A visual recognition-based automatic adjusting device for a ship unloading machine screw

Abstract

The utility model provides a kind of based on visual identification's ship unloader spiral automatic adjusting device, it solves the problems such as lack of monitoring feedback of ship unloader spiral conveying device, it includes camera, camera is installed on ship unloader, distance adjusting assembly is provided between camera and ship unloader, swing adjusting assembly is installed between camera and distance adjusting assembly, distance adjusting assembly and swing adjusting assembly are equipped with angle sensor respectively.The utility model has the advantages such as good monitoring effect, stable structure etc.

Description

Technical Field

[0001] This utility model belongs to the technical field of ship unloader accessories, specifically relating to an automatic adjustment device for the auger of a ship unloader based on vision recognition. Background Technology

[0002] The auger mechanism of a ship unloader is a core component of bulk cargo unloading operations, using the rotation of the auger blades to transport cargo from the ship's hold to a designated location. In actual operation, existing ship unloader auger mechanisms suffer from the following problems: Currently, adjustments to the auger mechanism's lifting, rotation angle, and operating speed largely rely on operator experience, making it difficult to adapt to uneven cargo distribution and varied stacking patterns within the hold, resulting in low operational efficiency. Due to the inability to monitor cargo status in real time, problems such as excessive auger blade insertion leading to increased wear, or insufficient insertion depth affecting conveying efficiency are prone to occur. Traditional ship unloader auger mechanisms lack automatic sensing and adjustment capabilities, failing to dynamically optimize operating parameters based on actual operational conditions, thus failing to meet the port's demands for efficient and intelligent operations.

[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 multi-mechanism joint operation method for vertical spiral unloading of a continuous ship unloader [202311010589.9], which specifically includes the following process: establishing a plane rectangular coordinate system XOY with a fixed point on the dock as the origin O; during the vertical spiral conveyor's operation in the vertical direction, the coordinate values ​​(x, y) of the vertical spiral conveyor in the plane rectangular coordinate system are acquired in real time; when the coordinate values ​​(x, y) change, the changes in x and y, Δx and Δy, are calculated, and the position of the vertical spiral conveyor in the Y direction is adjusted by adjusting the running speed of the trolley traveling mechanism, while the position of the vertical spiral conveyor in the X direction is adjusted by adjusting the rotation speed of the boom slewing mechanism, until Δx and Δy are both equal to 0.

[0004] The above solution has solved the problem of automatic adjustment of ship unloaders to a certain extent, but it still has many shortcomings, such as the lack of effective monitoring and feedback methods. 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 the unloader's auger that is reasonably designed and has good monitoring and feedback effects.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an automatic adjustment device for the screw of a ship unloader based on visual recognition, including a camera, the camera being installed on the ship unloader, a distance adjustment component being provided between the camera and the ship unloader, a swing adjustment component being installed between the camera and the distance adjustment component, and the distance adjustment component and the swing adjustment component being equipped with angle sensors respectively.

[0007] In the aforementioned vision recognition-based automatic adjustment device for a ship unloader screw, the distance adjustment component includes an adjustment mounting plate attached to the ship unloader, a pair of adjustment arms rotatably connected to the adjustment mounting plate, a swing adjustment component installed between the ends of the adjustment arms, and an angle adjustment structure provided between the adjustment arms and the adjustment mounting plate.

[0008] In the aforementioned vision recognition-based automatic adjustment device for the unloader screw, the included angle adjustment structure includes an adjustment motor mounted on an adjustment mounting plate, an adjustment screw connected to the output end of the adjustment motor, an adjustment slider threaded through the adjustment screw, and an adjustment connecting rod movably connected between the adjustment slider and the adjustment arm.

[0009] In the aforementioned vision recognition-based automatic adjustment device for a ship unloader screw, the swing adjustment component includes an adjustment shaft rotatably mounted between the ends of the adjustment arm. A limit seat for fixing a camera is provided in the middle of the adjustment shaft, and the ends of the adjustment shaft are connected to a servo motor fixed on the adjustment arm via a reversing gear set.

[0010] In the aforementioned visual recognition-based automatic adjustment device for the unloader's screw, a laser emitter is installed on the limit seat, arranged adjacent to the camera, with the laser emitter facing the laser receiver on the unloader.

[0011] In the aforementioned vision recognition-based automatic adjustment device for the unloader's auger, indicator lights are installed on the adjustment mounting plate.

[0012] In the aforementioned visual recognition-based automatic adjustment device for a ship unloader's auger, three sets of cameras are arranged on the ship unloader, with the cameras facing the ship's hold, the auger's operating area, and the cargo surface, respectively.

[0013] In the aforementioned vision recognition-based automatic adjustment device for a ship unloader's auger, the camera opposite the auger's operating area is equipped with an infrared ranging sensor.

[0014] In the aforementioned visual recognition-based automatic auger adjustment device for ship unloaders, the camera uses a combination of a wide-angle camera and a high-definition close-up camera.

[0015] In the aforementioned vision recognition-based automatic auger adjustment device for ship unloaders, the camera is connected to the PLC unit via a wireless transmission module.

[0016] Compared with existing technologies, the advantages of this utility model are as follows: the camera is installed on the ship unloader and its orientation is adjusted by the distance adjustment component and the swing adjustment component, so as to achieve all-round coverage of the spiral operation area of ​​the ship unloader, thereby realizing the monitoring and feedback of the ship unloading work; the swing adjustment component can switch the camera orientation to monitor the entire ship unloader, detect potential dangers in time, and improve its working safety; the camera is equipped with a laser positioning system to ensure accurate image acquisition and improve its orientation accuracy. Attached Figure Description

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

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

[0019] Figure 3 This is a structural schematic diagram from another perspective of the present invention;

[0020] Figure 4 This is a schematic diagram of the layout of this utility model;

[0021] In the diagram, the components are: camera 1, unloader 2, distance adjustment assembly 3, adjustment mounting plate 31, adjustment arm 32, adjustment motor 33, adjustment screw 34, adjustment slider 35, adjustment connecting rod 36, swing adjustment assembly 4, adjustment shaft 41, limit seat 42, servo motor 43, reversing gear set 44, laser emitter 45, laser receiver 46, and indicator light 47. 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, a vision recognition-based automatic adjustment device for a ship unloader's auger includes a camera 1 mounted on a ship unloader 2. A distance adjustment component 3 is provided between the camera 1 and the ship unloader 2, and a swing adjustment component 4 is installed between the camera 1 and the distance adjustment component 3. The adjustment is preferably driven by an electric servo to ensure its adjustment accuracy. At the same time, the distance adjustment component 3 and the swing adjustment component 4 are respectively equipped with angle sensors to monitor the unfolding angle of the adjustment arm 32 and the pitch / sway angle of the camera 1 in real time, providing key attitude feedback for the control system.

[0024] Specifically, the distance adjustment assembly 3 includes an adjustment mounting plate 31 that fits onto the ship unloader 2. The adjustment mounting plate 31 has several mounting holes for threaded components to pass through. A pair of adjustment arms 32 are rotatably connected to the adjustment mounting plate 31. A swing adjustment assembly 4 is installed between the ends of the adjustment arms 32, and an angle adjustment structure is provided between the adjustment arms 32 and the adjustment mounting plate 31. The angle adjustment structure drives the adjustment arms 32 to swing, thereby adjusting the relative distance between the camera 1 at its end and the ship unloader 2, thus obtaining a wider field of view.

[0025] Specifically, the angle adjustment structure includes an adjustment motor 33 mounted on an adjustment mounting plate 31. An adjustment screw 34 is connected to the output end of the adjustment motor 33. An adjustment slider 35 is threaded through the adjustment screw 34. An adjustment connecting rod 36 is movably connected between the adjustment slider 35 and the adjustment arm 32. This crank-slider mechanism converts the rotational motion of the adjustment motor 33 into the unfolding / retracting motion of the adjustment arm 32, thereby adjusting the distance between the camera 1 and the installation location of the unloader 2.

[0026] Furthermore, the swing adjustment assembly 4 includes an adjustment shaft 41 rotatably mounted between the ends of the adjustment arm 32. A limiting seat 42 for fixing the camera 1 is provided in the middle of the adjustment shaft 41, preventing interference or collision with structures such as the distance adjustment assembly 3 when the camera 1 swings. The end of the adjustment shaft 41 is connected to a servo motor 43 fixed on the adjustment arm 32 via a reversing gear set 44. The servo motor 43 drives the adjustment shaft 41 to rotate via the reversing gear set 44, thereby causing the camera 1 to swing in the pitch and / or horizontal directions, achieving precise aiming at different angles within the working area.

[0027] Furthermore, a laser emitter 45 is installed on the limiting seat 42, arranged adjacent to the camera 1. The laser emitter 45 is opposite to the laser receiver 46 on the unloader 2. The beam emitted by the laser emitter 45 is projected onto the laser receiver 46. By detecting the positional shift of the light spot on the target surface of the receiver, the minute displacement or vibration of the camera 1 relative to the target monitoring position of the unloader 2 can be calculated in real time with high precision. This is used to dynamically compensate for visual recognition errors or as an auxiliary positioning method.

[0028] In addition, an indicator light 47 is installed on the adjustment mounting plate 31. The indicator light 47 can intuitively show the working status of the camera 1, and can also serve as a visual reference point for auxiliary positioning.

[0029] Meanwhile, three sets of cameras 1 are installed on the unloader 2. The cameras 1 are respectively positioned opposite the ship's hold, the spiral operation area, and the cargo surface. The multiple cameras 1 form a multi-view collaborative perception system: the cameras 1 in the ship's hold monitor the overall distribution and outline of the cargo; the cameras 1 in the spiral operation area monitor the position, attitude, and distance of the spiral head from the cargo / buoy at close range; and the cameras 1 on the cargo surface monitor the flatness and residue of the cargo surface after unloading.

[0030] As can be seen, the camera 1 opposite the spiral operation area is equipped with an infrared ranging sensor, which provides real-time distance information from the spiral head to the cargo surface or bulkhead. This serves as a key supplementary data for visual recognition, especially when visibility is poor or texture features are not obvious, and is used for collision avoidance and precise clearance control.

[0031] Clearly, camera 1 uses a combination of a wide-angle camera and a high-definition close-up camera. The wide-angle camera provides monitoring of a wide range of scenes for global positioning and coarse target tracking, while the high-definition close-up camera is responsible for high-resolution imaging of key areas, such as spiral heads and details on the surface of goods, for accurate identification, measurement, and status judgment.

[0032] Preferably, camera 1 is connected to the PLC unit via a wireless transmission module to avoid the risk of long-distance cables getting tangled and worn in complex mechanical movements, thereby improving system reliability and ease of maintenance; and to transmit images, laser positioning and sensor data to the PLC in real time.

[0033] In summary, the principle of this embodiment is that the distance adjustment component 3 and the swing adjustment component 4 adjust the orientation of the camera 1. By adjusting the relative distance between the camera 1 and the unloader 2 and the orientation angle of the camera 1 itself, the monitoring position can be switched, which achieves a better monitoring feedback effect.

[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 camera 1, unloader 2, distance adjustment assembly 3, adjustment mounting plate 31, adjustment arm 32, adjustment motor 33, adjustment screw 34, adjustment slider 35, adjustment connecting rod 36, swing adjustment assembly 4, adjustment shaft 41, limit seat 42, servo motor 43, reversing gear set 44, laser emitter 45, laser receiver 46, and indicator light 47, 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. A vision-based automatic auger adjustment device for a ship unloader, comprising a camera (1), said camera (1) being mounted on a ship unloader (2), characterized in that, A distance adjustment component (3) is provided between the camera (1) and the unloader (2), and a swing adjustment component (4) is installed between the camera (1) and the distance adjustment component (3). The distance adjustment component (3) and the swing adjustment component (4) are respectively equipped with angle sensors.

2. The automatic adjustment device for the unloader auger based on visual recognition according to claim 1, characterized in that, The distance adjustment component (3) includes an adjustment mounting plate (31) attached to the unloader (2), a pair of adjustment arms (32) are rotatably connected to the adjustment mounting plate (31), the swing adjustment component (4) is installed between the ends of the adjustment arms (32), and an angle adjustment structure is provided between the adjustment arms (32) and the adjustment mounting plate (31).

3. The automatic auger adjustment device for a ship unloader based on visual recognition according to claim 2, characterized in that, The included angle adjustment structure includes an adjustment motor (33) mounted on an adjustment mounting plate (31), an adjustment screw (34) connected to the output end of the adjustment motor (33), an adjustment slider (35) driven by the adjustment screw (34), and an adjustment connecting rod (36) movably connected between the adjustment slider (35) and the adjustment arm (32).

4. The automatic auger adjustment device for a ship unloader based on visual recognition according to claim 2, characterized in that, The swing adjustment assembly (4) includes an adjustment shaft (41) rotatably mounted between the ends of the adjustment arm (32). A limiting seat (42) for fixing the camera (1) is provided in the middle of the adjustment shaft (41). The end of the adjustment shaft (41) is connected to a servo motor (43) fixed on the adjustment arm (32) via a reversing gear set (44).

5. The automatic auger adjustment device for a ship unloader based on vision recognition according to claim 4, characterized in that, The limiting seat (42) is equipped with a laser emitter (45) arranged adjacent to the camera (1), and the laser emitter (45) is opposite to the laser receiver (46) on the unloader (2).

6. The automatic auger adjustment device for a ship unloader based on vision recognition according to claim 2, characterized in that, An indicator light (47) is installed on the adjustment mounting plate (31).

7. The automatic auger adjustment device for a ship unloader based on vision recognition according to claim 1, characterized in that, The unloader (2) is equipped with three sets of cameras (1), which are respectively positioned opposite the ship's hold, the spiral operation area and the surface of the cargo.

8. The automatic auger adjustment device for a ship unloader based on visual recognition according to claim 7, characterized in that, The camera (1) opposite the spiral working area is equipped with an infrared ranging sensor.

9. The automatic adjustment device for the unloader auger based on vision recognition according to claim 1, characterized in that, The camera (1) is a combination of a wide-angle camera and a high-definition close-up camera.

10. The automatic auger adjustment device for a ship unloader based on visual recognition according to claim 1, characterized in that, The camera (1) is connected to the PLC unit via a wireless transmission module.

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