CN220853449U - Engineering machinery auxiliary parking system and engineering machinery quality inspection system - Google Patents
Engineering machinery auxiliary parking system and engineering machinery quality inspection system Download PDFInfo
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Abstract
The utility model relates to an engineering machinery auxiliary parking system and an engineering machinery quality inspection system. The engineering machinery auxiliary parking system for assisting the engineering machinery (1) with the mechanical arm (11) to park in the parking space (2) in the standard space posture comprises an image acquisition device (3) arranged at the top of the parking space (2) and a controller (4) in communication connection with the image acquisition device (3). The image acquisition device (3) is configured to acquire a real-time image of the work machine (1) within the parking space (2). The controller (4) is configured to receive a real-time image from the image acquisition device (3), extract real-time attitude features of the robotic arm (11) from the real-time image, and determine whether the work machine (1) is docked in place by comparing the real-time attitude features with pre-stored standard attitude features. According to the utility model, the engineering machine can be ensured to be parked at the preset position in the standard space posture when the quality of the engineering machine is checked.
Description
Technical Field
The utility model relates to the technical field of engineering machinery detection, in particular to an engineering machinery auxiliary parking system and an engineering machinery quality inspection system comprising the same.
Background
The engineering machinery is used as a necessity of foundation construction engineering such as roads, bridges, buildings and the like, and the demand is increasing in the high-speed development process of the current society. In order to ensure the off-line quality of the whole machine, manufacturers usually perform off-line detection on engineering machinery at the end of an assembly production line.
The existing offline detection mode is mainly manual detection, and cannot adapt to increasing demand, so that the detection mode is changed into an automatic detection mode. Automated inspection requires that the work machine be parked in a standard spatial pose at a preset location prior to inspection. However, the current means for adjusting the spatial attitude of the construction machine entering the parking area is mainly visual inspection, and has high requirements for drivers and large errors.
Disclosure of utility model
The present utility model is directed to solving at least one of the problems discussed above and/or other problems in the prior art.
In order to achieve the above object, according to one aspect of the present utility model, there is provided a work machine auxiliary parking system for assisting a work machine having a robot arm to park in a standard spatial posture in a parking space. The auxiliary parking system of the engineering machinery comprises an image acquisition device arranged at the top of the parking space and a controller in communication connection with the image acquisition device. The image acquisition device is configured to acquire a real-time image of the work machine within the parking space. The controller is configured to receive a real-time image from the image acquisition device, extract real-time attitude features of the robotic arm from the real-time image, and determine whether the work machine is docked in place by comparing the real-time attitude features with pre-stored standard attitude features.
According to an embodiment of the present utility model, the image acquiring device includes a 2D camera disposed above a preset point in the parking space, and the real-time image is a real-time projection image of the construction machine on the ground acquired by the 2D camera.
According to an embodiment of the present utility model, the mechanical arm is provided with at least one observation point, the real-time gesture feature includes real-time coordinates of the observation point in a plane coordinate system with a position of the preset point as an origin, and the standard gesture feature includes standard coordinates of the observation point in the plane coordinate system.
According to one embodiment of the present utility model, the controller includes a receiving module communicatively connected to the image capturing device, a storage module storing the standard posture features, and a processing module communicatively connected to the receiving module and the storage module, respectively.
According to an embodiment of the utility model, the controller further comprises a second storage module storing an angle threshold of the deviation angle of the real-time pose of the manipulator relative to the standard pose.
According to an embodiment of the present utility model, the auxiliary docking system for a construction machine further comprises a display device communicatively connected to the controller, the display device being configured to display a value of the deviation angle or an angle that the construction machine needs to adjust if the deviation angle is greater than the angle threshold, and to display that the construction machine does not need to adjust if the deviation angle is less than or equal to the angle threshold.
According to an embodiment of the utility model, the auxiliary docking system further comprises a warning device in communication with the controller, the warning device being configured to emit a warning signal if the deviation angle is greater than the angle threshold.
According to another aspect of the utility model, a quality inspection system for a construction machine is provided, comprising the above-mentioned auxiliary docking system for a construction machine.
The auxiliary parking system for the engineering machinery can ensure that the engineering machinery is parked at a preset position in a standard space posture when the engineering machinery is automatically detected in a offline mode by extracting the real-time posture characteristic of the mechanical arm from the real-time image of the engineering machinery, which is acquired by the image acquisition device arranged at the top of the parking space, and comparing the real-time posture characteristic with the pre-stored standard posture characteristic.
Drawings
The above and other features and advantages of the present utility model will become more readily appreciated from the following description with reference to the accompanying drawings, in which:
FIG. 1 is a schematic illustration of a work machine assisted docking system according to an exemplary embodiment of the present utility model.
FIG. 2 is a comparison of a real-time projected image with a standard projected image obtained by the work machine assisted docking system of FIG. 1.
The figures are merely schematic and are not necessarily drawn to scale. The relative positional relationships of the various components shown in the drawings are also illustrative and are not intended to limit the scope of the utility model. Furthermore, only those parts necessary for elucidating the utility model are shown in the drawings, other parts being omitted or merely mentioned briefly.
Reference numerals illustrate:
1. Engineering machinery; 11. a mechanical arm; 111. an observation point; 2. parking space; 3. an image acquisition device; 4. a controller; 41. a receiving module; 42. a processing module; 43. a storage module; 5. a warning device; 6. a display device.
Detailed Description
Exemplary embodiments according to the present utility model will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model to those skilled in the art. It will be apparent, however, to one skilled in the art that the present utility model may be practiced without some of these specific details. Furthermore, it should be understood that the utility model is not limited to specific described embodiments. Rather, the utility model can be considered to be implemented with any combination of the following features and elements, whether or not they relate to different embodiments. Thus, the following features, embodiments, and advantages are merely illustrative and should not be considered elements or limitations of the claims except where explicitly set out in a claim.
The terms "comprising" and "having" are used in the following to mean that there are open-ended, including, and that there may be additional elements/components in addition to the listed elements/components.
An embodiment of the present utility model is described below with reference to fig. 1 and 2. The construction machine auxiliary parking system of the present embodiment is for assisting a driver in parking a construction machine 1 (e.g., an excavator) at a preset position in a parking space 2 in a standard space posture. "Standard space attitude" refers to the work machine 1 being substantially symmetrical and centered within a designated parking area within the parking space 2. The parking area has a generally rectangular border line, and when the work machine 1 is in a standard spatial attitude, the extension direction of its arm 11 should be substantially parallel to the border line on the left and right sides of the work machine 1. In the description of the present utility model, the left-right direction refers to a direction transverse to the traveling direction of the working machine 1.
As shown in fig. 1, the auxiliary docking system for construction machinery in the present embodiment includes an image acquisition device 3 provided at the top of a parking space 2 and a controller 4 communicatively connected to the image acquisition device 3. The image capturing device 3 may be fixedly installed at a position where the construction machine 1 can be captured, or may be installed so as to be movable to a position where the construction machine 1 is located to capture a real-time image of the construction machine 1. The image acquisition device 3 may also convert the acquired real-time image into an electric signal or the like that is convenient for transmission. The controller 4 is provided with standard posture features of the working machine 1, in particular of the mechanical arm 11 thereof, such as a standard parking posture picture, standard space coordinates or standard plane coordinates of the mechanical arm 11 when the working machine 1 is parked in a standard space posture. The controller 4 may receive the real-time image acquired by the image acquiring device 3, and extract the real-time gesture feature of the mechanical arm 11 from the real-time image, for example, a real-time photo, real-time spatial coordinates, or real-time plane coordinates of the mechanical arm 11. By comparing the real-time attitude characteristics of the mechanical arm 11 with the pre-stored standard attitude characteristics, the controller 4 is able to determine whether the work machine 1 is docked in place in a standard spatial attitude.
Further, as shown in fig. 1, the controller 4 in the present embodiment includes a receiving module 41, a processing module 42, and a storage module 43. The receiving module 41 is communicatively connected to the image capturing device 3 and the processing module 42, and receives the real-time image of the work machine 1 from the image capturing device 3 and transmits it to the processing module 42. The memory module 43 is also communicatively coupled to the processing module 42 and may be various memories in which the standard attitude characteristics of the control arm 11 as described above are stored. The processing module 42 extracts the real-time attitude feature of the mechanical arm 11 from the real-time image of the engineering machine 1, and compares the real-time attitude feature with the standard attitude feature stored in the storage module 43, thereby obtaining the deviation angle of the real-time attitude of the mechanical arm 11 relative to the standard attitude.
More specifically, the image pickup device 3 in the present embodiment is preferably a 2D camera that can take a high-frequency image of the construction machine 1. Accordingly, the receiving module 41 may be CAMERA LINK image capture card or other image capture card for PCI-X interface of 2D camera. The ground of the parking space 2 is usually a flat road surface, and a plane coordinate system can be established by taking a preset point location in the parking space 2 as an origin. For convenience of description, fig. 2 shows a position where the left extreme end of the working machine 1 is located as a preset point. The 2D camera may be disposed substantially directly above the preset point and suspended at the top of the parking space 2, so that when the 2D camera photographs the construction machine 1, a forward projection of the construction machine 1, including the mechanical arm 11 thereof, on the ground may be obtained.
As shown in fig. 2, after the driver stops the construction machine 1 at the position where the left end of the construction machine is aligned with the preset point, the 2D camera transmits the real-time projection image captured in this state to the processing module 42 through the receiving module 41 of the controller 4, and the processing module 42 obtains the real-time plane coordinates of the specific part of the mechanical arm 11 from the real-time projection image and compares the real-time plane coordinates with the standard plane coordinates stored in the storage module 43, thereby obtaining the deviation angle of the real-time posture of the mechanical arm 11 with respect to the standard posture.
In order to obtain the above-mentioned deviation angle, at least one observation point, for example, the observation point 111, needs to be selected on the robot arm 11. The at least one observation point may be an edge portion, particularly a corner portion, or a convex portion or a concave portion, or any other feature portion on the robot arm 11, as long as it is easy to recognize in a real-time image acquired by the image acquisition device 3, such as a 2D camera. The processing module 42 may obtain the standard plane coordinates of the observation point 111 on the plane coordinate system from the standard projection image (the outline shown by the solid line in fig. 2) stored in the storage module 43, and obtain the real-time plane coordinates of the observation point 111 on the plane coordinate system from the real-time projection image (the outline shown by the broken line in fig. 2) of the work machine 1 acquired by the 2D camera. By comparing the real-time plane coordinates with the standard plane coordinates, the processing module 42 can obtain the offsets Δx and Δy of the observation point 111 on the x axis and the y axis, respectively, so as to obtain the deviation angle α of the real-time posture of the mechanical arm 11 relative to the standard posture. For example, when the observation point 111 is shifted forward, the shift amount Δy on the y-axis is a positive number, and vice versa; when the observation point 111 is shifted to the left, the shift amount Δx on the x-axis is a negative number, and vice versa; thus, when the arm 11 is deflected to the left, the deviation angle α of the arm 11 is a negative value, and vice versa.
It should be noted that the above processing performed in the processing module 42 has already established algorithms in the field of image analysis, and the improvement of the present utility model is not limited to these algorithms.
According to a preferred embodiment of the present utility model, a second memory module is further provided in the controller 4 for storing an angle threshold value of the deviation angle α of the robot arm 11. The second memory module and the memory module 43 may be constituted by the same memory or may be constituted by different memories. As an example, the angle threshold may be set to 6 °. When the absolute value of the deviation angle α, which is obtained by the processing module 42, is between 0 ° and 6 °, the mechanical arm 11 or the working machine 1 is considered to be in a standard spatial attitude. Conversely, if the absolute value of the deviation angle α obtained by the processing module 42 is greater than the threshold value 6 °, it is considered that the spatial attitude of the mechanical arm 11 or the working machine 1 needs to be adjusted.
As shown in fig. 1, in order to more intuitively reflect whether the working machine 1 is parked in place in a standard spatial posture, the auxiliary parking system for working machines in this embodiment further includes a warning device 5 and a display device 6 communicatively connected to the controller 4. The warning device 5 and the display device 6 can be alternatively arranged or simultaneously arranged. The warning device 5 may be an indicator light, an alarm or an acousto-optic device with both audible and visual cues. For example, when the deviation angle α of the mechanical arm 11 is greater than the preset angle threshold, the controller 4 determines that the construction machine 1 cannot stop in the standard spatial attitude, and at this time, the warning device 5 may prompt the driver to need to adjust the spatial attitude of the construction machine 1 by flashing with a red light and/or sounding an alarm, and may display corresponding contents, such as NG words, the value of the deviation angle α, or the angle that the construction machine 1 needs to adjust, on the display device 6. On the other hand, when the deviation angle α of the mechanical arm 11 is smaller than or equal to the preset angle threshold, only the OK letter may be displayed on the display device 6, and the warning device 5 may inform the driver that the construction machine is parked in place by a normally-on green light and/or an audible prompt (e.g., "in place").
INDUSTRIAL APPLICABILITY
The construction machine auxiliary parking system of the present utility model is particularly suitable for assisting a driver to park the construction machine 1 in a standard spatial posture at a preset position in the parking space 2 when the construction machine 1 having the mechanical arm 11, particularly the excavator, is automatically taken off line before shipment. In the case of such an automated off-line detection, it is required that the working machine 1 is parked essentially symmetrically and centrally in a defined parking area in the parking space 2, in particular a large deflection angle is not possible. The auxiliary docking system of the engineering machinery can also be used for other occasions for quality inspection of the engineering machinery with the mechanical arm. Correspondingly, the utility model also provides a quality inspection system of the engineering machinery, which comprises the auxiliary parking system of the engineering machinery.
The auxiliary parking system for the engineering machinery acquires a real-time image of the engineering machinery 1 through the image acquisition device 3 arranged at the top of the parking space 2, extracts real-time attitude characteristics of the mechanical arm 11 from the real-time image through the controller 4, compares the real-time attitude characteristics with standard attitude characteristics, and obtains a deviation angle of the real-time attitude of the mechanical arm 11 relative to the standard attitude, thereby determining whether the engineering machinery 1 is parked in place in the standard spatial attitude. Compared with the prior art, the method mainly based on visual inspection solves the technical problem that the engineering machine 1 cannot or is difficult to park at the preset position in the correct space posture.
In the description of the present specification, the terms "one embodiment," "a preferred embodiment," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present utility model and is not intended to limit the embodiment of the present utility model, and various modifications and variations can be made to the embodiment of the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present utility model should be included in the protection scope of the embodiments of the present utility model.
Claims (8)
1. A construction machine assisted parking system for assisting a construction machine (1) having a robot arm (11) to park in a standard spatial attitude in a parking space (2), comprising:
An image acquisition device (3) arranged on top of the parking space (2), the image acquisition device (3) being configured to acquire a real-time image of the working machine (1) within the parking space (2); and
A controller (4) in communication with the image acquisition device (3), the controller (4) being configured to receive a real-time image from the image acquisition device (3), extract a real-time attitude feature of the robotic arm (11) from the real-time image, and determine whether the work machine (1) is docked in place by comparing the real-time attitude feature with a pre-stored standard attitude feature.
2. The work machine assisted docking system according to claim 1, characterized in that said image acquisition device (3) comprises a 2D camera arranged above a preset point in said parking space (2), said real-time image being a real-time projected image of said work machine (1) on the ground acquired by said 2D camera.
3. The auxiliary docking system of engineering machinery according to claim 2, wherein at least one observation point is arranged on the mechanical arm (11), the real-time gesture feature comprises real-time coordinates of the observation point in a plane coordinate system with a position of the preset point as an origin, and the standard gesture feature comprises standard coordinates of the observation point in the plane coordinate system.
4. A work machine assisted docking system according to any of claims 1 to 3, characterized in that the controller (4) comprises a receiving module (41) in communicative connection with the image acquisition device (3), a storage module (43) storing the standard attitude characteristics, and a processing module (42) in communicative connection with the receiving module (41) and the storage module (43), respectively.
5. The work machine assisted docking system of claim 4, wherein the controller further comprises a second memory module storing an angle threshold of a deviation angle of a real-time attitude of the robotic arm (11) from a standard attitude.
6. The work machine assisted docking system of claim 5, further comprising a display device (6) communicatively coupled to the controller (4), the display device (6) configured to display a value of the deviation angle or an angle the work machine (1) needs to adjust if the deviation angle is greater than the angle threshold, and to display that the work machine (1) does not need to adjust if the deviation angle is less than or equal to the angle threshold.
7. The work machine assisted docking system of claim 5, further comprising a warning device (5) in communicative connection with the controller (4), the warning device (5) being configured to issue a warning signal if the deviation angle is greater than the angle threshold.
8. A quality inspection system for construction machinery, characterized by comprising the construction machinery assisted docking system according to any one of claims 1 to 7.
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| CN202321009768.6U CN220853449U (en) | 2023-04-28 | 2023-04-28 | Engineering machinery auxiliary parking system and engineering machinery quality inspection system |
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| CN202321009768.6U CN220853449U (en) | 2023-04-28 | 2023-04-28 | Engineering machinery auxiliary parking system and engineering machinery quality inspection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118254191A (en) * | 2024-05-30 | 2024-06-28 | 辽宁新生科技有限公司 | Cloud service system and method based on industrial Internet platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118254191A (en) * | 2024-05-30 | 2024-06-28 | 辽宁新生科技有限公司 | Cloud service system and method based on industrial Internet platform |
| CN118254191B (en) * | 2024-05-30 | 2024-09-24 | 辽宁新生科技有限公司 | Cloud service system and method based on industrial Internet platform |
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