixed steel ring 1 is fixedly connected with a number of evenly distributed mounting shells 2, the tops of the several mounting shells 2 are slidably connected with mounting plates 6, the tops of the mounting plates 6 are slidably connected with movable plates 8, the tops of the movable plates 8 are fixedly connected with fixed clamping rings 9, and a rectangular column 30 is provided in the fixed clamping rings 9. The visual machine body 29 is installed on the top of the rectangular column 30. The bottom end face of the platform 25 is fixedly connected with evenly distributed connecting plates 26, and an annular plate 27 is fixedly connected between the ends of several connecting plates 26 away from the rotating platform 25, and evenly distributed visual positioning scale blocks 28 are fixedly connected to the outside of the annular plate 27; a quick-change assembly, the quick-change assembly is located in the mounting shell 2, and the quick-change assembly can be used in conjunction with the visual machine body 29 when a fault occurs; a cleaning assembly, the cleaning assembly is located on the outer wall of the rotating platform 25, and the cleaning assembly is used in conjunction with the visual machine body 29; an anti-detachment assembly, the anti-detachment assembly is used to prevent the visual machine body 29 from falling during use.

[0021] See also Figures 1-10As shown, the quick-change assembly includes a groove wheel 3, a transmission belt 4, a shift lever 5, a mounting plate 6, a movable opening 7, a movable plate 8 and a second servo motor 22. The groove wheel 3 is symmetrically and movably connected to the bottom of the inner cavity of the mounting shell 2 through the rotating shaft A and the bearing A. A transmission belt 4 is installed between the two groove wheels 3 on the same mounting shell 2. The bottom end of the rotating shaft A on the groove wheel 3 passes through the inner ring of the bearing A and extends to the bottom of the mounting shell 2. The second servo motor 22 is fixedly connected to the end at the bottom of the mounting shell 2 and away from the fixed steel ring 1. The output end of the second servo motor 22 is fixedly connected to the bottom end of the rotating shaft A on the corresponding groove wheel 3. The outer wall of the transmission belt 4 is fixedly connected to the shift lever 5. A movable opening 7 is opened at the top of the mounting plate 6. The top of the shift lever 5 passes through the movable opening 7 and is rotatably connected to the bottom of the movable plate 8. The quick-change assembly also includes a fixed plate 13, a storage shell 14, a transmission rod 15, a circular plate bracket 16, a movable snap ring 17, a first servo motor 19, a synchronous Wheel 20 and synchronous belt 21, the outer walls on both sides of the mounting shell 2 are fixedly connected to the fixed plate 13, the fixed plate 13 is L-shaped, the top of the fixed plate 13 is fixedly connected to the storage shell 14, and a transmission rod 15 is provided in the storage shell 14, the top of the transmission rod 15 passes through the storage shell 14 and is movably connected to the storage shell 14, the bottom end of the transmission rod 15 passes through the fixed plate 13 and is movably connected to the fixed plate 13, the bottom end of the transmission rod 15 and the end extending to the bottom of the fixed plate 13 is fixedly connected to the synchronous wheel 20, and a synchronous belt 21 is installed between the corresponding two synchronous wheels 20, the transmission rod 15 extends to the end inside the storage shell 14 and is fixedly connected to the circular plate bracket 16, and the four end corners of the circular plate bracket 16 are fixedly connected to the movable snap ring 17, and a first servo motor 19 is installed on the top of the storage shell 14 on one side of the mounting shell 2, and the output end of the first servo motor 19 is fixedly connected to the top of the corresponding transmission rod 15.

[0022] During operation, the first servo motor 19 and the second servo motor 22 need to be programmed in advance. The first servo motor 19 is required to lock the position of the transmission rod 15 when it is not rotating. When rotating, it stops and locks the transmission rod 15 after each rotation of 90 degrees. The second servo motor 22 stops rotating and locks the groove wheel 3 after each start-up to drive the mounting plate 6 back and forth. The start and stop positions are both at the center away from the fixed steel ring 1. The first servo motor 19 and the second servo motor 22 both have position closed-loop control and torque output capabilities, and the number of rotations and speed can be controlled.

[0023] During use, because the mounting shell 2 is provided with four groups, which are respectively located in the four directions of the rotating platform 25, the rotation position of the rotating platform 25 at multiple angles can be detected. When the visual machine body 29 in one of the orientations is damaged, the second servo motor 22 and the first servo motor 19 at the corresponding position can be started by controlling the power supply. The position of the transmission rod 15 can be locked by the first servo motor 19, so that the circular plate bracket 16 will not rotate. The second servo motor 22 drives the groove wheel 3 and the transmission belt 4 to rotate, and the transmission belt 4 drives the lever 5 to move around the outside of the two groove wheels 3 in the same mounting shell 2. , making it rotate in a runway shape. When the lever 5 rotates with the transmission belt 4, it will drive the mounting plate 6 to slide back and forth on the mounting shell 2. Because the lever 5 rotates in a runway shape, while driving the mounting plate 6 to slide back and forth, it will also drive the movable plate 8 and the visual machine body 29 to slide back and forth toward the outside of the mounting shell 2. In this way, when the mounting plate 6 moves toward the fixed steel ring 1, the movable plate 8 and the visual machine body 29 will move in the direction of the empty movable snap ring 17. When the damaged visual machine body 29 follows the mounting plate 6 to slide to the intersection of the empty movable snap ring 17, the empty movable snap ring 17 will clamp the visual machine body 29 The rectangular column 30 below, and as the mounting plate 6 continues to slide toward the fixed steel ring 1, the damaged visual machine body 29 will be separated from the fixed snap ring 9, achieving the effect of separating the damaged visual machine body 29, and then when the mounting plate 6 returns, the lever 5 will also rotate to the other side along the outer side of the groove wheel 3, and the synchronous lever 5 drives the movable plate 8 to slide to the other side, so that the fixed snap ring 9 corresponds to the movable snap ring 17 of the spare visual machine body 29, and when the fixed snap ring 9 follows the mounting plate 6 to slide to the intersection of the movable snap ring 17 where the spare visual machine body 29 is placed, the bottom of the new visual machine body 29 The rectangular column 30 will be stuck in the fixed retaining ring 9, and as the mounting plate 6 continues to slide back, the rectangular column 30 will be pushed out of the movable retaining ring 17, and the visual machine body 29 will be pushed out. At the same time, the power socket 38 on the rectangular column 30 is connected to the power connection plug 10, thereby achieving the purpose of installing the spare visual machine body 29. Then the second servo motor 22 stops rotating and locks the position after the mounting plate 6 completes a reciprocating slide through a predetermined instruction, so that the lever 5 and the movable plate 8 can return to the center position at the end away from the fixed steel ring 1, and the spare visual machine body 29 will also return to the center position of the mounting shell 2.

[0024] See also Figures 1-12As shown, the cleaning assembly includes a support plate 31, a transverse plate 32, a roller 33, a cleaning plate 34, an upper brush 35 and a side brush 36. The outer wall of the fixed steel ring 1 is fixedly connected to the evenly distributed support plate 31, the top of the support plate 31 is fixedly connected to the transverse plate 32, the top of the transverse plate 32 is rotatably connected to the roller 33 away from the fixed steel ring 1 through the rotating shaft B and the bearing B, the top of the roller 33 is fixedly connected to the cleaning plate 34, the outer side of the roller 33 is fixedly connected to the evenly distributed side brushes 36, and the bottom of the cleaning plate 34 is fixedly connected to a number of evenly distributed upper brushes 35. The cleaning assembly also includes a transmission gear 37, a pulley 39, a transmission belt 40 and an inner gear ring 41. The bottom of several connecting plates 26 is fixedly connected to the inner gear ring 41. The top of the cross plate 32 and the position close to the fixed steel ring 1 are rotatably connected to the transmission gear 37 through the rotating shaft B and the bearing B. The transmission gear 37 is engaged with the inner gear ring 41. The rotating shaft B on the roller 33 and the transmission gear 37 passes through the inner ring of the bearing B and extends to the bottom end of the cross plate 32. They are fixedly connected to the pulley 39, and a transmission belt 40 is installed between the corresponding two pulleys 39.

[0025] During operation, when the rotating platform 25 is running, the annular plate 27 and the visual positioning scale block 28 will be driven to rotate through the connecting plate 26. At this time, the cameras of the multiple visual machine bodies 29 are facing upward and tilted in the direction of the visual positioning scale block 28. The visual machine body 29 detects the position of the rotating visual positioning scale block 28 in real time, and feeds back the rotation position detection data to the central control platform so that the staff can clearly know the rotation angle and position of the rotating platform 25. In addition, when the rotating platform 25 rotates, it will also be connected to the connecting plate 2 6 drives the inner gear ring 41 to rotate, and synchronously the inner gear ring 41 drives the transmission gear 37 to rotate forward or reverse, and the transmission gear 37 drives the roller 33 and the cleaning plate 34 to rotate forward or reverse through the pulley 39 and the transmission belt 40, and then the cleaning plate 34 and the roller 33 drive the upper brush 35 and the side brushes 36 to rotate forward or reverse, and the rotation direction of the roller 33 is opposite to the rotation direction of the inner gear ring 41. The rotation of the side brushes 36 and the upper brush 35 cleans the visual positioning scale block 28 on the annular plate 27, thereby cleaning dust and other debris.

[0026] See also Figure 6-Figure 7As shown, the anti-separation component includes an arc-shaped positioning plate 42, a square rod 43, an L-shaped plate 44, an anti-separation spring 45 and a baffle 46. The end of the mounting shell 2 away from the fixed steel ring 1 is fixedly connected to the L-shaped plate 44, and the L-shaped plate 44 is slidably connected to the inner side of the top away from the mounting shell 2. The end of the square rod 43 close to the fixed steel ring 1 is fixedly connected to the arc-shaped positioning plate 42. The arc-shaped end surface of the arc-shaped positioning plate 42 conflicts with the fixed retaining ring 9. The end of the square rod 43 away from the arc-shaped positioning plate 42 is fixedly connected to the baffle 46. The outer side of the square rod 43 close to the fixed steel ring 1 is provided with an anti-separation spring 45. The end of the anti-separation spring 45 close to the fixed steel ring 1 is fixedly connected to the arc-shaped positioning plate 42, and the end of the anti-separation spring 45 away from the fixed steel ring 1 is fixedly connected to the L-shaped plate 44.

[0027] During operation, when the fixed snap ring 9 is about to return to its initial position, it will push the arc-shaped positioning plate 42 to compress the anti-slip spring 45, causing the arc-shaped positioning plate 42 to move away from the mounting shell 2. At this time, one side of the opening of the fixed snap ring 9 will slide on the arc-shaped side of the arc-shaped positioning plate 42, and the anti-slip spring 45 will be compressed during sliding. When the fixed snap ring 9 returns to its initial center position, the rebound force of the anti-slip spring 45 will continue to push the arc-shaped positioning plate 42 to contact one side of the opening of the fixed snap ring 9, thereby achieving the effect of closing the opening of the fixed snap ring 9, so that the visual machine body 29 used will not be separated from the fixed snap ring 9, further enhancing the stability of use.

[0028] Among them, a power connection plug 10 is fixedly connected to the inner side of the fixed clamp 9 and close to the end face of the fixed steel ring 1, a power socket 38 is provided at the bottom of the rectangular column 30 and at a position corresponding to the power connection plug 10, and an inclined slide 12 is fixedly connected to the top of the movable plate 8 and at a position located on the inner side of the fixed clamp 9. The inclined slide 12 can support the rectangular column 30 at the bottom of the visual machine body 29, so that the power socket 38 on the rectangular column 30 and the power connection plug 10 are at the same level, so that they can be stably connected when the visual machine body 29 is replaced.

[0029] In addition, a T-shaped slider is fixedly connected to the bottom of the movable plate 8, and a T-shaped groove is provided at the top of the mounting plate 6 at a position corresponding to the T-shaped slider. The movable plate 8 is slidingly connected to the mounting plate 6 through the T-shaped slider. The movable plate 8 can be supported by the T-shaped slider and the T-shaped groove, thereby improving smoothness and reducing friction between the movable plate 8 and the mounting plate 6.

[0030] Among them, the inner walls of the fixed clamp 9 on both sides away from the fixed steel ring 1 are fixedly connected with the first limiting spring piece 11. The first limiting spring piece 11 is arranged in an arc shape. The first limiting spring piece 11 can be used to initially limit the rectangular column 30 at the bottom of the visual machine body 29. In this way, during the process of replacing the visual machine body 29, the visual machine body 29 will not slip, thereby playing a limiting role.

[0031] In addition, several movable snap rings 17 are set in an open manner, and the inner walls on both sides of the movable snap rings 17 are fixedly connected with second limiting spring pieces 18. The second limiting spring pieces 18 are set in an arc shape, and several movable snap rings 17 are set in a ring array. The second limiting spring pieces 18 can limit the positions of the spare visual machine body 29 and the damaged visual machine body 29, so that the spare visual machine body 29 and the damaged visual machine body 29 can be stably stored without falling.

[0032] To sum up, the problem is effectively solved. Because the rotary device itself is tall and the sensor is often installed at a high altitude, once a fault occurs, it is extremely difficult to repair and replace it. Especially during the critical period of emergency loading and unloading of cargo, the faulty sensor will directly cause the rotary device to be unable to be used normally, seriously affecting the progress of the operation and causing a significant drop in work efficiency. In addition, some rotary devices rely on a dial to indicate the rotation angle position, and the port environment is special. The dial is exposed to the air for a long time and is easily contaminated by dust, snow and other debris. Once these pollutants adhere to the surface of the dial, it will cause the angle reading to be unclear.

[0033] Working principle: When using this technical solution, first install the fixed steel ring 1 on a suitable rotating device, and fix the fixed steel ring 1 on the tower body 23 on the rotating device close to the rotating platform 25. After the installation is completed, place the visual machine body 29 in the fixed clamping ring 9, and plug the power socket 38 on the rectangular column 30 into the power connection plug 10, and then place an appropriate amount of spare visual machine bodies 29 on the movable clamping ring 17 in one of the storage shells 14 of the four groups of storage shells 14 in turn. Next, debugging and installation are required. After debugging and installation are completed, it can be used normally.

[0034] Because the mounting shell 2 is provided with four groups, which are respectively located in the four directions of the rotating platform 25, the rotation position of the rotating platform 25 at multiple angles can be detected. When the visual machine body 29 in one of the orientations is damaged, the second servo motor 22 and the first servo motor 19 at the corresponding position can be started by controlling the power supply. The position of the transmission rod 15 can be locked by the first servo motor 19, so that the circular plate bracket 16 will not rotate. The second servo motor 22 drives the groove wheel 3 and the transmission belt 4 to rotate, and the transmission belt 4 drives the lever 5 to move around the outer sides of the two groove wheels 3 in the same mounting shell 2, so that the circular plate bracket 16 will not rotate. It rotates in a runway shape. When the lever 5 rotates following the transmission belt 4, it will drive the mounting plate 6 to slide back and forth on the mounting shell 2. Because the lever 5 rotates in a runway shape, while driving the mounting plate 6 to slide back and forth, it will also drive the movable plate 8 and the visual machine body 29 to slide back and forth toward the outside of the mounting shell 2. In this way, when the mounting plate 6 moves toward the fixed steel ring 1, the movable plate 8 and the visual machine body 29 will move in the direction of the empty movable snap ring 17. When the damaged visual machine body 29 follows the mounting plate 6 to slide to the intersection of the empty movable snap ring 17, the empty movable snap ring 17 will be stuck under the visual machine body 29 The rectangular column 30, and as the mounting plate 6 continues to slide toward the fixed steel ring 1, the damaged visual machine body 29 will be separated from the fixed snap ring 9, achieving the effect of separating the damaged visual machine body 29, and then when the mounting plate 6 returns, the lever 5 will also rotate to the other side along the outer side of the groove wheel 3, and the synchronous lever 5 drives the movable plate 8 to slide to the other side, so that the fixed snap ring 9 corresponds to the movable snap ring 17 of the spare visual machine body 29, and when the fixed snap ring 9 follows the mounting plate 6 to slide to the intersection of the movable snap ring 17 where the spare visual machine body 29 is placed, the bottom of the new visual machine body 29 The rectangular column 30 will be stuck in the fixed retaining ring 9, and as the mounting plate 6 continues to slide back, the rectangular column 30 will be pushed out of the movable retaining ring 17, and the visual machine body 29 will be pushed out. At the same time, the power socket 38 on the rectangular column 30 is connected to the power connection plug 10, thereby achieving the purpose of installing the spare visual machine body 29. Then the second servo motor 22 stops rotating and locks the position after the mounting plate 6 completes a reciprocating slide through a predetermined instruction, so that the lever 5 and the movable plate 8 can return to the center position at the end away from the fixed steel ring 1, and the spare visual machine body 29 will also return to the center position of the mounting shell 2.

[0035] When the visual machine body 29 is damaged again in the same direction, it is necessary to start the first servo motor 19 by controlling the power supply, and the first servo motor 19 drives one of the transmission rods 15 and the circular plate bracket 16 to rotate, and the transmission rod 15 drives the circular plate bracket 16 in the other storage shell 14 to rotate synchronously through the synchronous belt 21 and the synchronous wheel 20, so that the circular plate bracket 16 on the same mounting shell 2 can rotate synchronously, and the circular plate bracket 16 can be rotated only 90 degrees by commanding the circular plate bracket 16 to rotate the previously damaged visual machine body 29 into the storage shell 14, and the vacant movable clamp 1 can be removed. 7 is rotated to the outside of the storage shell 14, and after the other circular plate bracket 16 is rotated, the empty movable snap ring 17 is rotated into the storage shell 14, and the movable snap ring 17 carrying the spare visual machine body 29 is rotated to the outside of the storage shell 14 to facilitate the replacement of the damaged visual machine body 29. Multiple movable snap rings 17 can be used to replace multiple visual machine bodies 29, and the damaged visual machine bodies 29 can be stored in the storage shell 14 at the same time, which effectively improves work efficiency. When repairing at the appropriate time, multiple damaged visual machine bodies 29 can be removed at one time for repair.

[0036] When the rotating platform 25 is running, the annular plate 27 and the visual positioning scale block 28 will be driven to rotate through the connecting plate 26. At this time, the cameras of the multiple visual machine bodies 29 are facing upward and tilted in the direction of the visual positioning scale block 28. The visual machine body 29 detects the position of the rotating visual positioning scale block 28 in real time, and the rotation position detection data is fed back to the central control platform, so that the staff can clearly know the rotation angle and position of the rotating platform 25. In addition, when the rotating platform 25 rotates, the inner gear ring 41 will also be driven to rotate through the connecting plate 26. , the transmission gear 37 is synchronously driven by the inner gear ring 41 to rotate forward or reverse, and the transmission gear 37 drives the roller 33 and the cleaning plate 34 to rotate forward or reverse through the pulley 39 and the transmission belt 40, and then the cleaning plate 34 and the roller 33 drive the upper brush 35 and the side brush 36 to rotate forward or reverse, and the rotation direction of the roller 33 is opposite to the rotation direction of the inner gear ring 41. The visual positioning scale block 28 on the annular plate 27 is cleaned by the rotation of the side brush 36 and the upper brush 35, so as to clean dust and other debris, which can effectively improve the accuracy and stability of use.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A port machinery rotation position detection device based on machine vision, comprising a tower body (23), a fixed plate (24), a rotating platform (25), a visual machine body (29) and a fixed steel ring (1), characterized in that: The tower body (23) is mounted on the top of the fixed plate (24), the rotating platform (25) is mounted on the top of the tower body (23), the fixed steel ring (1) is fixed at a position outside the top of the tower body (23), the outside of the fixed steel ring (1) is fixedly connected with a plurality of evenly distributed mounting shells (2), the tops of the plurality of mounting shells (2) are slidably connected with mounting plates (6), the tops of the mounting plates (6) are slidably connected with movable plates (8), the tops of the movable plates (8) are fixedly connected with fixed clamping rings (9), a rectangular column (30) is arranged in the fixed clamping rings (9), the visual machine body (29) is mounted on the top of the rectangular column (30), the bottom end face of the rotating platform (25) is fixedly connected with evenly distributed connecting plates (26), the ends of the plurality of connecting plates (26) away from the rotating platform (25) are fixedly connected with annular plates (27), and the outside of the annular plates (27) are fixedly connected with evenly distributed visual positioning scale blocks (28); A quick-change assembly, the quick-change assembly being located in the mounting shell (2), and the quick-change assembly being capable of being used in conjunction with the visual machine body (29) when a fault occurs; A cleaning component, the cleaning component is located on the outer wall of the rotating platform (25), and the cleaning component is used in conjunction with the visual machine body (29); An anti-detachment component is used to prevent the visual machine body (29) from falling during use.

2. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, characterized in that: The quick-change assembly comprises a sheave (3), a transmission belt (4), a shift lever (5), a mounting plate (6), a movable opening (7), a movable plate (8) and a second servo motor (22). The bottom of the inner cavity of the mounting shell (2) is symmetrically and movably connected to the sheave (3) through a rotating shaft A and a bearing A. A transmission belt (4) is installed between the two sheaves (3) on the same mounting shell (2). The bottom end of the rotating shaft A on the sheave (3) passes through the inner ring of the bearing A and extends to the bottom of the mounting shell (2). The bottom of the mounting shell (2) and the end away from the fixed steel ring (1) is fixedly connected to the second servo motor (22). The output end of the second servo motor (22) is fixedly connected to the bottom end of the rotating shaft A on the corresponding sheave (3). The outer wall of the transmission belt (4) is fixedly connected to the shift lever (5). The top of the mounting plate (6) is provided with a movable opening (7). The top end of the shift lever (5) passes through the movable opening (7) and is rotatably connected to the bottom of the movable plate (8).

3. The device for detecting the rotary position of port machinery based on machine vision according to claim 2, characterized in that: The quick-change assembly further comprises a fixed plate (13), a storage shell (14), a transmission rod (15), a circular plate bracket (16), a movable snap ring (17), a first servo motor (19), a synchronous wheel (20) and a synchronous belt (21), the outer walls of both sides of the mounting shell (2) are fixedly connected with the fixed plate (13), the fixed plate (13) is arranged in an L-shape, the top of the fixed plate (13) is fixedly connected with the storage shell (14), a transmission rod (15) is arranged in the storage shell (14), the top end of the transmission rod (15) passes through the storage shell (14) and is movably connected to the storage shell (14), the bottom end of the transmission rod (15) passes through the fixed plate (13) ) and is movably connected to the fixed plate (13); the bottom end of the transmission rod (15) and the end extending to the bottom of the fixed plate (13) are fixedly connected to a synchronous wheel (20); a synchronous belt (21) is installed between the two corresponding synchronous wheels (20); the end of the transmission rod (15) extending to the inner side of the storage shell (14) is fixedly connected to a circular plate bracket (16); the four end corners of the circular plate bracket (16) are fixedly connected to movable snap rings (17); a first servo motor (19) is installed on the top of the storage shell (14) located on one side of the mounting shell (2); the output end of the first servo motor (19) is fixedly connected to the top of the corresponding transmission rod (15).

4. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, characterized in that: The cleaning assembly comprises a support plate (31), a transverse plate (32), a roller (33), a cleaning plate (34), an upper brush (35) and a brush (36), wherein the outer wall of the fixed steel ring (1) is fixedly connected to the support plate (31) which is evenly distributed, the top of the support plate (31) is fixedly connected to the transverse plate (32), the top of the transverse plate (32) is rotatably connected to the roller (33) via a rotating shaft B and a bearing B away from the fixed steel ring (1), the top of the roller (33) is fixedly connected to the cleaning plate (34), the outer side of the roller (33) is fixedly connected to evenly distributed side brushes (36), and the bottom of the cleaning plate (34) is fixedly connected to a plurality of evenly distributed upper brushes (35).

5. The device for detecting the rotary position of port machinery based on machine vision according to claim 4, characterized in that: The cleaning assembly further comprises a transmission gear (37), a pulley (39), a transmission belt (40) and an inner gear ring (41). The bottoms of several of the connecting plates (26) are fixedly connected to the inner gear ring (41). The top of the transverse plate (32) and a position close to the fixed steel ring (1) are rotatably connected to the transmission gear (37) through a rotating shaft B and a bearing B. The transmission gear (37) is meshed with the inner gear ring (41). The rotating shaft B on the roller (33) and the transmission gear (37) passes through the inner ring of the bearing B and extends to the bottom end of the transverse plate (32). The pulley (39) is fixedly connected to each of the two corresponding pulleys (39). A transmission belt (40) is installed between the two corresponding pulleys (39).

6. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, characterized in that: The anti-separation component comprises an arc-shaped positioning plate (42), a square rod (43), an L-shaped plate (44), an anti-separation spring (45) and a baffle (46), wherein the end of the mounting shell (2) away from the fixed steel ring (1) is fixedly connected to the L-shaped plate (44), the inner side of the top of the L-shaped plate (44) away from the mounting shell (2) is slidably connected to the square rod (43), the end of the square rod (43) close to the fixed steel ring (1) is fixedly connected to the arc-shaped positioning plate (42), and the arc-shaped positioning plate (46) is fixedly connected to the anti-separation spring (45) and the baffle (46). 2) The arc-shaped end face contacts the fixed clamping ring (9), and the end of the square rod (43) away from the arc-shaped positioning plate (42) is fixedly connected to a baffle (46). The outer side of the square rod (43) close to the fixed steel ring (1) is provided with an anti-slip spring (45), the end of the anti-slip spring (45) close to the fixed steel ring (1) is fixedly connected to the arc-shaped positioning plate (42), and the end of the anti-slip spring (45) away from the fixed steel ring (1) is fixedly connected to the L-shaped plate (44).

7. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, characterized in that: A power connection plug (10) is fixedly connected to the inner side of the fixed clamp ring (9) and close to the end face of the fixed steel ring (1); a power socket (38) is provided at the bottom of the rectangular column (30) and at a position corresponding to the power connection plug (10); and an inclined slide bar (12) is fixedly connected to the top of the movable plate (8) and at a position located inside the fixed clamp ring (9).

8. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, characterized in that: A T-shaped slider is fixedly connected to the bottom of the movable plate (8), and a T-shaped slot is provided at the top of the mounting plate (6) at a position corresponding to the T-shaped slider. The movable plate (8) is slidably connected to the mounting plate (6) via the T-shaped slider.

9. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, characterized in that: The inner walls of the fixed clamping ring (9) on both sides away from the fixed steel ring (1) are fixedly connected to first limiting spring pieces (11), and the first limiting spring pieces (11) are arranged in an arc shape.

10. The device for detecting the rotary position of port machinery based on machine vision according to claim 3, characterized in that: Several movable snap rings (17) are arranged in an open manner, and the inner walls on both sides of the movable snap rings (17) are fixedly connected with second limiting spring pieces (18), and the second limiting spring pieces (18) are arranged in an arc shape. Several movable snap rings (17) are arranged in a ring array.

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