Pin shaft and pin hole alignment device based on visual identification

Abstract

The utility model relates to the technical field of tower crane disassembly and assembly, in particular to a pin shaft and pin hole alignment device based on visual identification, the alignment device comprises a collecting device, a disassembly and assembly device and a processing device, the collecting device is located on a climbing frame of a tower crane and can move along with the climbing frame; the dismounting and mounting equipment is positioned on a standard knot main chord member of the tower crane and is used for pushing a pin shaft out of a pin hole or pushing the pin shaft into the pin hole; the processing equipment is connected with the acquisition equipment and the disassembly and assembly equipment, and the processing equipment is used for determining a target physical distance value based on a target image acquired by the acquisition equipment and indicating the disassembly and assembly equipment to move based on the target physical distance value. By means of the alignment device, automatic alignment of the pin holes and the pin shafts is achieved, and efficient execution of the alignment process is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of tower crane disassembly and assembly, and in particular to a pin shaft and pin hole alignment device based on visual recognition. Background Art

[0002] The pin is a key component used to connect two adjacent standard sections of a tower crane, playing a vital role in the safety and stability of the crane's overall structure. After the tower crane is raised and the upper and lower standard sections are aligned and installed, the pin needs to be inserted into the pin hole to ensure the stability of the connection between the adjacent standard sections. During lowering operations or when removing standard sections, the pin needs to be knocked out of the pin hole.

[0003] The traditional method for installing and removing pins is to manually hammer them in and out of the holes. This method is time-consuming and labor-intensive, and poses the safety hazard of the hammer slipping due to improper operation. Furthermore, before using specialized pin removal equipment to push the pin in or out of the hole, the pin or push rod must be manually aligned with the hole, ensuring that the pin / push rod and hole are coaxially aligned. For less skilled installers, this method consumes a significant amount of time and can be difficult to achieve the required installation quality. Utility Model Content

[0004] An embodiment of the present application provides a pin shaft and pin hole alignment device based on visual recognition, which can realize automatic alignment of the pin hole and the pin shaft, as well as automatic disassembly and assembly of the pin shaft.

[0005] On the one hand, an embodiment of the present application provides a pin-shaft and pin-hole alignment device based on visual recognition, the alignment device comprising:

[0006] The acquisition device is located on the climbing frame of the tower crane and can move with the climbing frame. The acquisition device is used to acquire target images;

[0007] The disassembly and assembly equipment is used to push the pin out of the pin hole or into the pin hole located on the main chord of the standard section;

[0008] The processing device is connected to the acquisition device and the assembly and disassembly device respectively, and is used to determine a target physical distance value based on the target image and instruct the assembly and disassembly device to move based on the target physical distance value.

[0009] In a possible embodiment, the disassembly and assembly equipment is located on the outer angle steel of the climbing frame of the tower crane and is connected to the standard section main chord of the tower crane, and the disassembly and assembly equipment includes at least one tensioning wheel;

[0010] The disassembly and assembly equipment is connected to the standard main chord of the tower crane, and includes:

[0011] The assembly and disassembly equipment is relatively fixed in a first coordinate direction of the main chord of the standard section in the coordinate system of the acquisition equipment through the tensioning force of the at least one tensioning wheel.

[0012] In a possible embodiment, the disassembly and assembly equipment further includes a pin-carrying cylinder and a hydraulic push rod;

[0013] The at least one tensioning wheel is located between the standard section main chord and the pin-carrying cylinder;

[0014] The hydraulic push rod is located on a side of the pin-carrying cylinder away from the at least one tensioning wheel;

[0015] The outer surface of the pin carrier cylinder includes a target label, and the target label is used to mark the pin shaft in the pin carrier cylinder.

[0016] In one possible embodiment, the side of the standard section main chord connected to the at least one tensioning wheel includes a pin hole, and a locking pin hole connecting plate is welded on the side of the standard section main chord facing away from the pin hole. The locking pin hole connecting plate includes a locking pin hole, and the reference lines of the locking pin hole connecting plate and the pin hole are the same on the first preset plane.

[0017] In a possible implementation, the target image captured by the acquisition device includes the lock pin hole connecting plate on the main chord of the standard section and the target label on the outer surface of the pin carrier cylinder.

[0018] In a possible embodiment, the side of the pin-carrying cylinder on which the tensioning wheel is mounted includes a pin outlet.

[0019] In a possible implementation, a reference line of the pin shaft on the disassembly and assembly device, a reference line of the hydraulic push rod, a reference line of the target label, and a reference line of the pin outlet are identical on the second preset plane.

[0020] In a possible implementation, the second coordinate axis and the third coordinate axis in the acquisition device coordinate system are parallel to the lock pin hole connecting plate on the main chord of the standard section and the outer surface of the pin-carrying cylinder;

[0021] The vertical center axis of the main chord of the standard section is perpendicular to the second coordinate axis, and the vertical center axis of the main chord of the standard section is at the same position as the third coordinate axis.

[0022] In a possible implementation, the acquisition device is an industrial camera, and the industrial camera is connected to a ground display device.

[0023] In a possible implementation, the reference line is a central axis.

[0024] The embodiment of the present application uses a processing device to analyze the image containing the lock pin hole connecting plate and the target label collected by the collection device, and can determine the angle between the reference line of the pin shaft and the reference line of the pin hole and the target physical distance value, and can instruct the disassembly and assembly device to move according to the target physical distance value so that the reference line of the pin shaft and the reference line of the pin hole are on the same straight line, so that the disassembly and assembly device pushes the pin shaft into the pin hole. The above-mentioned device can realize the automation of the alignment process without manual intervention, thereby ensuring the accuracy and timeliness of the alignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of the positional relationship between a main chord and a pin of a standard section according to an exemplary embodiment of the present application;

[0026] Figure 2 This is a schematic diagram of a lock pin hole connecting plate structure according to an exemplary embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of a tower crane structure according to an exemplary embodiment of the present application;

[0028] Figure 4 This is a schematic diagram of an application scenario according to an exemplary embodiment of the present application;

[0029] Figure 5 This is a schematic diagram of a disassembly and assembly device structure according to an exemplary embodiment of the present application;

[0030] Figure 6 Schematic diagram of a pin-shaft and pin-hole alignment device based on visual recognition according to an exemplary embodiment of the present application;

[0031] Figure 7 Schematic diagram of another pin-shaft and pin-hole alignment device based on visual recognition according to an exemplary embodiment of the present application;

[0032] Figure 8 The present invention provides a schematic diagram of a specific process of a pin shaft and pin hole alignment method based on visual recognition according to an exemplary embodiment of the present application.

[0033] Markings and corresponding parts names in the accompanying drawings:

[0034] 100-pin hole; 101-main chord of standard section; 102-pin shaft; 200-locking pin hole connecting plate; 201-locking pin hole; 300-standard section; 301-climbing frame; 400-handling equipment; 401-disassembly and assembly equipment; 402-inspection personnel; 403-acquisition equipment; 501-first tensioning wheel; 502-second tensioning wheel; 503-pin cylinder; 504-hydraulic push rod; 505-pin outlet; 601-target label; 602-reference line of the pin outlet, or reference line of the pin shaft, or reference line of the target label, or reference line of the hydraulic push rod; 603-reference line of the pin hole, or reference line of the locking pin hole connecting plate; 700-vertical center axis of the main chord of the standard section, or the y-coordinate axis in the coordinate system of the acquisition equipment. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0036] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0037] First, some concepts involved in the embodiments of this application are introduced.

[0038] Tower cranes, also known as tower cranes, are primarily used for vertical and horizontal material transportation and component installation in building construction. They consist of three main components: a metal structure, a working mechanism, and an electrical system. The metal structure includes the tower, boom, and base; the working mechanism comprises the hoisting, luffing, slewing, and travel functions; and the electrical system includes the motor, controller, distribution cabinet, connecting wiring, and signal and lighting devices.

[0039] Pin hole 100: as Figure 1As shown in (top view), the pin hole 100 is located on the main chord 101 of the standard section. When the tower crane is in the jacking operation scenario, after the upper and lower standard sections are aligned and installed, the pin shaft 102 needs to be inserted into the pin hole 100; and when lowering the section or dismantling the standard section, the pin shaft 102 needs to be knocked out of the pin hole 100.

[0040] Pin 102: One of the key components that connects the two standard main chords of the tower crane, and plays a very important role in the safety and stability of the overall structure of the tower crane.

[0041] Locking pin hole connecting plate 200: It is a component welded on the designated position of the main chord 101 of the tower crane standard section, such as Figure 2 As shown, a locking pin hole 201 is reserved on the locking pin hole connecting plate 200. When the pin shaft 102 is pushed into the pin hole 100, the locking pin rod passes through the locking pin hole 201 and the pin shaft 102 to prevent the pin shaft 102 from being displaced.

[0042] Climbing frame 301: It is placed on multiple standard sections and can move up and down along the standard sections, such as Figure 3 As shown, 300 is the standard section of the tower crane (including 3 standard sections in the figure), and 301 is the climbing frame of the tower crane, which can climb up and down along the connected standard sections.

[0043] The pin shaft and pin hole alignment device based on visual recognition in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0044] like Figure 4 The following is an application scenario of a pin-shaft and pin-hole alignment device based on visual recognition provided by an embodiment of the present application, which includes: a processing device 400, a disassembly and assembly device 401, a standard section main chord 101, a collection device 403, a ground display 404, and a viewing person 402.

[0045] The acquisition device 403 uploads the captured target image to the processing device 400. The processing device 400 obtains the target physical distance value based on the target image and sends an instruction to the assembly and disassembly device 401, so that the assembly and disassembly device 401 can align the pin hole 100 with the pin shaft 102 according to the target physical distance value contained in the instruction. In addition, the acquisition device 403 can also capture a video of the assembly and disassembly process of the pin shaft 102 performed by the assembly and disassembly device 401, and can display it to the viewing personnel 402 via the ground display 404.

[0046] After introducing the application scenarios of the embodiments of the present application, the preferred implementation methods of the present application are further described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other if there is no conflict.

[0047] Based on the accuracy and timeliness issues in the prior art pin and pin hole alignment process, the present invention provides a pin and pin hole alignment device based on visual recognition, which includes:

[0048] Collection equipment 403, disassembly equipment 401 and processing equipment 400; wherein:

[0049] The disassembly and assembly device 401 is installed on the outer angle steel of the climbing frame 301 of the tower crane so that the acquisition device 403 can capture images containing the disassembly and assembly device 401. It can be raised and lowered with the climbing frame 301 and is connected to the standard section main chord 101 of the tower crane.

[0050] In specific implementation, Figure 5 As shown, the disassembly and assembly equipment 401 includes a first tensioning wheel 501, a second tensioning wheel 502, a pin-carrying cylinder 503, a hydraulic push rod 504, and a pin outlet 505. The embodiment of the present application does not specifically limit the number of tensioning wheels.

[0051] like Figure 6 As shown, the assembly and disassembly device 401 is connected to the standard section main chord 101 via a first tensioning wheel 501 and a second tensioning wheel 502. That is, the assembly and disassembly device 401 is relatively fixed in the z-coordinate direction of the coordinate system of the acquisition device by the tensioning force of the first tensioning wheel 501 and the second tensioning wheel 502, to ensure that the pin shaft and the pin hole 100 in the pin-carrying cylinder 503 are aligned in the z-coordinate direction. The first tensioning wheel 501 and the second tensioning wheel 502 are located between the standard section main chord 101 and the pin-carrying cylinder 503. The side of the standard section main chord 101 connected to the first tensioning wheel 501 and the second tensioning wheel 502 includes a pin hole 100. A locking pin hole connecting plate 200 is welded to the side of the standard section main chord 101 facing away from the pin hole 100. The locking pin hole connecting plate 200 includes a locking pin hole 201. The pin shaft 102 can be pushed into the pin hole 100 from the pin outlet 505 on the side where the tensioning wheel is installed in the pin carrying cylinder 503 .

[0052] The acquisition device 403 is located on the climbing frame 301 of the tower crane and can move with the climbing frame 301. The acquisition device is used to acquire target images.

[0053] like Figure 7 As shown, the acquisition device 403 captures images along the z-axis. The x- and y-axes of the acquisition device 403 coordinate system are parallel to the locking pin hole connecting plate 200 on the standard section main chord 101 and the outer surface of the pin-carrying cylinder 503. The vertical center axis 700 of the standard section main chord 101 is perpendicular to the x-axis, and the vertical center axis 700 of the standard section main chord 100 is aligned with the y-axis. During target image acquisition, the relative position of the acquisition device 403 and the pin-carrying cylinder 503 remains fixed.

[0054] In order to align the pin hole 100 with the pin shaft 102, it is necessary to align the reference lines of the pin hole 101 and the pin shaft 102 when pushing the pin shaft 102 into the pin hole 100, and to align the reference lines of the pin hole 101 and the pin outlet 505 when pushing the pin shaft 102 out of the pin hole 100. However, the pin shaft 102 is located inside the pin carrier cylinder 503, and it is not easy for the acquisition device 403 to capture an image containing the pin shaft 102. The pin outlet 505 is also not easy to be captured by the acquisition device 403. Therefore, the pin shaft 102 is marked on the outer surface of the pin carrier cylinder 503, as shown in FIG. Figure 6 and Figure 7 The target label 601 in the image is used as the reference line of the target label 601, and the reference line of the target label 601 is used as the reference line of the pin shaft 102 and the pin outlet 505. In the embodiment of the present application, the reference line 602 of the pin shaft 102, the hydraulic push rod 504, the target label 601 and the pin outlet 505 are the same on the xoy plane under the coordinate system of the acquisition device 403. Among them, the shape of the target label 601 can be rectangular or other shapes, can be black or other colors, and this embodiment of the present application is not specifically limited. Similarly, the pin hole 100 is not easily collected by the acquisition device 403, so the reference line 603 of the locking pin hole connecting plate 200 is used as the reference line 603 of the pin hole, that is, the reference line 603 of the locking pin hole connecting plate 200 and the pin hole are the same on the xoy plane under the coordinate system of the acquisition device 403. In addition, the hydraulic push rod 504 is aligned with the pin shaft 102 and the pin outlet 505 , so the reference line of the hydraulic push rod can also be used as the reference line of the pin shaft 102 and the pin outlet 505 .

[0055] To ensure that the acquisition device 403 can capture the locking pin hole connecting plate 200 and the target tag 601, the distance between the acquisition device 403 and the master section main chord 101 and the pin carrier cylinder 503 is preferably such that the entire locking pin hole connecting plate 200 and the pin carrier cylinder 503 can be captured. In other words, the target image can be an image that includes the locking pin hole connecting plate 200 and the target tag 601.

[0056] In a specific implementation, the acquisition device 403 can be an industrial camera, and the reference line 602 and the reference line 603 can both be central axes. The embodiment of the present application does not specifically limit the model of the acquisition device 403 and the position of the reference line.

[0057] like Figure 4As shown, the processing device 400 is connected to the acquisition device 403 and the disassembly and assembly device 401 respectively. The processing device 400 is used to determine the target physical distance value based on the target image acquired by the acquisition device 403, and instruct the disassembly and assembly device 401 to move based on the target physical distance value so that the central axis of the pin hole 100 and the central axis of the pin shaft 102 (or the pin outlet 505) are on the same straight line, that is, the pin hole 100 and the pin shaft 102 (or the pin outlet 505) are aligned.

[0058] The following is a specific process of a pin-shaft pin-hole alignment method based on visual recognition performed on the processing device 400. Figure 8 shown.

[0059] S801: Using an object detection and segmentation network, perform object detection, segmentation, and minimum bounding rectangle calculation on the captured image containing the locking pin hole connecting plate 200 and the target label 601; the minimum bounding rectangle includes a first minimum bounding rectangle corresponding to the locking pin hole connecting plate and a second minimum bounding rectangle corresponding to the target label;

[0060] S802: Based on the first minimum circumscribed rectangle, locate the reference line L1 (i.e., 603) of the locking pin hole connecting plate 200, and based on the second minimum circumscribed rectangle, locate the reference line L2 (i.e., 602) of the target tag;

[0061] S803: Determine whether L1 and L2 are parallel. If so, execute S805; otherwise, execute S804. The specific method for determining parallelism is the same as S303 above and will not be repeated here.

[0062] S804: Generate an alarm message, which is used to prompt the staff to check the installation status of the disassembly device 401;

[0063] S805: Adjust L2 based on the first physical distance, the second physical distance, and parameters of the acquisition device 403 to obtain L3; wherein the first physical distance is the physical distance between the locking pin hole connecting plate 200 and the acquisition device 403, and the second physical distance is the physical distance between the target tag 601 and the acquisition device 403;

[0064] S806: Calculate the pixel distance between L1 and L3, and then execute S807;

[0065] S807: Determine whether the pixel distance value is within a preset distance range. If so, execute S808; otherwise, execute S809;

[0066] S808: Instructing the disassembling device 401 to push the pin 102 into or out of the pin hole 100, and then ending;

[0067] S809: Convert the pixel distance value into a target physical distance value, and then execute S810;

[0068] S810: Instruct the assembly / disassembly device 401 to move along the y-coordinate axis according to the target physical distance value, and then end.

[0069] Through the pin shaft and pin hole alignment device based on visual recognition provided by the embodiment of the present application, during the automatic disassembly and assembly of the pin shaft 102, no manual intervention is required to perform the alignment operation of the pin shaft 102 (or the pin outlet 505) and the pin hole 100, which saves manpower expenses, improves the level of automation and work efficiency, and truly realizes unmanned automation of pin shaft disassembly and assembly; in addition, the embodiment of the present application also improves the accuracy of alignment detection by calculating the pixel distance between the transformed reference line and the horizontal reference line 603 of the lock pin hole connecting plate 200 after translating the horizontal reference line of the target label 601 in the image; at the same time, when the tower crane is lifting or lowering, the acquisition device 403 can transmit the automatic disassembly and assembly process to the ground display 404 in real time, so that the viewing personnel 405 can pay attention to the disassembly and assembly of the pin shaft 102 in real time.

[0070] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations.

Claims

1. A pin shaft and pin hole alignment device based on visual recognition, characterized in that: The alignment device includes a collection device, a disassembly device and a processing device; wherein: The acquisition device is located on the climbing frame of the tower crane and can move with the climbing frame. The acquisition device is used to acquire target images; The disassembly and assembly equipment is located on the outer angle steel of the climbing frame of the tower crane and is connected to the standard section main chord of the tower crane. The disassembly and assembly equipment is used to push the pin shaft out of the pin hole or into the pin hole located on the standard section main chord. The disassembly and assembly equipment includes a pin-carrying cylinder, a hydraulic push rod and at least one tensioning wheel. The at least one tensioning wheel is located between the standard section main chord and the pin-carrying cylinder; The processing equipment is connected to the collecting equipment and the disassembling equipment respectively.

2. The device according to claim 1, characterized in that The disassembly and assembly equipment is connected to the standard main chord of the tower crane, and includes: The assembly and disassembly equipment is relatively fixed in a first coordinate direction of the main chord of the standard section in the coordinate system of the acquisition equipment through the tensioning force of the at least one tensioning wheel.

3. The device according to claim 2, characterized in that The hydraulic push rod is located on a side of the pin-carrying cylinder away from the at least one tensioning wheel; The outer surface of the pin carrier cylinder includes a target label, and the target label is used to mark the pin shaft in the pin carrier cylinder.

4. The device according to claim 2, characterized in that The side of the standard section main chord connected to the at least one tensioning wheel includes a pin hole, and a locking pin hole connecting plate is welded on the side of the standard section main chord facing away from the pin hole, and the reference lines of the locking pin hole connecting plate and the pin hole are the same on the first preset plane.

5. The device according to any one of claims 1 to 4, characterized in that: The target image captured by the acquisition device includes the lock pin hole connecting plate on the main chord of the standard section and the target label on the outer surface of the pin carrier cylinder.

6. The device according to claim 3, characterized in that The side of the pin-carrying cylinder where the tension wheel is mounted includes a pin outlet.

7. The device according to claim 6, characterized in that The reference line of the pin shaft on the disassembly and assembly equipment, the reference line of the hydraulic push rod, the reference line of the target label and the reference line of the pin outlet are the same on the second preset plane.

8. The device according to claim 3, characterized in that The second coordinate axis and the third coordinate axis in the acquisition equipment coordinate system are parallel to the lock pin hole connecting plate on the main chord of the standard section and the outer surface of the pin-carrying cylinder; The vertical center axis of the main chord of the standard section is perpendicular to the second coordinate axis, and the vertical center axis of the main chord of the standard section is at the same position as the third coordinate axis.

9. The device according to claim 1, characterized in that The acquisition device is an industrial camera, and the industrial camera is connected to a ground display device.

10. The device according to claim 4 or 7, characterized in that The reference line is the central axis.

Images