A video positioning-based walking positioning device for a size car of a van sampler
By employing a dual clamping design and buffer components on the box-type sampler, the problems of positioning offset between the large and small carts and vibration of the vision module were solved, achieving stable positioning and high-precision sampling results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 鑫成机电(江苏)有限公司
- Filing Date
- 2025-09-26
- Publication Date
- 2026-07-21
AI Technical Summary
The existing positioning devices for the large and small carts of the box-type sampling machine have problems with positioning offset and inaccurate positioning due to vibration of the vision module, especially the traditional single clamping design and lack of vibration protection.
The clamping and buffering parts, which adopt a double clamping design, synchronously clamp the guide rail and wheels through the positioning frame driven by the electric push rod, and use elastic elements and elastic rings to absorb vibration, ensuring the stable positioning and vibration resistance of the vision module.
Stable positioning of both large and small vehicles was achieved, reducing positioning offset and visual blur, and improving the accuracy of sampling position and positioning precision.
Smart Images
Figure CN224529777U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of vehicle and cart positioning technology, specifically to a video positioning-based vehicle and cart positioning device for a van-type sampling machine. Background Technology
[0002] In the storage and transportation of bulk materials such as grain, ore, and coal, box-type samplers are core equipment for material quality testing. Through the coordinated movement of a large trolley and a small trolley, the sampling mechanism completes sampling operations in different areas of the box-type compartment. The positioning accuracy of the large and small trolleys directly determines the accuracy of the sampling points, thus affecting the reliability of the material testing results. With the application of video positioning technology in industrial equipment, video positioning-based box-type sampler positioning devices for the large and small trolleys are gradually replacing traditional mechanical limiters or photoelectric positioning devices.
[0003] The existing auxiliary positioning structure is designed to fix the trolley and other vehicles in place after they have stopped. Traditional auxiliary positioning often uses a single clamping design, which only uses clamping parts to clamp the guide rail to limit translation or only uses clamping parts to clamp the wheels to prevent rotation. This design is prone to positioning deviation due to the single clamping point.
[0004] In addition, the installation structure of the vision module in the existing device lacks effective vibration protection. When the trolley moves along the external guide rail and the trolley moves along the trolley guide rail, the vibration generated by the wheel-rail friction, or the impact vibration when the sampling mechanism falls and contacts the material, will be directly transmitted to the vision module, causing the camera to shake slightly. This will cause the captured video image to become blurry and ghosted, affecting the positioning algorithm's recognition accuracy of the carriage edge and sampling point markings, and thus affecting the positioning accuracy.
[0005] To address the aforementioned issues, this invention provides a video-based positioning device for the movement and positioning of large and small carts in a van-type sampling machine. Utility Model Content
[0006] To address the aforementioned technical shortcomings, the purpose of this utility model is to provide a video-based positioning device for the movement and positioning of the large and small carts of a box-type sampling machine. It incorporates a clamping part that simultaneously clamps the guide rails and wheels, avoiding positioning deviations caused by traditional single clamping methods. Additionally, a buffer part is included to achieve vibration protection for the vision module and ensure positioning accuracy.
[0007] To solve the above-mentioned technical problems, this utility model adopts the following technical solution: This utility model provides a video positioning-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine, comprising: A large vehicle, which travels along the short side of an external guide rail via wheels mounted at both ends of its body. The trolley travels along the long side of the large vehicle on the guide rails of the large vehicle via wheels mounted at both ends. A vision module, which is installed on the vehicle, is used to identify the location; Both the large and small vehicles are equipped with auxiliary positioning components.
[0008] Preferably, the auxiliary positioning component includes: A positioning frame is mounted above the wheel and driven by a corresponding electric push rod. When it is necessary to stop, the output rod of the electric push rod extends, and the positioning frame simultaneously abuts against the corresponding wheel and guide rail to assist in positioning.
[0009] Preferably, the positioning frame includes: The frame is U-shaped, and its closed end is connected to the output rod of the electric push rod; The clamping part is fixedly installed between the two side walls of the opening end of the frame. When the output rod of the electric push rod extends, the clamping part abuts against the corresponding wheel and guide rail.
[0010] Preferably, the abutting part includes a lower convex section and two upper concave sections. The lower convex section is located between the two upper concave sections. When the output rod of the electric push rod extends, the lower convex section abuts against the corresponding guide rail, and the upper concave sections abut against the corresponding wheel.
[0011] Preferably, the material of the abutting part is an elastic material, so that when the protruding section is subjected to a pressing force, its two ends will press against the corresponding wheels respectively.
[0012] Preferably, the output rod of the electric push rod is connected to the closed end of the frame by an elastic element.
[0013] Preferably, the output rod of the electric push rod passes through the closed end of the frame and is fixedly mounted with a boss, and the elastic element is located between the boss and the closed end of the frame.
[0014] Preferably, the vision module is fixedly mounted on the connecting frame, which is mounted on the trolley via a base plate provided on the trolley, and a buffer portion is installed between the connecting frame and the base plate.
[0015] Preferably, the connecting frame includes: The mounting plate and connecting rod are connected to the vision module. The connecting rod is fixedly mounted on the mounting plate. The upper end of the connecting rod extends through a through hole on the substrate to the top of the substrate and folds outwards to form a flange. A buffer part is installed between the inner wall of the through hole and the connecting rod.
[0016] Preferably, the buffer portion includes multiple elastic rings, each elastic ring having an oblong shape, one side of which is fixedly connected to the connecting rod, and the other side is fixedly connected to the inner wall of the through hole.
[0017] The beneficial effects of this utility model are as follows: This utility model achieves dual stable positioning for both the large and small vehicles during movement and parking by incorporating a clamping part, an electric push rod, and an elastic element. The lower convex section of the clamping part clamps synchronously with the guide rail, and the upper concave section clamps synchronously with the wheel. Simultaneously, when the lower convex section clamps against the guide rail, it deforms under the reaction force of the guide rail, causing its two ends to respectively adhere to and clamp against the corresponding wheel. This avoids the positioning offset caused by the traditional single clamping method, further reduces the mechanical positioning error after video positioning, and ensures the accuracy of the sampling position.
[0018] This invention achieves vibration protection and positioning accuracy assurance for the vision module through the arrangement of the vision module, connecting frame, base plate and buffer part. The elastic ring can effectively absorb the vibration generated during the movement of the large vehicle, the movement of the small vehicle and the sampling process, so as to avoid the problem of the vision module image being blurred due to vibration, thereby causing positioning error. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a schematic diagram of the structure of a video-based positioning device for the movement and positioning of a van-type sampling machine.
[0021] Figure 2 This is an exploded view of the large vehicle and the small vehicle of this utility model.
[0022] Figure 3 This is a structural schematic diagram (first-person view) of the frame and the clamping part of this utility model.
[0023] Figure 4 This is a structural schematic diagram of the frame and the clamping part of this utility model (second perspective).
[0024] Figure 5 This is an exploded view of the electric push rod and frame of this utility model.
[0025] Figure 6 This is an exploded cross-sectional view of the connecting rod and elastic ring of this utility model.
[0026] Explanation of reference numerals in the attached figures: 1. Large trolley, 2. Small trolley, 3. Vision module, 4. Electric push rod, 5. Frame, 6. Clamping part, 7. Elastic element, 8. Base plate, 9. Mounting plate, 10. Connecting rod, 11. Through hole, 12. Elastic ring. Detailed Implementation
[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0028] This utility model provides a video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine, such as... Figures 1 to 6 As shown.
[0029] Example 1: A video-based positioning device for a box-type sampling machine includes a large cart 1 and a small cart 2. The large cart 1 travels along the short side of the large cart on an external guide rail via wheels at both ends. The small cart 2 travels along the long side of the large cart via a guide rail on the large cart 1 via wheels at both ends. A vision module 3 is installed on the large cart 1. Positioning components are installed above the wheels of both the large cart 1 and the small cart 2. The positioning components include a frame 5, a clamping part 6, an elastic element 7, and an electric push rod 4.
[0030] The wheels on the large vehicle 1 are driven by a motor installed on the large vehicle 1, and the wheels on the small vehicle 2 are driven by a motor installed on the small vehicle 2.
[0031] The frame 5 has a U-shaped structure. Its closed end is fixedly connected to the output rod of the electric push rod 4. The inside of the open end of the frame 5 is fixedly installed with a clamping part 6. The clamping part 6 is made of spring steel. The clamping part 6 is long and narrow. It has two upper concave sections that are adapted to the wheels and one lower convex section. The lower convex section is located between the two upper concave sections.
[0032] The electric push rod 4 is electrically connected to the vision module 3. When positioning is required, the vision module 3 sends an electrical signal to the electric push rod 4, and the output rod of the electric push rod 4 extends, driving the frame 5 and the clamping part 6 to move towards the wheel and guide rail. The lower convex section contacts and abuts against the corresponding upper surface of the guide rail, and the upper concave section contacts and abuts against the corresponding wheel. The guide rail generates a reaction force on the lower convex section. Because the clamping part 6 is made of elastic material, the reaction force causes the lower convex section to deform, and the two ends open to the sides, thereby causing the two upper concave sections to further abut against the outer circumference of the wheel, thus achieving dual constraint on the wheel and guide rail, and further improving the positioning accuracy.
[0033] The vision module 3 includes an industrial camera, a lens, an image processing unit, and control elements. This vision module 3 is existing technology and has been applied in various industries. Its structure and working principle are not the technical features of this utility model, so this utility model will not elaborate on them. For example, an EDATEKED-AIC3000 smart camera can be used.
[0034] Example 2: Based on Embodiment 1, in order to protect the wheels, guide rails, and abutment 6, an elastic element 7 is installed between the output rod of the electric push rod 4 and the frame 5, specifically as follows: A through hole is provided on the closed end of the frame 5 for the output rod of the electric push rod 4 to pass through. The output rod of the electric push rod 4 passes through the through hole and is fixedly mounted with a boss. An elastic element 7 (such as a U-shaped spring) is installed between the boss and the inner side wall of the closed end of the frame 5. When the electric push rod 4 drives the positioning frame to press against the wheel and guide rail, the thrust of its output rod is not directly and rigidly transmitted to the frame 5, but is buffered by the compression deformation of the elastic element 7. This process can effectively offset the instantaneous impact force when the electric push rod 4 starts, avoid the violent collision caused by rigid contact between the frame 5, the pressing part 6 and the wheel and guide rail, reduce the wear of the pressing part 6 and the scratches on the surface of the wheel and guide rail, and extend the service life of each component.
[0035] Furthermore, due to the elastic deformation characteristics of the elastic element 7, when the lower convex section of the abutment part 6 contacts the guide rail and the upper concave section fits against the wheel, the continuous extension of the output rod of the electric push rod 4 will further compress the elastic element 7. The resulting elastic force gradually increases with the increase of compression, thereby providing a continuous and gentle abutment force to the abutment part 6. This adaptive force adjustment capability can ensure the tight fit between the abutment part 6 and the wheel rail, and prevent excessive deformation of the abutment part 6 or wheel rail deformation due to excessive thrust, thus ensuring the positioning stability of the trolley and crane after they stop.
[0036] Example 3: To avoid the vibrations generated by the large carriage 1, small carriage 2, and sampling mechanism during operation, which could affect the vision module 3 and thus impact positioning accuracy, the vision module 3 can be installed in the following manner, specifically as follows: The vision module 3 is fixedly mounted on the connecting frame, which is mounted on the trolley 1 via the base plate 8. The base plate 8 is fixed on the trolley 1 by welding. The connecting frame includes a mounting plate 9, on which the vision module 3 is mounted. A connecting rod 10 is mounted on the mounting plate 9. The upper end of the connecting rod 10 extends through a through hole 11 on the base plate 8 to the top of the base plate 8 and is folded in all directions to form an annular flange. Multiple elastic rings 12 are installed between the connecting rod 10 and the inner wall of the through hole 11. The multiple elastic rings 12 are evenly distributed along the circumference of the connecting rod 10. The elastic rings 12 are made of polyurethane elastomer and have an overall waist-shaped ring structure. Their two side walls are fixedly connected to the outer side wall of the connecting rod 10 and the inner side wall of the through hole 11, respectively.
[0037] When the large vehicle 1 moves or the small vehicle 2 moves, the vibration is transmitted to the base plate 8 through the frame of the large vehicle 1. The base plate 8 then transmits the vibration to the outer circumference of the elastic ring 12. Since the elastic ring 12 is made of polyurethane, it has good elastic deformation capability. It absorbs vibration energy through its own compression and stretching deformation, thereby ensuring that the vision module 3 can clearly capture the image of the carriage, avoiding the image of the camera module 3 from being blurred due to vibration, and ensuring that the positioning algorithm accurately identifies the edge of the carriage and the sampling point.
[0038] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.
Claims
1. A video-based positioning device for the movement and positioning of a van-type sampling machine's carts, characterized in that, include: The large vehicle (1) travels along the short side of the vehicle (1) on an external guide rail via wheels installed at both ends. The trolley (2) travels along the long side of the large vehicle (1) on the guide rail of the large vehicle (1) via wheels installed at both ends of the trolley (2); A vision module (3) is installed on the vehicle (1) and is used to identify the position; Both the large vehicle (1) and the small vehicle (2) are equipped with auxiliary positioning components.
2. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 1, characterized in that, The auxiliary positioning component includes: The positioning frame is installed above the wheel and driven by the corresponding electric push rod (4). When it needs to stop, the output rod of the electric push rod (4) extends, and the positioning frame simultaneously presses against the corresponding wheel and guide rail to assist in positioning.
3. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 2, characterized in that, The positioning frame includes: The frame (5) is U-shaped, and its closed end is connected to the output rod of the electric push rod (4); The abutting part (6) is fixedly installed between the two side walls of the opening end of the frame (5). When the output rod of the electric push rod (4) extends, the abutting part (6) abuts against the corresponding wheel and guide rail.
4. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 3, characterized in that, The abutting part (6) includes a lower convex section and two upper concave sections. The lower convex section is located between the two upper concave sections. When the output rod of the electric push rod (4) extends, the lower convex section abuts against the corresponding guide rail, and the upper concave section abuts against the corresponding wheel.
5. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 4, characterized in that, The material of the abutting part (6) is an elastic material. When the protruding section is subjected to abutting force, its two ends will abut against the corresponding wheels respectively.
6. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 3, characterized in that, The output rod of the electric push rod (4) is connected to the closed end of the frame (5) by an elastic element (7).
7. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 6, characterized in that, The output rod of the electric push rod (4) passes through the closed end of the frame (5) and is fixedly installed with a boss. The elastic element (7) is located between the boss and the closed end of the frame (5).
8. The video-based positioning device for the movement and positioning of the large and small carts of a van-type sampling machine as described in claim 1, characterized in that, The vision module (3) is fixedly installed on the connecting frame. The connecting frame is installed on the trolley (1) via a base plate (8) provided on the trolley (1), and a buffer is installed between the connecting frame and the base plate (8).
9. A video-based positioning device for the movement and positioning of large and small carts in a van-type sampling machine as described in claim 8, characterized in that, The connecting frame includes: Mounting plate (9) and connecting rod (10), the mounting plate (9) is fixedly connected to vision module (3), the connecting rod (10) is fixedly mounted on mounting plate (9), the upper end of the connecting rod (10) extends to the top of substrate (8) through through hole (11) provided on substrate (8) and folds in all directions to form a flange, and the buffer part is installed between the inner wall of through hole (11) and connecting rod (10).
10. A video-based positioning device for the movement and positioning of a van-type sampling machine's large and small carts as described in claim 9, characterized in that, The buffer section includes multiple elastic rings (12), each elastic ring (12) having a waist-shaped ring structure, one side of which is fixedly connected to the connecting rod (10), and the other side is fixedly connected to the inner wall of the through hole (11).