A visual detection and positioning system for a cable reel loading and unloading vehicle

Abstract

This invention discloses a visual inspection and positioning system for cable winch loading and unloading vehicles, belonging to the field of cable winch loading and unloading technology. The system includes a processor, a camera, a controller, and a first driver. The camera is used to: acquire image data after the loading and unloading vehicle moves under the cable winch and upload the image data to the processor; the processor is used to: recognize the image data to obtain the positioning reference line of the cable winch and the positioning mark of the sliding positioning device, and generate a pre-alignment operation instruction based on the positioning reference line and the positioning mark; after the sliding positioning device is pre-aligned with the cable winch; determine the positional deviation between the positioning reference line and the positioning mark, and send the positional deviation to the controller; the controller is used to: generate an adjustment control amount based on the positional deviation, and control the first driver to drive the sliding positioning device to perform a secondary alignment with the cable winch based on the adjustment control amount. This invention is simple and convenient to operate, reducing the difficulty of loading and unloading operations.

Description

Technical Field

[0001] This invention relates to the field of cable winch loading and unloading technology, and specifically to a visual inspection and positioning system for a cable winch loading and unloading vehicle. Background Technology

[0002] A cable winch is a device primarily used for winding and storing cables. The cable winch is mounted on the shaft of a winding machine, which drives the winch to rotate, thus winding the cable. After winding, the cable winch needs to be removed from the shaft and replaced with a new one. Because a fully wound cable winch is quite heavy, workers cannot directly remove it from the shaft; therefore, auxiliary tools are required, such as lifting vehicles and hoisting equipment. However, hoisting equipment has poor flexibility and requires a lot of space, making it suitable only for large processing areas. Lifting vehicles, on the other hand, offer better flexibility and can adapt to various scenarios, leading to their widespread use.

[0003] The existing loading and unloading vehicles still have at least the following problems during use: the positioning between the loading and unloading vehicle and the cable winch is done manually, and the accuracy of manual positioning is low. There is a positional deviation between the loading and unloading vehicle and the cable winch. When the loading and unloading vehicle lifts the cable winch, it will cause a large friction between the cable winch and the shaft. This will easily cause wear on the shaft and require a greater pulling force to remove the cable winch from the shaft, increasing the difficulty of loading and unloading operations. Summary of the Invention

[0004] The purpose of this invention is to provide a visual inspection and positioning system for cable winch loading and unloading vehicles, in order to solve the problems of low accuracy of existing manual positioning, which easily leads to wear of the shaft and increases the difficulty of loading and unloading operations.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a visual inspection and positioning system for a cable winch loading and unloading vehicle, wherein the cable winch loading and unloading vehicle is an automatic lifting loading and unloading vehicle, and the loading and unloading vehicle is equipped with a sliding positioning device for positioning the cable winch, wherein the sliding positioning device is equipped with positioning marks; the system includes: a processor, a camera, a controller and a first driver, wherein the camera and the controller are both communicatively connected to the processor, and the first driver is electrically connected to the controller.

[0007] The camera is used to: acquire image data after the loading and unloading vehicle moves under the cable winch, and upload the image data to the processor;

[0008] The processor is used to: recognize image data to obtain the positioning reference line of the cable winch and the positioning mark of the sliding positioning device; generate a pre-alignment operation instruction based on the positioning reference line and the positioning mark; after the sliding positioning device is pre-aligned with the cable winch; determine the positional deviation between the positioning reference line and the positioning mark; and send the positional deviation to the controller.

[0009] The controller is used to: generate an adjustment control quantity based on the position deviation, and control the first driver to drive the sliding positioning device to perform secondary alignment with the cable winch based on the adjustment control quantity.

[0010] Preferably, the loading and unloading vehicle includes: a base, a support plate on top of the base, two connecting rods on the front and rear sides of the support plate, one end of each connecting rod being hinged to the support plate, and the other end of each connecting rod being hinged to the base, and a first push rod being rotatably connected to the base, the telescopic end of the first push rod being hinged to one of the connecting rods.

[0011] Preferably, the support plate is provided with an installation opening, and the sliding positioning device is installed on the installation opening; the sliding positioning device includes a positioning plate, the positioning plate is provided with positioning strip holes, and the four sides on the edge of the positioning strip holes are used as positioning marks;

[0012] Each of the support plates on both sides of the mounting port is provided with a second push rod that pushes the positioning plate to move in the width direction of the support plate. The telescopic end of one of the second push rods is rotatably connected to the positioning plate, and the telescopic end of the other second push rod is connected to a slider. A corresponding groove is provided in the length direction of the positioning plate, and the slider is slidably connected in the groove.

[0013] Preferably, the loading and unloading vehicle further includes direction indicator lights disposed on the surface of the support plate. The direction indicator lights have four movement direction indications, namely, forward movement, backward movement, left movement, and right movement, and the direction indicator lights are connected to the processor. The pre-alignment operation indications include: forward movement alignment indication, backward movement alignment indication, left movement alignment indication, and right movement alignment indication. The forward movement alignment indication is used to control the forward movement direction indicator lights to illuminate, the backward movement alignment indication is used to control the backward movement direction indicator lights to illuminate, the left movement alignment indication is used to control the left movement direction indicator lights to illuminate, and the right movement alignment indication is used to control the right movement direction indicator lights to illuminate.

[0014] Preferably, a column is provided in the middle of the front side of the base, the camera is mounted on the column, the height of the camera is always greater than the height of the support plate, and the positioning reference line is the axis of the cable winch.

[0015] Preferably, the step of generating a pre-alignment operation instruction based on the positioning reference line and the positioning mark is as follows:

[0016] Determine the projection line of the positioning reference line onto the support plate and the projection point corresponding to the leading end point of the positioning reference line;

[0017] Determine whether the projection line is within the area enclosed by the positioning mark. If not, determine the area where the projection line is located and generate forward alignment, backward alignment, left alignment, or backward alignment instructions based on the area where the projection line is located, so that the user can adjust the position of the loading and unloading vehicle by referring to the direction indicator light until the leading edge of the positioning reference line is within the area enclosed by the positioning mark.

[0018] Calculate the distance between the projection point and the front mark, and determine whether the distance is less than the preset distance. If not, generate a forward alignment indicator so that the user can adjust the position of the loading and unloading vehicle forward according to the reference direction indicator until the distance is less than the preset distance.

[0019] Preferably, the step of determining the positional deviation between the positioning reference line and the positioning mark is as follows:

[0020] Extract the center line of the area enclosed by the two front points of the projection line and the positioning mark in the length direction;

[0021] Calculate the offset between the two front points and the center line to obtain two positional offsets. Use these two positional offsets as the positional deviation between the positioning reference line and the positioning mark.

[0022] Preferably, the system further includes: a second driver and a pressure sensor, both of which are electrically connected to the controller. The second driver is used to drive the first push rod, and the pressure sensor is mounted on the sliding positioning device to detect the pressure value borne by the sliding positioning device after it comes into contact with the cable winch.

[0023] Preferably, the controller is further configured to: acquire the pressure value and corresponding timestamp of the sliding positioning device; calculate the pressure change value based on the pressure value and corresponding timestamp of the sliding positioning device; generate an adjustment signal for adjusting the thrust output of the first push rod based on the pressure change value, and send the adjustment signal to the second driver.

[0024] Preferably, the cable winch has a shaft hole in the middle, the cable winch is inserted into the rotating shaft through the shaft hole, and there is a gap between the rotating shaft and the shaft hole; the adjustment signal includes: a first control signal, a second control signal, and a third control signal; the step of generating an adjustment signal for adjusting the thrust output of the first push rod according to the pressure change value is as follows:

[0025] Determine if the pressure change value is zero; if not, generate a first control signal, which is used to increase the thrust output by the first push rod.

[0026] If so, obtain the thrust output by the first push rod and the gap distance corresponding to the zero pressure change value. Based on the pressure value and the gap distance, determine the instantaneous increase value and instantaneous duration of the thrust output by the first push rod. Based on the instantaneous increase value and instantaneous duration, generate a second controller signal. The second control signal is used to increase the thrust output by the first push rod to reach the instantaneous increase value and continue for the instantaneous duration.

[0027] After a continuous instantaneous duration, a third control signal is generated, which is used to maintain the thrust output by the first push rod at the thrust output by the first push rod when the pressure change value is zero.

[0028] The beneficial effects of this invention are:

[0029] This invention utilizes a camera to collect image data, identifying the positioning reference line of the cable winch and the positioning mark of the sliding positioning device from the image data. Based on the identification results, a pre-alignment operation instruction is generated. The pre-alignment operation is performed manually by a worker who moves the loading / unloading vehicle to roughly align it with the cable winch. After the loading / unloading vehicle and cable winch are roughly aligned, the positional deviation between the positioning reference line and the positioning mark is determined. The controller uses this positional deviation to generate an adjustment control quantity, which controls the first driver to drive the sliding positioning device to perform a secondary alignment with the cable winch. This ensures that the sliding positioning device is accurately positioned directly below the cable winch. After the loading / unloading vehicle is lifted, the edge of the cable winch can be accurately placed onto the sliding positioning device, allowing for stable lifting of the cable winch. The operation is simple and convenient, reducing the difficulty of loading and unloading operations. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 This is a block diagram of a visual inspection and positioning system for a cable winch loading and unloading vehicle provided in one embodiment of the present invention.

[0032] Figure 2 This is a top view of a loading and unloading vehicle provided in one embodiment of the present invention;

[0033] Figure 3 This is a side view of a loading and unloading vehicle provided in one embodiment of the present invention;

[0034] Figure 4This is a schematic diagram of the positioning plate provided in one embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the installation of a cable winch on a winding machine according to one embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Base; 2. Support plate; 3. Connecting rod; 4. First push rod; 5. Mounting port; 6. Positioning plate; 7. Positioning mark; 8. Second push rod; 9. Slider; 10. Slide groove; 11. Direction indicator light; 12. Column; 13. Camera; 14. Positioning strip hole; 15. Cable winch; 16. Shaft hole; 17. Rotating shaft; 18. Front wheel; 19. Rear wheel; 20. Handle; 21. Chassis. Detailed Implementation

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0039] Figure 1 This is a block diagram of a visual inspection and positioning system for a cable winch loading and unloading vehicle provided in one embodiment of the present invention. Figure 1 As shown, this embodiment provides a visual inspection and positioning system for a cable winch loading and unloading vehicle. The system includes a processor, a camera 13, a controller, and a first driver. The camera 13 and the controller are both communicatively connected to the processor, and the first driver is electrically connected to the controller. The processor is an image-dedicated processor, such as an ISP image signal processor. The controller can be a PLC controller or an STM32 series microcontroller.

[0040] In this embodiment, the cable winch 15 loading and unloading vehicle is an automatic lifting loading and unloading vehicle, such as... Figure 2-3As shown, the loading and unloading vehicle includes: a base 1, a support plate 2, four connecting rods 3, at least one first push rod 4, a column 12, a front wheel 18, and a rear wheel 19. The support plate 2 is located above the base 1. The four connecting rods 3 are divided into two pairs, distributed on the front and rear sides of the base 1. One end of each connecting rod 3 is hinged to the support plate 2, and the other end of each connecting rod 3 is hinged to the base 1. The rear end of the first push rod 4 is hinged to the base 1, and the front end (telescopic end) of the first push rod 4 is hinged to one of the connecting rods 3. If there are two first push rods 4, they can be distributed diagonally, or they can be set on the front side of the base 1, respectively hinged to the two connecting rods 3 on the front side of the base 1. In this embodiment, the first push rod 4 can be an electric push rod or a hydraulic push rod, which can be flexibly selected according to actual needs. The first push rod 4 pushes the connecting rod 3 to rotate, thereby causing the support plate 2 to rise or fall.

[0041] In this embodiment, the front wheel 18 is located on the front side of the base 1, and the rear wheel 19 is located on the rear side of the base 1. The front wheel 18 is a swivel wheel and is mainly used for steering. The rear wheel 19 is a roller-type wheel to increase the contact area with the ground and improve the stability of the loading and unloading vehicle. The column 12 in this embodiment is installed in the middle of the front side of the base 1, and the camera 13 is installed on the column 12. The height of the camera 13 is always greater than the height of the support plate 2 to ensure that the camera 13 can collect image information of the support plate 2.

[0042] In this embodiment, the loading and unloading vehicle is not a fully automatic transport vehicle, but a semi-automatic transport vehicle. The lifting action of the loading and unloading vehicle is an automatic operation, and the cable winch 15 needs to be moved manually to move the loading and unloading vehicle to the destination. Since there is a handle 20 for dragging the loading and unloading vehicle connected to the column 12, the handle 20 can be made into a telescopic structure to adapt to the height and body shape of different workers. At the same time, the telescopic structure can shorten the length of the handle 20, reduce the volume, and facilitate storage.

[0043] In this embodiment, the installation diagram of the cable winch 15 on the winding machine is shown as follows: Figure 5As shown, there is a rotating shaft 17 on the housing 21 of the winding machine. The cable winch 15 has a shaft hole 16 in the middle. The cable winch 15 is inserted into the rotating shaft 17 through the shaft hole 16. Usually, the cable winch 15 is connected to the rotating shaft 17 by a key. Since the cable winch 15 needs to be removed from the rotating shaft 17 frequently to replace it with a new one, the inner diameter of the shaft hole 16 of the cable winch 15 is usually slightly larger than the outer diameter of the rotating shaft 17 to create a gap between them. This makes it easier to remove the cable winch 15 from the rotating shaft 17 and also makes it easier to install the cable winch 15 onto the rotating shaft 17. After the support plate 2 is raised, in order to ensure that the cable winch 15 can be stably placed on the support plate 2, a square hole is usually provided on the support plate 2. The cable winch 15 is circular, so the edge of the cable winch 15 will fall into the square hole. The square hole limits the cable winch 15 and prevents the cable winch 15 from rolling on the support plate 2. In addition, the square hole can accommodate cable winches 15 of different diameters, and has the advantages of simple structure and practicality.

[0044] The method of setting the square hole requires moving the square hole directly below the cable winch 15 to align the square hole with the cable winch 15. After alignment, the cable winch 15 can be accurately placed into the square hole when the support plate 2 is lifted. Since the loading and unloading vehicle is not a fully automatic handling vehicle, the alignment operation between the square hole and the cable winch 15 is usually done manually by the staff, relying on visual observation to align the square hole with the cable winch 15. However, upon visual inspection, the cable winch 15 cannot be perfectly aligned with the square hole, indicating a certain degree of error. Assuming that the centerline of the square hole and the axis of the cable winch 15 are parallel in three-dimensional space but not in the same vertical position, when the support plate 2 is raised, one side of the square hole first contacts one side of the cable winch 15. At this time, the cable winch 15 is not subjected to a vertically upward thrust. Instead, the thrust on the cable winch 15 will generate components in the vertical and horizontal directions. The horizontal component will increase the friction between the cable winch 15 and the shaft 17. Furthermore, the greater the deviation between the centerline and the cable winch 15, the greater the horizontal component, and the greater the friction between the cable winch 15 and the shaft 17. This requires a greater pulling force from the loading and unloading vehicle to remove the cable winch 15 from the shaft 17. In an ideal state, the deviation between the centerline and the cable winch 15 is zero, the cable winch 15 is perfectly aligned with the square hole, and the cable winch 15 is only subjected to a vertical upward thrust. When the thrust is equal to the weight of the cable winch 15, there is no force between the cable winch 15 and the shaft 17. This component of the force between the cable winch 15 and the shaft 17 (without friction) allows the cable winch 15 to be easily removed from the shaft 17.

[0045] Therefore, in order to improve the alignment accuracy of the cable winch 15, this embodiment provides a sliding positioning device on the loading and unloading vehicle for positioning the cable winch 15, and the sliding positioning device is provided with positioning marks 7. Figure 1 and Figure 4 As shown, the support plate 2 is provided with an installation port 5, and the sliding positioning device is installed on the installation port 5; the sliding positioning device includes a positioning plate 6, and the positioning plate 6 is provided with positioning strip holes 14. The four sides on the edge of the positioning strip holes 14 are used as positioning marks 7, and the positioning marks 7 include a front mark, a rear mark, a left mark, and a right mark, wherein the side of the positioning strip holes 14 near the column 12 is the front mark; the positioning reference line can be the axis of the cable winch 15; in this embodiment, the two ends of the positioning plate 6 are provided with slots, so the two ends of the positioning plate 6 are inserted into the two edges of the installation port 5, and the two ends of the positioning plate 6 are arc-shaped, and the inner wall of the slot is also arc-shaped, to ensure that the positioning plate 6 can rotate a certain angle on the installation port 5;

[0046] Each of the support plates 2 located on both sides of the mounting port 5 is provided with a second push rod 8 that pushes the positioning plate 6 to move in the width direction of the support plate 2. That is, the second push rod 8 can be bolted to the back of the support plate 2. The telescopic end of one of the second push rods 8 is rotatably connected to the positioning plate 6, and the telescopic end of the other second push rod 8 is connected to a slider 9. A corresponding groove 10 is provided in the length direction of the positioning plate 6, and the slider 9 is slidably connected in the groove 10. In this embodiment, the second push rod 8 can be an electric push rod or a hydraulic push rod. By controlling the different telescopic lengths of the two second push rods 8, the positioning plate 6 can be controlled to rotate within a certain angle range to adjust the direction of the positioning strip hole 14 on the positioning plate 6, so as to achieve accurate alignment of the positioning strip hole 14 with the cable winch 15.

[0047] Furthermore, the camera 13 is used to: acquire image data after the loading / unloading vehicle moves below the cable winch 15, and upload the image data to the processor; the processor is used to: identify the image data to obtain the positioning reference line of the cable winch 15 and the positioning mark 7 of the sliding positioning device, and generate a pre-alignment operation instruction based on the positioning reference line and the positioning mark 7; after the sliding positioning device is pre-aligned with the cable winch 15; determine the positional deviation between the positioning reference line and the positioning mark 7, and send the positional deviation to the controller; the controller is used to: generate an adjustment control amount according to the positional deviation, and control the first driver to drive the sliding positioning device to perform a secondary alignment with the cable winch 15 according to the adjustment control amount.

[0048] The positioning reference line is an axis segment originating from the center (i.e., the front end point) of the end face of the cable winch 15. To accurately identify the positioning reference line and positioning mark 7 from the image data, a deep learning model can be used, such as a convolutional neural network model, to identify the positioning reference line and positioning mark 7. Then, the position of the dot on the end face of the cable winch 15 and the spatial position of the end face of the cable winch 15 can be calculated. Based on the spatial position of the end face and the position of the dot, the axis direction can be determined. Based on the axis direction, axis length, and dot position, the three-dimensional spatial coordinates of the positioning reference line can be determined. The spatial coordinates of the positioning mark 7 are determined in the same way.

[0049] In this embodiment, the camera 13 uses image data to identify the positioning reference line of the cable winch 15 and the positioning mark 7 of the sliding positioning device. Then, based on the identification results, a pre-alignment operation instruction is generated. The pre-alignment operation is performed manually by the operator, who pushes the loading and unloading vehicle to roughly align the vehicle with the cable winch 15. After the loading and unloading vehicle and the cable winch 15 are roughly aligned, the positional deviation between the positioning reference line and the positioning mark 7 is determined. The controller uses the positional deviation to generate an adjustment control quantity. Based on the adjustment control quantity, the first driver is controlled to drive the sliding positioning device to perform a secondary alignment with the cable winch 15, so that the sliding positioning device can be positioned more accurately directly below the cable winch 15 to reduce the deviation. After the loading and unloading vehicle is lifted, the edge of the cable winch 15 can be placed more accurately on the sliding positioning device, which can stably lift the cable winch 15. The operation is simple and convenient, reducing the difficulty of loading and unloading operations.

[0050] As a further optimization of this embodiment, the loading and unloading vehicle also includes a direction indicator light 11 disposed on the surface of the support plate 2. The direction indicator light 11 is electrically connected to the processor. In this embodiment, multiple direction indicator lights 11 can be installed on the surface of the support plate 2 to facilitate observation by the staff.

[0051] The direction indicator 11 has four movement direction indicators, which are forward, backward, left, and right movement in sequence. The direction indicator 11 is connected to the processor. The pre-alignment operation indicators include: forward alignment indicator, backward alignment indicator, left alignment indicator, and right alignment indicator. The forward alignment indicator is used to control the forward movement direction indicator 11 to light up, the backward alignment indicator is used to control the backward movement direction indicator 11 to light up, the left alignment indicator is used to control the left movement direction indicator 11 to light up, and the right alignment indicator is used to control the right movement direction indicator 11 to light up.

[0052] Therefore, when the processor generates a pre-alignment operation instruction based on the positioning reference line and positioning mark 7, the processor's execution steps are as follows:

[0053] Step a10: Determine the projection line of the positioning reference line on the support plate 2 and the projection point corresponding to the front end point of the positioning reference line.

[0054] Step a20: Determine whether the projection line is located within the area enclosed by the positioning mark 7. If not, determine the area where the projection line is located, and generate a forward movement alignment instruction, a backward movement alignment instruction, a left movement alignment instruction, or a backward movement alignment instruction based on the area where the projection line is located, so that the user reference direction indicator 11 adjusts the position of the loading and unloading vehicle until the leading edge of the positioning reference line is located within the area enclosed by the positioning mark 7.

[0055] In this embodiment, when the projection line of the cable winch 15 axis on the support plate 2 is not within the area of ​​the positioning strip hole 14, it indicates that the deviation between the cable winch 15 and the positioning strip hole 14 is large, and the position of the loading and unloading vehicle needs to be adjusted so that the projection line falls into the area of ​​the positioning strip hole 14, that is, the area enclosed by the positioning mark 7.

[0056] In this embodiment, due to the inconsistent sizes of the cable winches 15, the axial lengths of the cable winches 15 vary, and the images captured by the camera 13 cannot capture the entire cable winch 15; therefore, the length of the positioning reference line can be a fixed value, which is less than the length of the positioning slot 14. For example, when one end of the projection line exceeds the left edge of the area enclosed by the positioning mark 7, the leftward movement direction indicator 11 lights up to remind the staff that the loading and unloading vehicle needs to be moved to the left; after the user adjusts the loading and unloading vehicle, the projection line falls into the area enclosed by the positioning mark 7.

[0057] Step a30: Calculate the distance between the projection point and the front mark line, and determine whether the distance is less than the preset distance. If not, generate a forward alignment indicator so that the user reference direction indicator 11 can adjust the position of the loading and unloading vehicle forward until the distance is less than the preset distance.

[0058] Since the length of the positioning reference line can be a fixed value and is not equal to the axial length of the cable winch 15, in order to ensure that the rear side of the cable winch 15 can also fall into the range of the positioning strip hole 14, the distance between the projection point and the front mark line can be calculated. When this distance is too large (exceeding the preset distance), it means that the cable winch 15 may not be able to fall into the range of the positioning strip hole 14. At this time, the corresponding forward movement direction indicator 11 will light up, reminding the staff to push the loading and unloading vehicle towards the direction closer to the cable winch 15.

[0059] After the pre-alignment in steps a30 to a40, the cable winch 15 can be roughly aligned with the positioning strip hole 14. After the rough alignment, the angle of the positioning plate 6 is automatically adjusted by the two second push rods 8, so that the cable winch and the positioning strip hole 14 are aligned again, thereby achieving accurate alignment between the two.

[0060] As a further optimization of this embodiment, the step of determining the positional deviation between the positioning reference line and the positioning mark 7 is as follows:

[0061] Step b10: Extract the two front end points of the projection line and the center line of the area enclosed by the positioning mark 7 in the length direction;

[0062] Step b20: Calculate the offset between the two front points and the center line to obtain two position offsets. Use the two position offsets as the position deviation between the positioning reference line and the positioning mark 7.

[0063] In this embodiment, after sending the two position offsets to the controller, the controller generates extension and retraction control commands (i.e., control quantities) for the two second push rods 8 based on the two position offsets. Then, the first driver is used to control the two second push rods 8 to extend or shorten, so that the projection line coincides with the center line. When the projection line coincides with the center line, it indicates that the cable winch 15 and the positioning strip hole 14 have achieved accurate alignment. At this time, the first push rod 4 can be controlled to lift the support plate 2.

[0064] In this embodiment, since the weights of different cable winches 15 after being fully wound with cable are different, and the thrust of the support plate 2 when it is lifted is exactly equal to the total weight of the cable winch 15, there is no force between the cable winch 15 and the shaft 17, and there is no friction between them. In this state, it is easiest to remove the cable winch 15 from the shaft 17. Since the total weight of the cable winch 15 cannot be directly measured, as a further optimization of this embodiment, the system also includes: a second driver and a pressure sensor. Both the second driver and the pressure sensor are electrically connected to the controller. The second driver is used to drive the first push rod 4, and the pressure sensor is installed on the sliding positioning device to detect the pressure value borne by the sliding positioning device after it contacts the cable winch 15. The pressure sensor is installed between the support plate 2 and the positioning plate 6; it can be installed on the support plate 2 or the positioning plate 6, preferably on the positioning plate 6. When the positioning plate 6 contacts the cable winch 15, the pressure applied by the support plate 2 to the cable winch 15 can be measured.

[0065] Therefore, the controller is also used to: acquire the pressure value and the corresponding timestamp of the sliding positioning device; calculate the pressure change value based on the pressure value and the corresponding timestamp of the sliding positioning device; generate an adjustment signal for adjusting the thrust output of the first push rod 4 based on the pressure change value, and send the adjustment signal to the second driver.

[0066] Specifically, the adjustment signal includes: a first control signal, a second control signal, and a third control signal; the step of generating an adjustment signal for adjusting the thrust output of the first push rod 4 based on the pressure change value is as follows:

[0067] Step c10: Determine whether the pressure change value is zero. If not, generate a first control signal. The first control signal is used to increase the thrust output by the first push rod 4.

[0068] In this embodiment, after the cable winch 15 contacts the positioning plate 6, the thrust output by the first push rod 4 is gradually increased. At this time, the pressure sensor begins to detect the pressure borne by the positioning plate 6. As the thrust output by the first push rod 4 gradually increases, the pressure value detected by the pressure sensor also gradually increases. When the thrust output by the first push rod 4 makes the thrust exerted by the support plate 2 on the cable winch 15 equal to the total weight of the cable winch 15, the thrust output by the first push rod 4 is further increased. Since there is a gap between the rotating shaft 17 and the shaft hole 16, the cable winch 15 begins to move upward. At the initial moment of upward movement, the cable winch 15 does not contact the rotating shaft 17, and the pressure value detected by the pressure sensor is still equal to the total weight of the cable winch 15. The pressure change value at this initial moment is zero, indicating that when the pressure change value is zero, the pressure value output by the pressure sensor is equal to the total weight of the cable winch 15.

[0069] Step c20: If yes, obtain the thrust output by the first push rod 4 and the gap distance when the pressure change value is zero. Based on the pressure value and the gap distance, determine the instantaneous increase value and instantaneous duration of the thrust output by the first push rod 4. Based on the instantaneous increase value and instantaneous duration, generate a second controller signal. The second control signal is used to increase the thrust output by the first push rod 4 to reach the instantaneous increase value and continue for the instantaneous duration.

[0070] In this embodiment, the dimensions of the rotating shaft 17 and the shaft hole 16 are uniform. By measuring the outer diameter of the rotating shaft 17 and the inner diameter of the shaft hole 16, the corresponding outer diameter value and inner diameter value are obtained. The gap distance can be obtained by subtracting the outer diameter value from the inner diameter value. When the pressure value output by the pressure sensor is equal to the total gravity applied by the cable winch 15, the rotating shaft 17 and the shaft hole 16 are at the critical point of separation. The shaft 17 can be lifted up a certain distance to completely separate the rotating shaft 17 and the shaft hole 16, making it easier to remove the cable winch 15.

[0071] In this embodiment, during the lifting process, the support plate 2 rotates and rises around the hinge axis between the connecting rod 3 and the base 1. The cable winch 15 will have a displacement component that moves outward from the rotating shaft 17 and an upward displacement component. At this time, the distance d of the gap can be directly used as the instantaneous movement distance. Based on the instantaneous duration, the instantaneous movement distance, and Newton's second law, the acceleration required for the instantaneous movement of the cable winch 15 can be calculated. Based on the required acceleration, the thrust applied by the support plate 2 to the cable winch 15 can be determined. Then, based on the thrust applied by the support plate 2 to the cable winch 15, the instantaneous increase value of the thrust output by the first push rod 4 can be derived.

[0072] Step c30: After a continuous instantaneous duration, a third control signal is generated. The third control signal is used to keep the thrust output by the first push rod 4 at the thrust output by the first push rod 4 when the pressure change value is zero.

[0073] Therefore, after the third control signal is generated, the thrust output by the first push rod 4 is restored to the thrust output by the first push rod 4 when the pressure change value is zero. At this time, the thrust applied by the support plate 2 to the cable winch 15 is equal to the total weight of the cable winch 15. In addition, there is a gap between the rotating shaft 17 and the shaft hole 16, which makes it easier to remove the cable winch 15 from the rotating shaft 17 and improves the convenience of disassembly operation. At this time, the cable winch 15 can be removed by simply pulling the loading and unloading vehicle outward. This method can reduce the friction between the cable winch 15 and the rotating shaft 17, slow down the wear between the rotating shaft 17 and the shaft hole 16, and improve the service life of both.

[0074] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0075] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A visual inspection and positioning system for a cable winch loading and unloading vehicle, characterized in that, The cable winch (15) loading and unloading vehicle is an automatic lifting loading and unloading vehicle. The loading and unloading vehicle is equipped with a sliding positioning device for positioning the cable winch (15). The loading and unloading vehicle includes: a base (1), a support plate (2) above the base (1), an installation port (5) on the support plate (2), and the sliding positioning device is installed on the installation port (5). The sliding positioning device includes a positioning plate (6), a positioning strip hole (14) on the positioning plate (6), and the four sides on the edge of the positioning strip hole (14) are used as positioning marks (7). The system includes: a processor, a camera (13), a controller, and a first driver. The camera (13) and the controller are both connected to the processor, and the first driver is electrically connected to the controller. The camera (13) is used to: collect image data after the loading and unloading vehicle moves below the cable winch (15) and upload the image data to the processor; The processor is used to: identify image data to obtain positioning reference lines and positioning marks (7), and generate pre-alignment operation instructions based on the positioning reference lines and positioning marks (7); after the sliding positioning device is pre-aligned with the cable winch (15); determine the positional deviation between the positioning reference lines and the positioning marks (7), and send the positional deviation to the controller; the pre-alignment operation instructions include: forward movement alignment instructions, backward movement alignment instructions, left movement alignment instructions, and backward movement alignment instructions; the steps for generating the pre-alignment operation instructions are: determining the projection line of the positioning reference lines on the support plate (2) and the position of the front end point of the positioning reference lines. The corresponding projection point; determine whether the projection line is located within the area enclosed by the positioning mark (7). If not, determine the area where the projection line is located, and generate a forward alignment instruction, a backward alignment instruction, a leftward alignment instruction, or a rightward alignment instruction based on the area where the projection line is located, so as to adjust the position of the loading and unloading vehicle until the front end of the positioning reference line is located within the area enclosed by the positioning mark (7); calculate the distance between the projection point and the front mark in the positioning mark (7), and determine whether the distance is less than the preset distance. If not, generate a forward alignment instruction to adjust the position of the loading and unloading vehicle forward until the distance is less than the preset distance; The controller is used to: generate an adjustment control quantity based on the position deviation, and control the first driver to drive the sliding positioning device to perform secondary alignment with the cable winch (15) based on the adjustment control quantity.

2. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 1, characterized in that, The support plate (2) has two connecting rods (3) on both the front and rear sides. One end of each connecting rod (3) is hinged to the support plate (2), and the other end of each connecting rod (3) is hinged to the base (1). A first push rod (4) is rotatably connected to the base (1), and the telescopic end of the first push rod (4) is hinged to one of the connecting rods (3).

3. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 2, characterized in that, On each of the support plates (2) located on both sides of the mounting port (5), there is a second push rod (8) that pushes the positioning plate (6) to move in the width direction of the support plate (2). The telescopic end of one of the second push rods (8) is rotatably connected to the positioning plate (6), and the telescopic end of the other second push rod (8) is connected to a slider (9). A corresponding groove (10) is provided in the length direction of the positioning plate (6), and the slider (9) is slidably connected in the groove (10).

4. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 3, characterized in that, The loading and unloading vehicle also includes a direction indicator (11) set on the surface of the support plate (2). The direction indicator (11) has four movement direction indicators, which are forward movement, backward movement, left movement and right movement in sequence. The direction indicator (11) is connected to the processor. The forward movement alignment indicator is used to control the forward movement direction indicator (11) to light up. The backward movement alignment indicator is used to control the backward movement direction indicator (11) to light up. The left movement alignment indicator is used to control the left movement direction indicator (11) to light up. The right movement alignment indicator is used to control the right movement direction indicator (11) to light up.

5. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 3 or 4, characterized in that, The base (1) has a column (12) in the middle of the front side. The camera (13) is mounted on the column (12). The height of the camera (13) is always greater than the height of the support plate (2). The positioning reference line is the axis of the cable winch (15).

6. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 5, characterized in that, The steps to determine the positional deviation between the positioning reference line and the positioning mark (7) are as follows: Extract the center line of the area enclosed by the two front points of the projection line and the positioning mark (7) in the length direction; Calculate the offset between the two front points and the center line to obtain two position offsets. Use the two position offsets as the position deviation between the positioning reference line and the positioning mark (7).

7. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 6, characterized in that, The system also includes a second driver and a pressure sensor, both of which are electrically connected to the controller. The second driver is used to drive the first push rod (4), and the pressure sensor is installed on the sliding positioning device to detect the pressure value borne by the sliding positioning device after it comes into contact with the cable winch (15).

8. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 7, characterized in that, The controller is also used to: obtain the pressure value and the corresponding timestamp of the sliding positioning device; calculate the pressure change value based on the pressure value and the corresponding timestamp of the sliding positioning device; generate an adjustment signal for adjusting the thrust output of the first push rod (4) based on the pressure change value, and send the adjustment signal to the second driver.

9. The visual inspection and positioning system for cable winch loading and unloading vehicles according to claim 8, characterized in that, The cable winch (15) has a shaft hole (16) in the middle, and the cable winch (15) is inserted into the rotating shaft (17) through the shaft hole (16), and there is a gap between the rotating shaft (17) and the shaft hole (16); the adjustment signal includes: a first control signal, a second control signal and a third control signal; the step of generating an adjustment signal for adjusting the thrust output of the first push rod (4) according to the pressure change value is as follows: Determine whether the pressure change value is zero. If not, generate a first control signal. The first control signal is used to increase the thrust output by the first push rod (4). If so, obtain the thrust output by the first push rod (4) and the distance of the gap when the pressure change value is zero. Based on the pressure value and the distance of the gap, determine the instantaneous increase value and instantaneous duration of the thrust output by the first push rod (4). Based on the instantaneous increase value and instantaneous duration, generate a second controller signal. The second control signal is used to increase the thrust output by the first push rod (4) to reach the instantaneous increase value and continue for the instantaneous duration. After a continuous instantaneous duration, a third control signal is generated, which is used to keep the thrust output by the first push rod (4) at the same level as when the pressure change value is zero.

Images