A machine vision-based detection device for the rotation position of a port machine

Abstract

The present application relates to the technical field of port machinery, in particular to a port machinery rotary position detection device based on machine vision, which comprises a tower body, a fixed disc, a rotating platform, a visual machine body and a fixed steel ring, the tower body is installed on the top of the fixed disc, the rotating platform is installed on the top end of the tower body, the fixed steel ring is fixed on the position outside the top of the tower body, a plurality of evenly distributed installation shells are fixedly connected outside the fixed steel ring, through the mutual cooperation between the fixed steel belt, the installation shell, the driving motor, the mounting plate, the storage shell and the first servo motor, the second servo motor drives the transmission belt to rotate through the groove wheel, the mounting plate can slide back and forth on the installation shell, and the movable plate and the visual machine body move in a runway type at the same time that the mounting plate slides, so that the damaged visual machine body is separated first and then the standby visual machine body is used, the purpose of automatically replacing the visual machine body is achieved, and the problem of difficult maintenance is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of port machinery, in particular to a port machinery rotary position detection device based on machine vision. BACKGROUND

[0002] In port logistics operation, the mechanical rotary device is the core equipment for realizing efficient transfer of goods between the ship and the shore, and the precision and safety of its operation are directly related to the operation efficiency and operation safety of the whole port. The device is used to hoist the goods on the ship to the designated area on the shore through rotary motion. However, since the port mechanical rotary device usually has a high height and a large volume, it is difficult for the operator to intuitively and accurately master the rotation angle and the final position of the device in the control room, which urgently requires real-time and accurate detection of the rotary position. Only when the detection data is fed back to the operator in time can reliable decision basis be provided for the operator to ensure that the operation process is more efficient and safe.

[0003] At present, the existing rotary position detection device mainly adopts the method of combining sensors with scales to realize angle detection. However, in actual application, such scheme has significant defects: on the one hand, since the rotary device itself is high and large, the sensor installation position is often in the high altitude. Once a fault occurs, the maintenance and replacement work is extremely difficult, 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, which seriously affects the operation progress and causes a significant decrease in work efficiency; on the other hand, some rotary devices rely on a scale disc to indicate the rotation angle position. However, the port environment is special, and the scale disc is exposed to the high altitude for a long time, which is easily polluted by dust, snow and other impurities. After these pollutants adhere to the surface of the scale disc, the angle reading will be blurred, and since the scale disc is located in the high altitude, the cleaning work 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 operation of the port.

[0004] Based on this, the present application discloses a port mechanical rotary position detection device based on machine vision. SUMMARY

[0005] To solve the problems raised in the background art, due to the high and large rotary device itself, the sensor installation position is often at high altitude, once a fault occurs, the maintenance and replacement work is extremely difficult, especially during the critical period of emergency loading and unloading, the faulty sensor will directly cause the rotary device to be unable to be used normally, seriously affecting the operation progress, causing the work efficiency to be greatly reduced, and part of the rotary device relies on the scale disc to indicate the rotation angle position, and the scale disc is exposed to the high altitude for a long time in the special port environment, which is easily polluted by dust, snow and other sundries, after these pollutants adhere to the surface of the scale disc, the angle reading will be blurred, the present application provides a port machinery rotary position detection device based on machine vision, which comprises a tower body, a fixed disc, a rotating platform, a visual machine body and a fixed steel ring, the tower body is installed at the top of the fixed disc, the rotating platform is installed at the top end of the tower body, the fixed steel ring is fixed at the position outside the top of the tower body, a plurality of uniformly distributed installation shells are fixedly connected outside the fixed steel ring, a plurality of installation shells are slidably connected with installation plates at the top, the installation plates are slidably connected with movable plates at the top, the movable plates are fixedly connected with fixed clamping rings at the top, the fixed clamping rings are provided with rectangular columns, the visual machine body is installed at the top of the rectangular column, the bottom end surface of the rotating platform is fixedly connected with uniformly distributed connecting plates, a plurality of connecting plates are fixedly connected with a ring-shaped plate between the ends away from the rotating platform, and the ring-shaped plate is fixedly connected with uniformly distributed visual positioning scale blocks outside.

[0006] The quick-change assembly is located in the installation shell, and the quick-change assembly can be used in cooperation with the visual machine body when the visual machine body fails.

[0007] The cleaning assembly is located on the outer wall of the rotating platform, and the cleaning assembly is used in cooperation with the visual machine body.

[0008] The anti-disengagement assembly is used to prevent the visual machine body from falling during use.

[0009] Preferably, the quick-change assembly comprises a groove wheel, a transmission belt, a lever, an installation plate, a movable opening, a movable plate and a second servo motor, the groove wheel is symmetrically movably connected to the bottom of the installation shell through the rotating shaft A and the bearing A, the transmission belt is installed between the two groove wheels on the same installation shell, the rotating shaft A at the bottom of the groove wheel extends to below the installation shell through the inner ring of the bearing A, the second servo motor is fixedly connected to the end of the bottom of the installation shell away from the fixed steel ring, the output end of the second servo motor is fixedly connected with the bottom end of the rotating shaft A on the corresponding groove wheel, the lever is fixedly connected to the outer wall of the transmission belt, the movable opening is formed in the top of the installation plate, and the top end of the lever is rotatably connected with the bottom of the movable plate through the movable opening.

[0010] Preferably, the quick-change assembly further comprises a fixed plate, a receiving shell, a transmission rod, a circular plate support, a movable clasp, a first servo motor, a synchronous wheel and a synchronous belt, the two outer walls of the mounting shell are fixedly connected with the fixed plates, the fixed plates are L-shaped, the top of each fixed plate is fixedly connected with a receiving shell, the receiving shell is provided with a transmission rod, the top end of the transmission rod penetrates through the receiving shell and is movably connected with the receiving shell, the bottom end of the transmission rod penetrates through the fixed plate and is movably connected with the fixed plate, the bottom end of the transmission rod extends to the end of the bottom of the fixed plate and is fixedly connected with a synchronous wheel, a synchronous belt is installed between the two synchronous wheels, the end of the transmission rod extending to the inner side of the receiving shell is fixedly connected with a circular plate support, the four corners of the circular plate support are fixedly connected with movable clasps, a first servo motor is installed on the top of the receiving shell on one side of the mounting shell, and the output end of the first servo motor is fixedly connected with the top end of the corresponding transmission rod.

[0011] Preferably, the cleaning assembly comprises support plates, a horizontal plate, a roller, a cleaning plate, upper brushes and side brushes, the outer wall of the fixed steel ring is fixedly connected with uniformly distributed support plates, the top of each support plate is fixedly connected with a horizontal plate, the top of the horizontal plate is rotatably connected with a roller through a rotating shaft B and a bearing B away from the fixed steel ring, the top of the roller is fixedly connected with a cleaning plate, the outer side of the roller is fixedly connected with uniformly distributed side brushes, and the bottom of the cleaning plate is fixedly connected with a plurality of uniformly distributed upper brushes.

[0012] Preferably, the cleaning assembly further comprises a transmission gear, a belt pulley, a transmission belt and an inner tooth ring, the bottom of each connecting plate is fixedly connected with an inner tooth ring, the top of the horizontal plate and close to the fixed steel ring is rotatably connected with a transmission gear through a rotating shaft B and a bearing B, the transmission gear is engaged with the inner tooth ring, the rotating shaft B of the roller and the transmission gear penetrates through the inner ring of the bearing B and extends to the bottom end of the horizontal plate and is fixedly connected with a belt pulley, and a transmission belt is installed between the two belt pulleys.

[0013] Preferably, the anti-disengagement assembly comprises an arc-shaped positioning plate, a square rod, an L-shaped plate, an anti-disengagement spring and a baffle, the end of the mounting shell away from the fixed steel ring is fixedly connected with an L-shaped plate, the inner side of the top of the L-shaped plate away from the mounting shell is slidably connected with a square rod, the end of the square rod close to the fixed steel ring is fixedly connected with an arc-shaped positioning plate, the arc-shaped end face of the arc-shaped positioning plate is in abutment with the fixed clasp, the end of the square rod away from the arc-shaped positioning plate is fixedly connected with a baffle, the outer side of the square rod close to the fixed steel ring is sleeved with an anti-disengagement spring, the end of the anti-disengagement spring close to the fixed steel ring is fixedly connected with the arc-shaped positioning plate, and the end of the anti-disengagement spring away from the fixed steel ring is fixedly connected with the L-shaped plate.

[0014] Further, the inner side of the fixed clamping ring and the end face close to the fixed steel ring are fixedly connected with a power connection plug, the bottom of the rectangular column and the position corresponding to the power connection plug are provided with a power socket, and the top of the movable plate and the position inside the fixed clamping ring are fixedly connected with an inclined sliding strip.

[0015] Further, the bottom of the movable plate is fixedly connected with a T-shaped sliding block, the top of the mounting plate and the position corresponding to the T-shaped sliding block are provided with a T-shaped sliding groove, and the movable plate is slidably connected with the mounting plate through the T-shaped sliding block.

[0016] Further, the inner walls of the two sides of the fixed clamping ring away from the fixed steel ring are fixedly connected with first limiting spring sheets, and the first limiting spring sheets are arranged in an arc shape.

[0017] Further, the movable clamping rings are arranged in an open shape, the inner walls of the two sides of the movable clamping rings are fixedly connected with second limiting spring sheets, the second limiting spring sheets are arranged in an arc shape, and the movable clamping rings are arranged in a ring array.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1. In the port machinery rotary position detection device based on machine vision, through the cooperation between the fixed steel belt, the mounting shell, the driving motor, the mounting plate, the storage shell and the first servo motor, the second servo motor drives the transmission belt to rotate, the mounting plate can slide back and forth on the mounting shell, and the movable plate and the vision machine body move in a runway type at the same time, so that the damaged vision machine body is separated first and then the standby vision machine body is used, the purpose of automatically replacing the vision machine body is achieved, and the maintenance difficulty problem is effectively solved.

[0020] 2. In the port machinery rotary position detection device based on machine vision, through the cooperation between the inner tooth ring, the transverse plate, the cleaning plate, the side brush, the transmission belt and the transmission gear, when the rotating platform works, the inner tooth ring is driven to rotate by the rotating platform, the roller is driven to rotate in the opposite direction of the inner tooth ring by the inner tooth ring, the vision positioning scale block on the annular plate is cleaned, the scale disc is exposed to high altitude for a long time, is easily polluted by dust, snow and other impurities, and after the pollutants are attached to the surface of the scale disc, the angle reading is blurred. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a whole structure schematic view of the present application;

[0022] Figure 2 It is a whole bottom view structure schematic view of the present application;

[0023] Figure 3 Fig. 1 is a schematic diagram of the overall structure of the fixed steel ring of the present application;

[0024] Figure 4 Fig. 2 is a schematic diagram of the bottom structure of the fixed steel ring of the present application;

[0025] Figure 5 Fig. 3 is a schematic diagram of the position distribution of the visual positioning scale in the present application;

[0026] Figure 6 Fig. 4 is a schematic diagram of the overall structure of the installation shell in the present application;

[0027] Figure 7 Fig. 5 is a schematic diagram of the bottom structure of the installation shell in the present application;

[0028] Figure 8 Fig. 6 is a schematic diagram of the internal structure of the receiving shell in the present application;

[0029] Figure 9 Fig. 7 is a schematic diagram of the structure of the installation plate in the present application;

[0030] Figure 10 Fig. 8 is a schematic diagram of the position distribution of the push rod in the present application;

[0031] Figure 11 Fig. 9 is a schematic diagram of the structure of the transmission gear in the present application;

[0032] Figure 12 Fig. 10 is a schematic diagram of the structure of the cross plate in the present application;

[0033] Figure 13 Fig. 11 is a schematic diagram of the structure of the visual machine body in the present application.

[0034] The meanings of the various reference numerals in the drawings are as follows:

[0035] 1, fixed steel ring; 2, installation shell; 3, grooved wheel; 4, transmission belt; 5, push rod; 6, installation plate; 7, movable opening; 8, movable plate; 9, fixed clasp; 10, power connection plug; 11, first limiting spring piece; 12, inclined slide strip; 13, fixed plate; 14, receiving shell; 15, transmission rod; 16, round plate support; 17, movable clasp; 18, second limiting spring piece; 19, first servo motor; 20, synchronous wheel; 21, synchronous belt; 22, second servo motor; 23, tower body; 24, fixed disc; 25, rotating platform; 26, connecting plate; 27, annular plate; 28, visual positioning scale block; 29, visual machine body; 30, rectangular column; 31, support plate; 32, cross plate; 33, roller; 34, cleaning plate; 35, upper brush; 36, side brush; 37, transmission gear; 38, power socket; 39, pulley; 40, transmission belt; 41, inner tooth ring; 42, arc-shaped positioning plate; 43, square rod; 44, L-shaped plate; 45, anti-falling spring; 46, baffle. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present application.

[0037] Since the rotary device itself is high and large, the sensor installation position is often at a high altitude. Once a failure occurs, the maintenance and replacement work is extremely difficult, especially during the critical period of emergency loading and unloading, the failed sensor will directly cause the rotary device to be unable to be used normally, seriously affect the operation progress, cause a significant decline in work efficiency, and some rotary devices rely on a scale disc to indicate the rotation angle position. However, the scale disc is exposed to the high altitude for a long time, and is easily contaminated by dust, snow and other impurities. After these contaminants adhere to the surface of the scale disc, the angle reading will be blurred.

[0038] Therefore, the present application provides a port machinery rotary position detection device based on machine vision, as shown in Figures 1-13 The tower body 23 is installed at the top of the fixed disc 24, the rotary platform 25 is installed at the top end of the tower body 23, the fixed steel ring 1 is fixed at the position outside the top of the tower body 23, a plurality of installation shells 2 are fixedly connected outside the fixed steel ring 1, a plurality of installation shells 2 are slidably connected to the top of the installation plate 6, the installation plate 6 is slidably connected to the top of the movable plate 8, the movable plate 8 is fixedly connected to the top of the fixed clasp 9, the fixed clasp 9 is provided with a rectangular column 30 inside, the vision machine body 29 is installed at the top of the rectangular column 30, the bottom end surface of the rotary platform 25 is fixedly connected with a plurality of evenly distributed connecting plates 26, a plurality of connecting plates 26 are fixedly connected between the ends away from the rotary platform 25 of the connecting plates 26, and the outer side of the ring-shaped plate 27 is fixedly connected with a plurality of evenly distributed vision positioning scale blocks 28; the quick-change assembly is located in the installation shell 2, and the quick-change assembly can be used in cooperation with the vision machine body 29 when the vision machine body 29 fails; the cleaning assembly is located on the outer wall of the rotary platform 25, and the cleaning assembly is used in cooperation with the vision machine body 29; the anti-disengagement assembly is used to prevent the vision machine body 29 from falling during use.

[0039] Referring to Figures 1-10As shown, the quick-change assembly includes a grooved wheel 3, a transmission belt 4, a push rod 5, a mounting plate 6, a movable opening 7, a movable plate 8 and a second servo motor 22, the grooved wheel 3 is movably connected to the bottom of the inner cavity of the mounting shell 2 through the rotating shaft A and the bearing A, the transmission belt 4 is installed between the two grooved wheels 3 on the same mounting shell 2, the bottom end of the rotating shaft A on the grooved wheel 3 extends to below the mounting shell 2 through the inner ring of the bearing A, the second servo motor 22 is fixedly connected to the bottom of the mounting shell 2 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 grooved wheel 3, the push rod 5 is fixedly connected to the outer wall of the transmission belt 4, the movable opening 7 is formed in the top of the mounting plate 6, the top end of the push rod 5 is rotatably connected to the bottom of the movable plate 8 through the movable opening 7, the quick-change assembly further includes a fixed plate 13, a storage shell 14, a transmission rod 15, a circular plate support 16, a movable clasp 17, a first servo motor 19, a synchronous wheel 20 and a synchronous belt 21, the fixed plate 13 is fixedly connected to the outer wall of the mounting shell 2, the fixed plate 13 is L-shaped, the storage shell 14 is fixedly connected to the top of the fixed plate 13, the transmission rod 15 is arranged in the storage shell 14, the top end of the transmission rod 15 penetrates through the storage shell 14 and is movably connected to the storage shell 14, the bottom end of the transmission rod 15 penetrates through the fixed plate 13 and is movably connected to the fixed plate 13, the synchronous wheel 20 is fixedly connected to the bottom end of the transmission rod 15 and extends to the end of the bottom of the fixed plate 13, the synchronous belt 21 is installed between the corresponding two synchronous wheels 20, the circular plate support 16 is fixedly connected to the end of the transmission rod 15 extending to the inside of the storage shell 14, the movable clasp 17 is fixedly connected to the four end corners of the circular plate support 16, the 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 end of the corresponding transmission rod 15.

[0040] In work, the first servo motor 19 and the second servo motor 22 need to be input programmed in advance, the first servo motor 19 needs to lock the position of the transmission rod 15 when not rotating, and the transmission rod 15 is stopped and locked after rotating 90 degrees each time, the second servo motor 22 is stopped and locked after driving the mounting plate 6 to go back and forth once each time, and the positions of starting and stopping 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 capability, and the number of rotations and the speed of rotation can be controlled.

[0041] In use, because the installation shell 2 is provided with four groups, respectively located in the four directions of the rotating platform 25, the rotating position of the rotating platform 25 can be detected at multiple angles. When one of the visual machine bodies 29 in the direction is damaged, the second servo motor 22 and the first servo motor 19 in the corresponding position can be started by controlling the power supply. The transmission rod 15 can be locked in position by the first servo motor 19, so that the circular plate support 16 cannot 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 installation shell 2, so as to rotate in a runway shape. When the lever 5 rotates with the transmission belt 4, it drives the installation plate 6 to slide back and forth on the installation shell 2. Because the lever 5 rotates in a runway shape, the movable plate 8 and the visual machine body 29 also slide back and forth to the outside of the installation shell 2 while driving the installation plate 6 to slide back and forth. When the installation plate 6 moves in the direction of the fixed steel ring 1, the movable plate 8 and the visual machine body 29 move in the direction of the empty movable clasp 17. When the damaged visual machine body 29 slides to the intersection with the empty movable clasp 17, the empty movable clasp 17 clamps the rectangular column 30 below the visual machine body 29, and as the installation plate 6 continues to slide in the direction of the fixed steel ring 1, the damaged visual machine body 29 is separated from the fixed clasp 9, achieving the effect of separating the damaged visual machine body 29. When the installation plate 6 returns, the lever 5 also rotates to the other side along the outside of the groove wheel 3, and the lever 5 drives the movable plate 8 to slide to the other side, so that the fixed clasp 9 corresponds to the movable clasp 17 of the standby visual machine body 29. When the fixed clasp 9 slides to the intersection with the movable clasp 17 where the standby visual machine body 29 is placed, the rectangular column 30 at the bottom of the new visual machine body 29 is clamped into the fixed clasp 9, and as the installation plate 6 continues to slide back, the rectangular column 30 is pushed out of the movable clasp 17, and the power supply socket 38 on the rectangular column 30 is connected with the power supply connector 10, achieving the purpose of installing the standby visual machine body 29. Then the second servo motor 22 stops rotating and locks the position after the installation plate 6 completes one reciprocating sliding according to the pre-command, so that the lever 5 and the movable plate 8 can return to the center position away from the fixed steel ring 1, and the standby visual machine body 29 also returns to the center position of the installation shell 2.

[0042] Referring to Figures 1-12As shown, the cleaning assembly comprises a support plate 31, a cross 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 with uniformly distributed support plates 31, the top of the support plate 31 is fixedly connected with the cross plate 32, the top of the cross plate 32 is rotatably connected with the roller 33 through the rotating shaft B and the bearing B away from the fixed steel ring 1, the top end of the roller 33 is fixedly connected with the cleaning plate 34, the outer side of the roller 33 is fixedly connected with uniformly distributed side brushes 36, the bottom of the cleaning plate 34 is fixedly connected with a plurality of uniformly distributed upper brushes 35, the cleaning assembly further comprises a transmission gear 37, a belt pulley 39, a transmission belt 40 and an inner tooth ring 41, the bottom of the plurality of connecting plates 26 is fixedly connected with the inner tooth ring 41, the top of the cross plate 32 and the position close to the fixed steel ring 1 is rotatably connected with the transmission gear 37 through the rotating shaft B and the bearing B, the transmission gear 37 is engaged with the inner tooth ring 41, the rotating shaft B on the roller 33 and the transmission gear 37 extends through the inner ring of the bearing B and extends to the bottom end of the cross plate 32, and the rotating shaft B is fixedly connected with the belt pulley 39, and the transmission belt 40 is installed between the corresponding two belt pulleys 39.

[0043] When working, the annular plate 27 and the visual positioning scale block 28 are driven to rotate by the connecting plate 26 when the rotating platform 25 operates, at this time, the camera of the plurality of visual machine bodies 29 is upward and inclined to 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 meanwhile, the position detection data of the rotation is fed back to the central control platform, so that the worker can clearly know the angle and position of the rotating platform 25, in addition, when the rotating platform 25 rotates, the inner tooth ring 41 is also driven to rotate by the connecting plate 26, the transmission gear 37 is driven to rotate forward or reverse by the inner tooth ring 41, the roller 33 and the cleaning plate 34 are driven to rotate forward or reverse by the transmission gear 37 through the belt pulley 39 and the transmission belt 40, the upper brush 35 and the side brush 36 are driven to rotate forward or reverse by the cleaning plate 34 and the roller 33, and the rotating direction of the roller 33 is opposite to the rotating direction of the inner tooth ring 41, the visual positioning scale block 28 on the annular plate 27 is swept by the rotation of the side brush 36 and the upper brush 35, and the effect of cleaning dust and other sundries is achieved.

[0044] Referring to Figure 6-Figure 7As shown, the anti-disengagement assembly includes an arc-shaped positioning plate 42, a square rod 43, an L-shaped plate 44, an anti-disengagement spring 45 and a baffle 46, the L-shaped plate 44 is fixedly connected to the end of the mounting shell 2 away from the fixed steel ring 1, the square rod 43 is slidably connected to the top inner side of the L-shaped plate 44 away from the mounting shell 2, the arc-shaped positioning plate 42 is fixedly connected to the end of the square rod 43 close to the fixed steel ring 1, the arc-shaped end surface of the arc-shaped positioning plate 42 is in abutment with the fixed clamping ring 9, the baffle 46 is fixedly connected to the end of the square rod 43 away from the arc-shaped positioning plate 42, the anti-disengagement spring 45 is sleeved on the outer side of the square rod 43 close to the fixed steel ring 1, and the end of the anti-disengagement spring 45 away from the fixed steel ring 1 is fixedly connected with the arc-shaped positioning plate 42, and the end of the anti-disengagement spring 45 away from the fixed steel ring 1 is fixedly connected with the L-shaped plate 44.

[0045] In work, the arc-shaped positioning plate 42 is compressed by the fixed clamping ring 9 during the process of returning to the initial position, so that the arc-shaped positioning plate 42 moves away from the mounting shell 2, at this time, one side of the opening of the fixed clamping ring 9 slides on the arc-shaped surface of the arc-shaped positioning plate 42, and the anti-disengagement spring 45 is compressed during the sliding, when the fixed clamping ring 9 returns to the initial central position, the rebounding force of the anti-disengagement spring 45 continuously pushes the arc-shaped positioning plate 42 to be in contact with one side of the opening of the fixed clamping ring 9, so that the opening of the fixed clamping ring 9 is closed, the visual machine body 29 is prevented from disengaging from the fixed clamping ring 9, and the stability is further improved.

[0046] The end surface of the fixed clamping ring 9 close to the fixed steel ring 1 is fixedly connected with a power connection plug 10, the bottom of the rectangular column 30 and the position corresponding to the power connection plug 10 are provided with a power socket 38, the top of the movable plate 8 and the position inside the fixed clamping ring 9 are fixedly connected with an inclined sliding strip 12, the rectangular column 30 at the bottom of the visual machine body 29 is supported through the inclined sliding strip 12, so that the power socket 38 on the rectangular column 30 and the power connection plug 10 are at the same level, so as to stably connect when the visual machine body 29 is replaced.

[0047] In addition, the bottom of the movable plate 8 is fixedly connected with a T-shaped sliding block, the top of the mounting plate 6 and the position corresponding to the T-shaped sliding block are provided with a T-shaped sliding groove, the movable plate 8 is slidably connected with the mounting plate 6 through the T-shaped sliding block, and the movable plate 8 is supported through the T-shaped sliding block and the T-shaped sliding groove, so as to improve the smoothness and reduce the friction between the movable plate 8 and the mounting plate 6.

[0048] The inner walls away from the two sides of the fixed steel ring 1 of the fixed clamping ring 9 are fixedly connected with first limiting spring sheets 11, the first limiting spring sheets 11 are arranged in an arc shape, and the rectangular column 30 at the bottom of the visual machine body 29 is preliminarily limited through the first limiting spring sheets 11, so that the visual machine body 29 does not slide down during replacement, and the limiting effect is achieved.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] When the same direction visual machine body 29 is damaged again, it is necessary to start the first servo motor 19 by controlling the power supply, and drive one of the transmission rods 15 and the circular plate bracket 16 to rotate, and the other circular plate bracket 16 in the receiving shell 14 is driven to rotate by the transmission rod 15 through the synchronous belt 21 and the synchronous wheel 20, so that the circular plate bracket 16 on the same installation shell 2 can rotate synchronously, and the command circular plate bracket 16 only rotates 90 degrees, so that the previously damaged visual machine body 29 can be rotated into the receiving shell 14, and the idle movable clasp 17 is rotated to the outside of the receiving shell 14, and the other circular plate bracket 16 rotates the idle movable clasp 17 to the inside of the receiving shell 14, and the movable clasp 17 carrying the spare visual machine body 29 is rotated to the outside of the receiving shell 14, so as to replace the damaged visual machine body 29. A plurality of movable clasp 17 can replace a plurality of visual machine body 29, and the damaged visual machine body 29 can be received into the receiving shell 14, which effectively improves the work efficiency. When repairing at appropriate time, a plurality of damaged visual machine bodies 29 can be taken out and repaired at one time.

[0054] When the rotating platform 25 is running, the ring plate 27 and the visual positioning scale block 28 are driven to rotate by the connecting plate 26, at this time the camera of the plurality of visual machine bodies 29 is upward and inclined to 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 position detection data of the rotation is fed back to the central control platform, so that the worker can clearly know the angle and position of the rotating platform 25. In addition, when the rotating platform 25 rotates, the inner gear ring 41 is also driven to rotate by the connecting plate 26, and the transmission gear 37 is driven to rotate forward or reverse by the inner gear ring 41, the roller 33 and the cleaning plate 34 are driven to rotate forward or reverse by the transmission gear 37 through the belt wheel 39 and the transmission belt 40, and the upper brush 35 and the side brush 36 are driven to rotate forward or reverse by the cleaning plate 34 and the roller 33. The direction of rotation of the roller 33 is opposite to the direction of rotation of the inner gear ring 41. The rotating of the side brush 36 and the upper brush 35 can clean the visual positioning scale block 28 on the ring plate 27, which can effectively improve the accuracy and stability of use.

[0055] It is to be understood that the terminology used herein such as first and second, and the like, is only used to distinguish one entity or action from another entity or action, and does not necessarily require or imply any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0056] While embodiments of the present application have been shown and described with reference to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. The scope of the application 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, the anti-detachment component is used to prevent the visual machine body (29) from falling during use; 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) via 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); 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).

2. 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).

3. The device for detecting the rotary position of port machinery based on machine vision according to claim 2, 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).

4. 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).

5. 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).

6. 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.

7. 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.

8. The device for detecting the rotary position of port machinery based on machine vision according to claim 1, 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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