Automatic adjusting device of ship loader based on visual identification

Abstract

The utility model provides a kind of automatic adjusting device of ship loader based on visual identification, it solves the problems such as poor adaptability of ship loader, it includes cylinder seat and guiding cylinder movably installed on cylinder seat, visual identification module is installed on cylinder seat and guiding cylinder, guiding cylinder includes several first and last movably connected sub-cylinder body and is installed with bending assembly between adjacent sub-cylinder body, driving assembly linked with bending assembly is installed in cylinder seat.The utility model has the advantages of high flexibility, can adapt to different cabin and the like.

Description

Technical Field

[0001] This utility model belongs to the technical field of ship loader systems, specifically relating to an automatic adjustment device for ship loaders based on visual recognition. Background Technology

[0002] Ship loaders are core equipment in port bulk cargo handling systems, primarily used to efficiently load bulk commodities such as coal, ore, and grain into ship cargo holds. A standard ship loader typically comprises five major systems: a supporting steel structure, a boom conveyor system, a slewing mechanism, a pitching mechanism, and a traveling system. Materials are received by a reclaimer or yard conveyor, fed through a transfer hopper onto the boom conveyor belt, and finally dumped into designated locations in the ship's hold via a chute. However, some non-rotating ship loaders omit the slewing mechanism to reduce costs, resulting in decreased operational flexibility and difficulty in loading cargo into holds with unusual locations.

[0003] To address the shortcomings of existing technologies, people have conducted long-term explorations and proposed various solutions. For example, Chinese patent literature discloses a visual technology-based anti-collision system for dry bulk cargo loader drums [202311663138.5], which includes a main controller, a PLC controller, a hard disk recorder, a position detection mechanism, and a PLC anti-collision processing program. The position detection mechanism consists of a detection lens, a millimeter-wave radar, and a driver's cab-side monitoring camera. The detection lens and millimeter-wave radar are wirelessly connected to the main controller, PLC controller, and hard disk recorder, and the driver's cab-side monitoring camera is wirelessly connected to the driver's cab camera controller.

[0004] The above solution has solved the problem of visual monitoring of ship loaders to a certain extent, but it still has many shortcomings, such as insufficient adjustment flexibility and difficulty in loading into ship compartments with special locations. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a visual recognition-based automatic adjustment device for ship loaders that is reasonably designed and highly flexible in adjustment.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an automatic adjustment device for a ship loader based on visual recognition, comprising a cylinder base and a guide cylinder movably mounted on the cylinder base, a visual recognition module installed on the cylinder base and the guide cylinder, the guide cylinder comprising a plurality of sub-cylinders movably connected end to end and a bending component installed between adjacent sub-cylinders, and a drive component that is linked with the bending component installed inside the cylinder base.

[0007] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, the visual recognition module includes a camera arranged circumferentially along the cylinder base, and a lidar is installed at the end of the guide cylinder away from the cylinder base.

[0008] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, the guide cylinder is made of stainless steel and has a hollow interlayer. The junctions of adjacent sub-cylinders are sealed by flexible hoses. Each guide cylinder has a transition post extending along its central axis. The transition posts of adjacent sub-cylinders are connected one by one by universal joints.

[0009] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, the bending component includes limiting pulleys installed at both ends of the split cylinder. The limiting pulleys are arranged in pairs relative to the front and rear ends of the split cylinder, and the limiting pulleys in the same circumferential direction are symmetrical with respect to the central axis of the split cylinder.

[0010] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, the drive assembly includes several drive motors installed inside the drum base. The output ends of the drive motors are connected to drive ropes via a gear set. The drive ropes pass through the drum body and are in contact with the limit pulleys.

[0011] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, a locking component is provided between the limit pulley and the dividing cylinder.

[0012] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, the locking component includes a clamping wheel rotatably installed inside the split drum and located between the two end limit pulleys. The clamping wheel is connected to a locking motor. The clamping wheel has a radially penetrating movable hole. The driving pull rope passes through the movable hole of the clamping wheel and rotates with the clamping wheel to fit or separate from its outer surface.

[0013] In the aforementioned automatic adjustment device for a ship loader based on vision recognition, the cylinder base is annular and has a drive housing for assembling drive components, and a flange is provided on the cylinder base.

[0014] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, an indicator light is installed on the outside of the guide cylinder.

[0015] In the aforementioned automatic adjustment device for a ship loader based on visual recognition, the inner side of the guide cylinder is covered with a wear-resistant layer.

[0016] Compared with existing technologies, the advantages of this utility model are as follows: the orientation of the sub-cylinder can be arbitrarily adjusted by the bending component and the driving component, and it can be adapted to the special position of the cabin with the help of the visual recognition module; the guide tube is equipped with multiple cameras and lidar, which can accurately collect the status of the cabin and prevent interference and collision during loading; the sub-cylinder has a built-in locking component, which further improves the flexibility of the bending component adjustment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is another structural schematic diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the cylindrical body of this utility model;

[0020] Figure 4 This is a partial sectional view of the present invention;

[0021] In the diagram, the components are: cylinder base 1, drive housing 11, flange 12, guide cylinder 2, indicator light 21, visual recognition module 3, camera 31, lidar 32, split cylinder 4, flexible hose 41, adapter column 42, universal joint 43, bending assembly 5, limit pulley 51, drive assembly 6, drive motor 61, speed gear set 62, drive pull rope 63, locking assembly 7, clamping wheel 71, locking motor 72, and movable hole 73. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1-4 As shown, an automatic adjustment device for a ship loader based on vision recognition includes a cylinder base 1 and a guide cylinder 2 movably mounted on the cylinder base 1. The cylinder base 1 is connected to a corresponding material conveying system, and the guide cylinder 2 guides the material transfer. A vision recognition module 3 is installed on the cylinder base 1 and the guide cylinder 2 for real-time monitoring. The guide cylinder 2 includes several end-to-end connected sub-cylinders 4, and a bending component 5 is installed between adjacent sub-cylinders 4. A drive component 6 linked to the bending component 5 is installed inside the cylinder base 1. The drive component 6 provides driving force to the bending component 5 and causes the sub-cylinders 4 to swing in any direction.

[0024] Specifically, the visual recognition module 3 includes a camera 31 arranged circumferentially along the cylinder base 1, preferably with wide dynamic range and strong light suppression functions to adapt to the complex and ever-changing lighting environment of the dock; a lidar 32 is installed at the end of the guide cylinder 2 away from the cylinder base 1. The camera 31 captures the shape of the bulk material flow and the landing point, and the lidar 32 acquires the three-dimensional point cloud data.

[0025] Specifically, the guide cylinder 2 is made of stainless steel and has a hollow interlayer to accommodate the bending assembly 5. Adjacent sub-cylinders 4 are connected by a flexible hose 41. Each guide cylinder 2 has a connecting post 42 extending along its central axis, and the connecting posts 42 of adjacent sub-cylinders 4 are sequentially connected by universal joints 43. When the guide cylinder 2 wobbles, the connecting posts 42 and universal joints 43 provide central support.

[0026] Furthermore, the bending assembly 5 includes limiting pulleys 51 installed at both ends of the sub-cylinder 4. The limiting pulleys 51 are arranged in pairs relative to the front and rear ends of the sub-cylinder 4, and the limiting pulleys 51 in the same circumferential direction are symmetrical with respect to the central axis of the sub-cylinder 4. The limiting pulleys 51 are made of high-strength ceramic or surface-hardened alloy material to withstand the high-frequency friction and material impact of the drive rope 63.

[0027] Furthermore, the drive assembly 6 includes several drive motors 61 installed inside the drum base 1. The output ends of the drive motors 61 are connected to drive ropes 63 via a speed-changing gear set 62. The drive ropes 63 pass through the drum body 4 and are in contact with the limiting pulleys 51. The drive motors 61 are preferably servo motors or stepper motors. The drive ropes 63 are made of low-elongation, high-strength synthetic fiber ropes or plastic-coated steel wire ropes, and have built-in sensors for real-time tension monitoring. The collected tension data is used for overload protection and motion compensation.

[0028] In addition, a locking component 7 is provided between the limiting pulley 51 and the sub-cylinder 4 to further improve the adjustment flexibility of the bending component 5, and to realize the individual adjustment of the offset of adjacent sub-cylinder 4.

[0029] Meanwhile, the locking assembly 7 includes a clamping wheel 71 rotatably mounted inside the cylinder 4 and located between the two end limiting pulleys 51. The clamping wheel 71 is connected to the locking motor 72. The clamping wheel 71 has a radially penetrating movable hole 73. The drive rope 63 passes through the movable hole 73 of the clamping wheel 71, and the drive rope 63 rotates with the clamping wheel 71 to engage or disengage with its outer surface. The locking motor 72 is typically a small high-torque DC motor or an electromagnetic brake. The surface of the clamping wheel 71 is covered with a high-friction coefficient material to ensure that the drive rope 63 does not slip when locked.

[0030] As can be seen, the cylinder seat 1 is annular and has a drive housing 11 for assembling the drive assembly 6. A flange 12 is provided on the cylinder seat 1. The cylinder seat 1 is connected to the corresponding transmission cylinder through a threaded fitting to ensure the transmission sealing effect between the guide cylinder 2 and the cylinder seat 1.

[0031] It is evident that an indicator light 21 is mounted on the outside of the guide tube 2. The indicator light 21 is a multi-color LED array, used to visually display the system operating status and the direction of the end of the guide tube 2.

[0032] Preferably, the inner side of the guide cylinder 2 is covered with a wear-resistant layer, which is specifically a replaceable ceramic liner or a tungsten carbide coating, which significantly extends the service life and reduces the material conveying resistance.

[0033] In summary, the principle of this embodiment is as follows: the base 1 remains fixed, and the guide cylinder 2 at its lower end is composed of multiple movable and connected sub-cylinders 4. The drive component 6 drives the bending component 5 between adjacent sub-cylinders 4 to transmit power. According to the different contraction amounts of the drive rope 63, the orientation and offset of the guide cylinder 2 can be adjusted, thereby adapting to different cabins.

[0034] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0035] Although this document frequently uses terms such as cylinder base 1, drive housing 11, flange 12, guide cylinder 2, indicator light 21, visual recognition module 3, camera 31, lidar 32, split cylinder 4, flexible hose 41, adapter post 42, universal joint 43, bending assembly 5, limit pulley 51, drive assembly 6, drive motor 61, speed change gear set 62, drive pull rope 63, locking assembly 7, clamping wheel 71, locking motor 72, and movable hole 73, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. An automatic adjustment device for a ship loader based on visual recognition, comprising a cylinder base (1) and a guide cylinder (2) movably mounted on the cylinder base (1), wherein a visual recognition module (3) is installed on the cylinder base (1) and the guide cylinder (2), characterized in that, The guide tube (2) includes several sub-tubes (4) that are movably connected end to end, and a bending component (5) is installed between adjacent sub-tubes (4). A drive component (6) that is linked with the bending component (5) is installed in the tube base (1).

2. The automatic adjustment device for a ship loader based on visual recognition according to claim 1, characterized in that, The visual recognition module (3) includes a camera (31) arranged circumferentially along the cylinder base (1), and a lidar (32) is installed at the end of the guide cylinder (2) away from the cylinder base (1).

3. The automatic adjustment device for a ship loader based on visual recognition according to claim 1, characterized in that, The guide tube (2) is made of stainless steel and has a hollow interlayer. The junction of adjacent sub-tubes (4) is sealed by a flexible hose (41). The guide tube (2) has a transition post (42) extending along the central axis. The transition posts (42) of adjacent sub-tubes (4) are connected one by one by a universal joint (43).

4. The automatic adjustment device for a ship loader based on visual recognition according to claim 3, characterized in that, The bending assembly (5) includes limiting pulleys (51) installed at both ends of the sub-cylinder (4). The limiting pulleys (51) are arranged in pairs relative to the front and rear ends of the sub-cylinder (4), and the limiting pulleys (51) in the same circumferential direction are symmetrical relative to the central axis of the sub-cylinder (4).

5. The automatic adjustment device for a ship loader based on visual recognition according to claim 4, characterized in that, The drive assembly (6) includes several drive motors (61) installed inside the cylinder base (1). The output ends of the drive motors (61) are connected to drive ropes (63) through a gear set (62). The drive ropes (63) pass through the cylinder body (4) and are in contact with the limiting pulley (51).

6. The automatic adjustment device for a ship loader based on visual recognition according to claim 5, characterized in that, A locking assembly (7) is provided between the limiting pulley (51) and the cylinder (4).

7. The automatic adjustment device for a ship loader based on visual recognition according to claim 6, characterized in that, The locking assembly (7) includes a clamping wheel (71) rotatably mounted inside the cylinder (4) and located between the two end limiting pulleys (51). The clamping wheel (71) is connected to the locking motor (72) for transmission. The clamping wheel (71) has a radially penetrating movable hole (73). The driving pull rope (63) passes through the movable hole (73) of the clamping wheel (71). The driving pull rope (63) rotates with the clamping wheel (71) and is either attached to or separated from its outer surface.

8. The automatic adjustment device for a ship loader based on visual recognition according to claim 1, characterized in that, The cylindrical base (1) is annular and has a drive housing (11) for assembling the drive assembly (6). A flange (12) is provided on the cylindrical base (1).

9. The automatic adjustment device for a ship loader based on visual recognition according to claim 1, characterized in that, An indicator light (21) is installed on the outside of the guide tube (2).

10. The automatic adjustment device for a ship loader based on visual recognition according to claim 1, characterized in that, The inner side of the guide tube (2) is covered with a wear-resistant layer.

Images