Automatic positioning control system of nodular cast iron pipeline transportation flat car

Abstract

The utility model discloses an automatic positioning control system of a nodular cast iron pipeline transportation flatcar, which comprises a plurality of light mark boxes, a pipe diameter identification probe, a position identification camera and a control module, the light mark boxes and production conveying lines are respectively arranged on two sides of a flatcar track, and the light mark boxes and the production conveying lines are arranged in a one-to-one correspondence mode. Each light mark box is provided with an identification color plate, the identification color plates display colors through color lamps, the colors displayed by the light mark boxes through the identification color plates are different, the pipe diameter identification probes and the position identification cameras are arranged on the pipe conveying flatcar, the pipe diameter identification probes correspond to pipes stored on the pipe conveying flatcar, and the position identification cameras correspond to the light mark boxes. The pipe diameter identification probe and the position identification camera are connected with the control module; standardized manufacturing is adopted, and the more on-site parking positions are, the lower the cost is; automatic control is adopted, a visual system is combined, on-site manual intervention is effectively reduced, the operation efficiency of the small flatcar is improved, and on-site labor cost can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline production transportation technical field, concretely relates to a ductile cast iron pipeline transport flatcar automatic positioning control system. BACKGROUND

[0002] In the production process layout of ductile cast iron pipes, according to the different production pipe diameters, often configure multiple hot-line production lines, multiple cold-line production lines. The pipes produced by hot-line casting are uniformly put into the annealing furnace for heat treatment, and then according to the pipe diameter size, are transported by the pipeline transport flatcar to different cold-line production lines to enter the subsequent process flow.

[0003] The pipeline transport flatcar equipment constructed in the early stage is a completely manual operation production mode, and each shift has an operator sitting on the trolley, which observes and judges the pipe type by the human eye to open the trolley to different positions. In the case of pure manual operation, the trolley is difficult to accurately position, and often needs to be corrected and adjusted repeatedly in the same position to accurately position. Moreover, in the process of long-time repeated work, the personnel are difficult to concentrate at all times, and the trolley is sometimes opened to the wrong position, resulting in waste of manpower and low efficiency.

[0004] In view of the above defects, the utility model creator finally obtains the utility model after long-term research and practice. UTILITY MODEL CONTENT

[0005] In order to solve the above technical defects, the utility model adopts the technical scheme, which provides a ductile cast iron pipeline transport flatcar automatic positioning control system. The pipeline transport flatcar is arranged on the flatcar track extending in a straight line. A plurality of production conveying lines are arranged on one side of the flatcar track, and each production conveying line is arranged in a straight line along the extension direction of the flatcar track. The ductile cast iron pipeline transport flatcar automatic positioning control system comprises a plurality of light beacon boxes, pipe diameter identification probes, position identification cameras and a control module. The light beacon boxes and the production conveying lines are arranged on both sides of the flatcar track, and the light beacon boxes and the production conveying lines are arranged one by one. Each light beacon box is provided with an identification color plate. The identification color plate displays color through color lights. The colors displayed by each light beacon box through the identification color plate are different. The pipe diameter identification probe and the position identification camera are arranged on the pipeline transport flatcar. The pipe diameter identification probe is arranged corresponding to the pipes stored on the pipeline transport flatcar. The position identification camera is arranged corresponding to the light beacon box. The pipe diameter identification probe and the position identification camera are connected with the control module.

[0006] Preferably, the identification color plates on the same light beacon box include a first identification plate, a second identification plate and a third identification plate, the first identification plate, the second identification plate and the third identification plate are different in shape, and the first identification plate, the second identification plate and the third identification plate are arranged in line along the extension direction of the flat car track in sequence, and the first identification plate, the second identification plate and the third identification plate on each light beacon box are arranged in the same way.

[0007] Preferably, the first identification plate, the second identification plate and the third identification plate on the same light beacon box display the same color.

[0008] Preferably, the second identification plate on each light beacon box is arranged on the center extension line of the production conveying line.

[0009] Preferably, the control module is connected with the pipe flat car to control the start and stop and moving speed of the pipe flat car.

[0010] Preferably, the first identification plate is arranged in a circular shape, the second identification plate is arranged in an arrow shape, and the third identification plate is arranged in a triangular shape.

[0011] Preferably, a discharging manipulator is further arranged corresponding to each production conveying line, and the discharging manipulator is connected with the control module.

[0012] Preferably, a visual processing assembly is arranged in the control module, the position recognition camera is connected with the visual processing assembly, and the visual processing assembly is used for processing the photo information photographed by the position recognition camera in real time, and determining the moving direction and moving area of the pipe flat car through the photo information.

[0013] Compared with the prior art, the utility model has the beneficial effects that: the utility model is made in a standardized manner, the more the stopping positions on site are, the lower the cost is; automatic control is adopted in combination with a visual system, manual intervention on site is effectively reduced, the operation efficiency of the flat car is improved, and the labor cost on site is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structural schematic view of the ductile cast iron pipeline pipe flat car automatic positioning control system.

[0015] Figure 2 It is a flow schematic view of the ductile cast iron pipeline pipe flat car automatic positioning control system.

[0016] Numerical values in the figure:

[0017] 1-Pipe transport flatcar; 2-Flatcar track; 3-Production conveyor line; 4-Light beacon box; 5-Pipe diameter identification probe; 6-Position identification camera; 7-Pipeline; 8-Light beacon control box; 9-First identification plate; 10-Second identification plate; 11-Third identification plate. Detailed Implementation

[0018] The above-mentioned and other technical features and advantages of this utility model will be described in more detail below with reference to the accompanying drawings.

[0019] Example 1

[0020] like Figure 1 As shown, Figure 1 This is a schematic diagram of the automatic positioning control system for the ductile iron pipeline transport flatcar.

[0021] The ductile iron pipe transport flatcar automatic positioning control system of this utility model includes a transport flatcar 1 set on a straight-extending flatcar track 2. Several production conveyor lines 3 are arranged on one side of the flatcar track 2, and each production conveyor line 3 is arranged in a straight line along the extension direction of the flatcar track 2. The ductile iron pipe transport flatcar automatic positioning control system includes several light beacon boxes 4, pipe diameter identification probes 5, position identification cameras 6, and a control module. The light beacon boxes 4 and the production conveyor lines 3 are respectively set on both sides of the flatcar track 2, and the light beacon boxes 4 and production conveyor lines 3 are arranged in a one-to-one correspondence. Each light beacon box 4... The light beacon control box 8 is connected to the light beacon box 4. Each light beacon box 4 is equipped with an identification color plate. The identification color plate displays a color through a color light. The colors displayed by each light beacon box 4 through the identification color plate are different. The light beacon control box 8 is used to control the display color of each light beacon box 4. The pipe diameter identification probe 5 and the position identification camera 6 are both installed on the pipe transport flatcar 1. The pipe diameter identification probe 5 is set in the space on the pipe transport flatcar 1 for storing pipes 7. The position identification camera 6 is set in the light beacon box 4. The pipe diameter identification probe 5 and the position identification camera 6 are both connected to the control module.

[0022] Preferably, the color plates on the same light beacon box 4 all include a first label plate 9, a second label plate 10, and a third label plate 11. The shapes of the first label plate 9, the second label plate 10, and the third label plate 11 are all different, and the first label plate 9, the second label plate 10, and the third label plate 11 are arranged in a straight line along the extension direction of the flatcar track 2. The arrangement of the first label plate 9, the second label plate 10, and the third label plate 11 on each light beacon box 4 is consistent.

[0023] Generally, the first signboard 9, the second signboard 10, and the third signboard 11 on the same signboard box 4 display the same color, which facilitates the location recognition camera 6 to capture the color.

[0024] Generally, the second identification plate 10 on each of the light beacon boxes 4 is set on the center extension line of the corresponding production conveyor line 3, so that the pipe transport flatcar 1 can be parked at the position of the corresponding second identification plate 10 to facilitate the loading and unloading of pipes.

[0025] When the pipe transport flatcar 1 detects the first marking plate 9 or the third marking plate 11, it decelerates to ensure that the pipe transport flatcar 1 stops at the position of the second marking plate 10, thereby moving the corresponding pipe on the pipe transport flatcar 1 to the corresponding production conveyor line 3.

[0026] Preferably, the control module is connected to the transport flatcar 1 to control the start, stop and movement speed of the transport flatcar 1, thereby ensuring that the transport flatcar 1 can be accurately parked at the corresponding position of the second signboard 10.

[0027] Generally, the control module is wirelessly connected to the light beacon control box 8. The control module and the light beacon control box 8 are connected to perform pairing between pipe fittings of different diameters and corresponding display colors. After the pipe diameter recognition probe 5 recognizes the pipe diameter of the pipe fitting on the pipe transport flatcar 1, the corresponding position recognition camera 6 recognizes the display color on the light beacon box 4 to ensure that the pipe fitting of the corresponding diameter is transported to the corresponding production conveyor line 3.

[0028] Generally, the first signboard 9 is circular, the second signboard 10 is arrow-shaped, and the third signboard 11 is triangular.

[0029] Each of the production conveyor lines 3 is also equipped with an unloading robot. The unloading robot is connected to the control module. After the pipe transport flatcar 1 stops at the corresponding position of the production conveyor line 3, the control module starts the unloading robot to transport the pipe from the pipe transport flatcar 1 to the corresponding production conveyor line 3.

[0030] The control module is equipped with a vision processing component. The position recognition camera 6 is connected to the vision processing component. The vision processing component is used to process the photo information captured in real time by the position recognition camera 6, and to determine whether the transport flatcar 1 has moved to the corresponding area of ​​the light box 4 and the direction of movement of the transport flatcar 1 through the photo information, so as to provide the movement data of the transport flatcar 1 for the control module to perform position control of the transport flatcar 1.

[0031] This utility model adopts standardized manufacturing, and the more parking positions on site, the lower the cost; it adopts automated control and combined with a vision system, which effectively reduces on-site manual intervention, improves the operating efficiency of the flatbed cart, and reduces on-site labor costs.

[0032] Example 2

[0033] like Figure 2 As shown, Figure 2 This is a flowchart illustrating the automatic positioning control system for the ductile iron pipeline transport flatcar. The specific control process of this utility model's automatic positioning control system for the ductile iron pipeline transport flatcar is as follows:

[0034] In automatic operation mode, when the pipe transport flatcar 1 carrying the cast iron pipe 7 needs to transport pipes, the operator presses the run button. The pipe diameter identification probe 5 detects the pipe diameter information of the cast iron pipe 7 placed on the pipe transport flatcar 1 and transmits the pipe diameter information to the control module.

[0035] The control module sets an algorithm to automatically calculate and identify the diameter of the cast iron pipe 7, match and determine the corresponding production conveyor line 3, determine the stopping position of the pipe transport flatcar 1, and control the pipe transport flatcar 1 to move on the flatcar track 2.

[0036] During the movement, the location recognition camera 6 continuously takes pictures and sends the captured image information to the visual processing component. The visual processing component performs recognition processing on the received image information according to a pre-set and trained algorithm model.

[0037] The visual processing component determines the position of the transport flatcar 1 based on the color information of the identified light box 4, and determines the direction of movement of the transport flatcar 1 based on whether the identified color plates within a unit time interval are from the first color plate 9 to the second color plate 10 or from the third color plate 11 to the second color plate 10.

[0038] During the operation of the transport flatcar 1, when the color information of the light box 4 at the current location identified by the vision processing component matches the color of the light box 4 at the predetermined stopping position of the transport flatcar 1 by the control module, combined with the movement direction of the transport flatcar 1 determined by the vision processing component, after the vision processing component identifies the first signboard 9 or the third signboard 11, the control module controls the transport flatcar 1 to decelerate, and finally the transport flatcar 1 stops after the vision processing component identifies the second signboard 10.

[0039] The control module outputs the docking information of the pipe transport flatcar 1 and controls the unloading robot to transport the cast iron pipe 7 loaded on the pipe transport flatcar 1 to the corresponding production conveyor line 3. After completion, it automatically returns to the pipe 7 loading area to wait for loading and start the next cycle.

[0040] The above description is merely a preferred embodiment of the present utility model and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present utility model, all of which will fall within the protection scope of the present utility model.

Claims

1. An automatic positioning control system for a ductile iron pipeline transport flatcar, characterized in that, The pipe transport flatcar is set on a straight-extending flatcar track. Several production conveyor lines are arranged on one side of the track, and these lines are aligned in a straight line along the track's extension direction. The automatic positioning control system for the ductile iron pipe transport flatcar includes several light boxes, pipe diameter identification probes, position identification cameras, and a control module. The light boxes and production conveyor lines are respectively located on both sides of the track, and each light box corresponds to one of the production conveyor lines. Each light box has a color indicator plate, which displays a color using colored lights. The colors displayed by the color indicators in each light box are different. The pipe diameter identification probes and position identification cameras are both mounted on the pipe transport flatcar. The pipe diameter identification probes correspond to the pipes stored on the flatcar, and the position identification cameras correspond to the light boxes. Both the pipe diameter identification probes and the position identification cameras are connected to the control module.

2. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 1, characterized in that, The color plates on the same light beacon box all include a first label plate, a second label plate, and a third label plate. The shapes of the first label plate, the second label plate, and the third label plate are all different, and the first label plate, the second label plate, and the third label plate are arranged in a straight line along the extension direction of the flatcar track. The arrangement of the first label plate, the second label plate, and the third label plate on each light beacon box is the same.

3. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 2, characterized in that, The first, second, and third signboards on the same signboard box display the same color.

4. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 3, characterized in that, The second identification plate on each of the light boxes is set on the center extension line of the corresponding production conveyor line.

5. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 2, characterized in that, The control module is connected to the transport flatcar and is used to control the start, stop and speed of the transport flatcar.

6. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 2, characterized in that, The first signboard is circular, the second signboard is arrow-shaped, and the third signboard is triangular.

7. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 5, characterized in that, Each of the aforementioned production conveyor lines is also equipped with an unloading robot, which is connected to the control module.

8. The automatic positioning control system for ductile iron pipeline transport flatcars as described in claim 2, characterized in that, The control module is equipped with a vision processing component. The position recognition camera is connected to the vision processing component. The vision processing component is used to process the photo information captured in real time by the position recognition camera and to determine the movement direction and movement area of ​​the transport flatcar based on the photo information.

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