CN112782686A - Automatic alignment system and method for loading based on multidimensional identification and positioning technology - Google Patents

Abstract

The invention provides a loading automatic alignment system and method based on a multidimensional identification positioning technology, which comprises the following steps: the camera and the radar device are arranged on a ceiling above the loading station and are respectively used for acquiring video information and radar signals after the tank car is stopped; and the central computer is used for acquiring the video information and the radar signal, performing visual positioning based on the video information, establishing a three-dimensional model based on the radar signal, acquiring the spatial distance of the tank mouth relative to the crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to adjust the position based on the spatial distance to realize automatic alignment. Through using visual positioning and radar technique to fix a position, visual positioning mainly realizes fixing a position tank mouth position, trails tank car jar mouth and oil filling riser crane mouth position in real time, improves counterpoint precision and counterpoint efficiency, realizes unmanned automatic counterpoint.

Description

Automatic alignment system and method for loading based on multidimensional identification and positioning technology

Technical Field

The invention relates to the technical field of liquid dangerous chemical related equipment, in particular to a loading automatic alignment system and method based on a multidimensional identification and positioning technology.

Background

At present, in the train loading industry of liquid hazardous chemical substances, the most used is the cantilever lifting type loading crane pipe, and most of the existing industry is manually operated.

The automatic alignment of the crane pipe is realized by mainly realizing the positioning of the crane nozzle through a plurality of rotating shafts of the automatic moving cantilever lifting type loading crane pipe, the train loading port is open, the crane nozzle is placed into the tank port in an inserting manner, the tank is sealed through the sealing cap and is buckled, other complicated sealing links are avoided, and the automatic alignment is realized. There are two main ways to locate.

The first is that infrared sensor and displacement sensor come the operation loading arm, and infrared sensor detects the distance from the oil filling riser of entrance to a cave, comes the distance of control removal arm through displacement sensor. The motion of the loading arm is relatively similar to that of a multi-axis mechanical arm, although the motion is not particularly complex, the loading arm is not driven automatically by a single variable, the precision cannot meet the requirement, auxiliary manual positioning can be realized, and completely unmanned automatic alignment is difficult to realize.

The second is an image recognition tank opening mode, a specific position is set through a photographing mode, a required moving track is calculated, and automatic alignment of a loading arm is achieved. Although the method is improved, the method is still a single control method after the feeling recognition calculation, the automatic alignment cannot be effectively and accurately realized, and the success rate is low. And the loading site environment is more complicated, and the affected factors are more only identified by photographing.

Disclosure of Invention

The invention aims to provide an automatic alignment system and method for loading based on a multidimensional identification and positioning technology, and aims to solve the problems of high labor intensity of workers, low working efficiency and harm to human bodies caused by alignment depending on manual operation in the existing dangerous chemical train loading industry.

In order to achieve the above object, the present invention provides an automatic alignment system for loading based on multidimensional identification and positioning technology, comprising:

the camera and the radar device are arranged on a ceiling above the loading station and are respectively used for acquiring video information and radar signals after the tank car is stopped;

and the central computer is used for acquiring the video information and the radar signal, performing visual positioning based on the video information, establishing a three-dimensional model based on the radar signal, acquiring the spatial distance of the tank mouth relative to the crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to adjust the position based on the spatial distance to realize automatic alignment.

Preferably, the crane nozzle is arranged at the end of a cantilever lifting type loading crane pipe of the tank car, the other end of the cantilever lifting type loading crane pipe is arranged on a platform at the side of the loading position and is connected with a batch controller, and the batch controller is arranged at the side of the loading position and is used for identifying whether the tank car reaches the loading position and stops stably, and receiving an automatic alignment control signal of the central computer so as to control the cantilever lifting type loading crane pipe to drive the crane nozzle to move.

Preferably, the cantilever lifting loading crane pipe is provided with a plurality of rotating shafts which are respectively used for connecting different parts of the loading crane pipe and rotating to a preset angle under the control of the control signal during alignment.

Preferably, the central computer acquires the video information and the radar signal in real time and feeds back a control instruction to the batch controller until the crane nozzle and the tank opening are aligned.

Preferably, the central computer is arranged in a monitoring center or an on-site crane position.

Preferably, the central computer communicates with the camera and the radar device through a high-speed network, and processes the video information and the radar signal in real time to generate a real-time execution instruction to adjust the position of the crane nozzle.

The invention also provides a loading automatic alignment method based on the multidimensional identification and positioning technology, which comprises the following steps:

the method comprises the steps that video information is collected after a tank car is stopped and stabilized through a camera arranged on a ceiling above a loading position;

collecting radar signals after the tank car is stopped and stable through a radar device arranged on a ceiling above the loading station;

the method comprises the steps of obtaining video information and radar signals through a central computer, carrying out visual positioning based on the video information, establishing a three-dimensional model based on the radar signals, obtaining the space distance of a tank opening relative to a crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to adjust the position based on the space distance to realize automatic alignment.

The system and the method provided by the invention have the following beneficial effects:

1. the positions of a loading arm and a filling port (namely a tank opening) at the top of the tank car are positioned in real time by applying a visual real-time tracking technology;

2. the radar detection technology is applied to detect the filling ports at the top of the loading arm and the tank car, and the accuracy of automatic alignment is improved;

3. the controller is applied to realize the control function of the cantilever lifting type loading crane pipe, and can replace a special controller for the crane pipe.

4. And calculating the detection data of the field vision and the radar in real time by using a high-speed network to form a real-time execution instruction of the batch controller.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic diagram of a system implementation of the preferred embodiment of the present invention;

fig. 3 is a schematic diagram of the method implementation of the preferred embodiment of the invention.

Detailed Description

While the embodiments of the present invention will be described and illustrated in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.

For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking specific embodiments as examples with reference to the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.

Referring to fig. 1, the present embodiment provides an automatic alignment system for loading based on a multidimensional identification and positioning technology, which specifically includes:camera 1,radar installation 2 andcentral computer 3. As further shown in fig. 2, thecamera 1 and theradar device 2 of the system are arranged on the lower side of the ceiling above the loading space and are respectively used for collecting video information and radar signals after the tank car is stopped stably. When the alignment is needed, thecentral computer 3 is used for respectively acquiring the video information and the radar signal from thecamera 1 and theradar device 2, performing visual positioning based on the video information, establishing a three-dimensional model based on the radar signal, acquiring the spatial distance of thetank opening 4 relative to the crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to adjust the position based on the spatial distance to realize automatic alignment.

The system uses visual positioning and radar technology to position, the visual positioning mainly realizes the positioning of the tank opening position, the positions of the tank opening of the tank car and the crane pipe crane nozzle are tracked in real time, a three-dimensional model is built by the radar, the spatial distance of the tank opening relative to the crane nozzle is accurately positioned, and automatic alignment is realized. Improve the mounting means, install camera and radar emission ware in the ceiling fixed position of loading position top, reduce and install the sensor on the oil filling riser and because the influence that the oil filling riser removed and bring.

Referring to fig. 2 again, the crane nozzle in this embodiment is disposed at an end of a cantilever lifting typeloading crane pipe 21 of the tank car, the other end of the cantilever lifting typeloading crane pipe 21 is disposed on aplatform 22 at a side of a loading position and is connected with a batch controller 23 (i.e., a batch controller), the batch controller 23 is disposed at the side of the loading position and is used for identifying whether the tank car reaches the loading position and stopping stably, and receiving an automatic alignment control signal of thecentral computer 3 to control the cantilever lifting typeloading crane pipe 21 to drive the crane nozzle to move, so as to perform position adjustment and realize automatic alignment with the tank opening.

The cantilever lifting type loading crane pipe in the embodiment is provided with a plurality of rotating shafts which are respectively used for connecting different parts of the loading crane pipe so as to adjust the angles of the different parts of the loading crane pipe and adjust the position of a crane nozzle at the terminal of the loading crane pipe. The cantilever lifting type loading crane pipe is an operation object of the system, and the crane pipe supports the control of a plurality of rotating shafts through electric control signals, so that automatic alignment is realized.

When carrying out automatic alignment, a plurality of pivots of cantilever over-and-under type loading arm are changeed to predetermineeing the angle under the control ofcentral computer 3's control signal to realize the position removal and the angular adjustment of loading arm, and then adjust the relative distance of loading arm position and jar mouth position, accomplish automatic alignment after both align.

The central computer in the embodiment acquires the video information and the radar signal in real time so as to feed back a control instruction to the batch controller in time, and realize the real-time adjustment of the position of the crane nozzle until the crane nozzle and the tank opening are aligned.

The central computer in this embodiment may be disposed in the monitoring center as needed, connected to the batch controller through a communication network, and configured to send the control command through the communication network. Meanwhile, video information and radar signals collected in real time are transmitted back to a central computer of a computing center in the network through a camera and a radar detector above the network loading position through the network, real-time computation is carried out according to information transmitted back on site, and positioning information of the loading arm and the tank opening of the tank car is positioned.

Of course, in other preferred embodiments, the central computer (or the calculation center) can also be arranged at the site crane position according to the requirement, and the positioning information of the crane pipe and the tank opening of the tank car can be positioned by performing real-time calculation according to the information collected on the site. Meanwhile, the system is directly connected with a batch controller so as to send real-time control instructions on site.

In order to ensure the real-time performance of the alignment control, when the camera and the radar device are communicated through a communication network, the central computer communicates with the camera and the radar device through a high-speed network and processes video information and radar signals in real time to generate a real-time execution instruction and adjust the position of the crane nozzle in real time.

The system utilizes the existing high-speed communication and calculation to interconnect the field equipment and the central computer, utilizes strong calculation capacity to quickly calculate and execute the positioning movement command, monitors the alignment effect in real time in the positioning process, corrects the alignment effect, improves the alignment precision and the alignment efficiency, really realizes high-efficiency unmanned automatic oil filling riser alignment, and has practical application value.

The embodiment also provides an automatic alignment method for loading based on the multidimensional identification and positioning technology, which comprises the following steps: the method comprises the steps that video information is collected after a tank car is stopped and stabilized through a camera arranged on a ceiling above a loading position; collecting radar signals after the tank car is stopped and stable through a radar device arranged on a ceiling above the loading station; the method comprises the steps of obtaining video information and radar signals through a central computer, carrying out visual positioning based on the video information, establishing a three-dimensional model based on the radar signals, obtaining the space distance of a tank opening relative to a crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to carry out position adjustment based on the space distance to realize automatic alignment.

Here, taking an example that the central computer is disposed in the control center computer, the workflow of the loading automatic alignment method based on the multidimensional identification and positioning technology of this embodiment is further described. Referring to fig. 3, when the automatic alignment method works, the position information of the cantilever crane pipe of the controlled unit is collected in real time by the camera and the radar to obtain the measured data. The central computer acquires the measured video real-time data and radar detection data in real time through a high-speed network, performs data processing to obtain a control instruction for adjusting the position of the crane nozzle, and then sends the control instruction to the batch controller, and the batch controller controls action according to the control instruction, so that the cantilever crane pipe of the controlled unit performs position adjustment according to alignment requirements, and automatic alignment is further realized.

When the system and the method work, the central computer issues a control command in real time, and simultaneously adjusts the control command continuously according to the acquired real-time signal, so that the alignment condition can be visually judged, and an accurate positioning result is obtained by assisting a space three-dimensional model of a radar and is used as the feedback of the control result, thereby more effectively achieving the purpose of controlling to carry out automatic alignment. The process is continuously adjusted until the sealing cap of the oil filling riser is matched with the opening of the tank, and the computing system of the central computer can indicate that the automatic alignment is finished. The whole information flow is closed-loop real-time information, the process controllability is strong, and the realization precision is high.

The automatic alignment system and method for loading based on the multidimensional identification positioning technology have the following advantages:

1. the precision is high, real-time information acquired on site is utilized, an information closed loop is used, the acquired data can be adjusted in real time in the execution process of the control flow, and the accuracy of completion of precision is greatly improved;

2. the batch controller is used for analyzing the control instruction of the computer, directly controlling the cantilever crane pipe, and replacing a special controller, thereby reducing the control link and the cost.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to make modifications or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (7)

1. The utility model provides a loading automatic alignment system based on multidimension discernment location technique which characterized in that includes: the camera and the radar device are arranged on a ceiling above the loading station and are respectively used for acquiring video information and radar signals after the tank car is stopped;

and the central computer is used for acquiring the video information and the radar signal, performing visual positioning based on the video information, establishing a three-dimensional model based on the radar signal, acquiring the spatial distance of the tank mouth relative to the crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to adjust the position based on the spatial distance to realize automatic alignment.

2. The automatic alignment system for loading based on multidimensional identification and positioning technology as claimed in claim 1, wherein the loading nozzle is arranged at an end of a cantilever lifting loading arm of the tank car, the other end of the cantilever lifting loading arm is arranged on a platform at a side of the loading position and is connected with a batch controller, the batch controller is arranged at a side of the loading position and is used for identifying whether the tank car reaches the loading position and stops stably, and receiving an automatic alignment control signal of the central computer to control the cantilever lifting loading arm to drive the loading nozzle to move.

3. The automatic alignment system for loading based on multidimensional identification and positioning technology as claimed in claim 2, wherein the cantilever lifting loading arm is provided with a plurality of rotating shafts, which are respectively used for connecting different parts of the loading arm and rotating to a preset angle under the control of the control signal during alignment.

4. The automatic alignment system for loading based on multidimensional identification and positioning technology as claimed in claim 2, wherein the central computer obtains the video information and radar signals in real time and feeds back control instructions to the batch controller until the crane nozzle and the tank mouth are aligned.

5. The automatic alignment system for loading based on multidimensional identification and positioning technology as claimed in claim 1 or 2, wherein the central computer is arranged at a monitoring center or a site crane position.

6. The system of claim 1, wherein the central computer communicates with the camera and the radar device via a high-speed network, and processes the video information and the radar signal in real time to generate a real-time execution instruction to adjust the position of the crane nozzle.

7. A loading automatic alignment method based on a multidimensional identification positioning technology is characterized by comprising the following steps:

the method comprises the steps that video information is collected after a tank car is stopped and stabilized through a camera arranged on a ceiling above a loading position;

collecting radar signals after the tank car is stopped and stable through a radar device arranged on a ceiling above the loading station;

the method comprises the steps of obtaining video information and radar signals through a central computer, carrying out visual positioning based on the video information, establishing a three-dimensional model based on the radar signals, obtaining the space distance of a tank opening relative to a crane nozzle through the visual positioning and the three-dimensional model, and controlling the crane nozzle to adjust the position based on the space distance to realize automatic alignment.

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