CN110329907A - The design of telescopic rod about a adjustable in length - Google Patents
The design of telescopic rod about a adjustable in length Download PDFInfo
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- CN110329907A CN110329907A CN201910519070.0A CN201910519070A CN110329907A CN 110329907 A CN110329907 A CN 110329907A CN 201910519070 A CN201910519070 A CN 201910519070A CN 110329907 A CN110329907 A CN 110329907A
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- telescopic rod
- group
- position recognition
- recognition capability
- positioning device
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- 238000013461 design Methods 0.000 title description 3
- 238000005457 optimization Methods 0.000 claims abstract description 5
- 239000000284 extract Substances 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000000605 extraction Methods 0.000 claims 1
- 230000003287 optical effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 208000036829 Device dislocation Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Accessories Of Cameras (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses be related to a kind of telescopic rod of adjustable in length, and the angled adjuster of telescopic rod heading tape.The telescopic rod can install the combination of multiple groups camera and laser radar simultaneously, and picture pick-up device acquires image data, extract characteristic point, and laser radar extracts spatial point cloud；It is reconstructed by the spatial positional information to characteristic point, in conjunction with spatial point cloud processing, the safe and efficient cargo transport route of optimization.The adjustable in length of the telescopic rod, and can according to need at top and can controllably be rotated freely within the scope of certain angle.The length of the telescopic rod can also be adjusted in a certain range.The telescopic rod of different number is mounted on around object to be identified the accuracy that can help to improve Object identifying.
Description
Technical field
Currently, the precedent that the PORT OF SHANGHAI in China has had storage yard operation to automate, but the lifting of Port Container Cranes
Process can not fully achieve Unmanned operation, and the efficiency of loading and unloading still has the space of promotion；And harbour working environment is changeable, lifting
Steel cable is swung vulnerable to wind load in the process.Various researchs all are expanded to the raising of stockyard efficiency both at home and abroad, and are achieved preferable
Theoretical result, most of currently used technology are and the spies of container hanging operating environment based on the experienced improvement of worker
Different property makes such improved method have certain limitation, cannot be connected well with the stockyard of high-efficient automatic, in turn
Influence the efficiency of loading and unloading of entire harbour.Electric telescopic rod be a kind of low energy consumption, low pollution rotary motion is converted to it is linear past
The driving device moved again.Currently, the use of electric telescopic rod can effectively improve equipment in the application of Freight Dock equipment
Conevying efficiency and transport when stability.Technical problem solved by the invention is to provide a kind of length scalable, angle
Rotatable electric telescopic rod, to solve the problems, such as camera shooting dead angle, to provide side to provide effective space measurement data
It helps.
Background technique
The automation of port cargo enters scientific research expert's as one of state-of-the-art application field, camera very early
Investigate range.The field product, which needs to realize, deviates warning, the vehicle detection of view-based access control model fusion, front shock warning, distance
Monitoring, surrounding objects detection, intelligent headlight control, Traffic Sign Recognition, the only functions such as vision self-adapting cruise control.And it realizes
Above functions, it is necessary to install " eyes "-picture pick-up device to control system.
With the continuous improvement of the quantum of international trade and the appearance of Large Container Ship, the efficiency of loading and unloading at harbour is proposed
Requirements at the higher level, full-automatic port and pier come into being.Currently, the lifting process of Type of Quayside Container Crane can not achieve
Unmanned operation, the efficiency of loading and unloading are still lower；And harbour working environment is changeable, steel cable is swung vulnerable to wind load during lifting.Closely
Nian Lai expands various researchs to the field of the raising to case efficiency both at home and abroad, and achieves preferable theoretical result, at present
Most of technology of use is and the particularity of container hanging operating environment based on the experienced improvement of worker, makes such change
There is certain limitation into method.There is very big subjectivity and ambiguity in worker operation, cannot be with the heap of high-efficient automatic
Field is connected well, and then influences the efficiency of loading and unloading of entire harbour.Currently, Computer Image Processing and identification technology are
It is widely used in each department of national economy, this technology, which is applied to container hanging process, has good prospect.
But the field uses based on monocular cam scheme more at present.But it is to survey that monocular cam, which has a problem,
Away from range and apart from aspect, have an implacable contradiction, i.e. the visual angle of camera is wider, can detect accurate distance
Length it is shorter, visual angle is narrower, and the distance detected is longer.Be similarly to human eye and see the world, see it is remoter when, can cover
The range of lid is just narrow, see it is close when, then the range that covers is just wide.Human eye is binocular, to be much better than in performance
Artificial product, but when observing context, it also can still encounter and cover infull problem.
Electric pushrod is that a kind of straight reciprocating motion that the rotary motion of motor is changed into push rod is driven by electricity dress
It sets.It can be used for as mechanical use is executed in various simple or complicated process flow, to realize far distance control, centralized control
Or it automatically controls.
At present in port cargo field, the use case of telescopic rod is very limited.To solve the above problems, in recent years, state
Interior some enterprises and colleges and universities have developed the electrical retractor of different structure and performance in succession.By using electricity on outside connecting rod
Machine control is connected respectively by drawstring, spring between inner link and outside connecting rod, middle connecting rod, it is same with inner link to realize middle connecting rod
When flexible purpose, the movement of motor control outside connecting rod is relatively accurate；But moving synchronously inner link using the elastic force of spring is not
It is controllable.
A kind of controllable electric telescopic rod, including lead screw stepper motor, fixed plate, adjustable rod, angle adjustable
Pullover；
The lead screw stepper motor and fixed plate are connected, and the lead screw shaft of lead screw stepper motor passes through fixed plate centre bore；Institute
It states outer sleeve and is fixed on dead plate upper end；First bezel ring, and outer sleeve upper end are connected, and inner sleeve outer circle is arranged first
In bezel ring, inner circle；First drum is connected by shaft with bar core upper end；Second drum passes through shaft and bar core lower end
It is connected；The drum can be rotated relative to shaft；First draught line one end is connected with fixed plate, and the other end bypasses the first drum
It is connected afterwards with connecting plate upper end；Second draught line one end is connected with connecting plate lower end, the other end bypass the second drum after with
First bezel ring, is connected.
Compared with prior art, the present invention its remarkable advantage:
(1) controllable electric telescopic rod of the invention, rod piece can be controlled with computer, improve flexible precision, mention
The high shooting visual field.
(2) head segment of telescopic rod of the present invention can control angle rotation, and which increase camera free movements
Freedom degree, the Object identifying accuracy in the case where there is barrier can be avoided, for production process provide it is more effectively
Detection information.
(3) not only each limit switch is limited the present invention up and down, and has boss to carry out mechanical position limitation up and down, is mentioned
The high reliability and security of the present apparatus.
The working principle of controllable electric telescopic rod of the invention and use process is as follows: elongation process, first driving silk
The lead screw shaft of thick stick stepper motor rotates, and lead screw drives feed screw nut to move upwards, and improves stretching speed.The present invention uses steel wire
Rope bypasses upper and lower trough of belt bearing, drives back and forth moving synchronously for pole, there is low noise, at low cost to move synchronously controllable spy
Point, and improve transmission efficiency.And the components of telescopic rod of the present invention mostly use standard component, structure is simple.
This disclosure relates to camera shooting terminal and laser radar technique field.The camera of different focal length, the clarity with imaging
It is directly related.More mesh cameras can cover the scene of different range by different cameras, both solved camera without
Method toggles the problem of focal length, can also disposably solve the problems, such as to identify clarity under different distance.The peace of laser radar
Holding position and setting angle can compensate camera unmasked portion, form effective compensation.Disclosure emphasis illustrates identifying system
In telescopic rod design.
In Computer Vision Recognition system, picture material is usually described with characteristics of image.In fact, based on calculating
The image retrieval of machine vision can also be divided into three steps of similar text search engine: extract feature, modeling, optimization and control
Signal output.
Summary of the invention
The present invention provides a kind of length of rotation adjustable and retractable bar, is asked with solving above-mentioned technology existing in the prior art
Topic.It include: interior bar, outer bar and knob external member；Wherein, the interior bar and outer bar are hollow type round tube and the two clearance fit,
Helicla flute is offered in the interior bar and outer bar respectively, and two groups of helicla flutes are symmetrical, the knob external member passes through the helicla flute
The fixed interior bar and outer bar.Preferably, further including the fixed feet positioned at interior bar and outer boom end.Preferably, the rotation
Button external member includes retainer plate and the bolt assembly that is located on the retainer plate, and the bolt assembly passes through after the retainer plate deeply
It is affixed with the interior outer bar in the helicla flute.Preferably, the interior bar and outer bar are all made of coating steel pipe.
The present invention also provides a kind of installation methods of rotating extensible arm, comprising: provides two steel pipes of clearance fit；Institute
It states and opens up helicla flute on the caliber of two steel pipes and keep two groups of helicla flutes symmetrical；Outer bar is set in interior bar and is pacified in outer bar
Fill knob external member；The relative length between interior bar and outer bar is adjusted, connect the end of the interior bar and outer bar with column respectively；
The inside and outside bar is fixed with knob external member.
Compared with prior art, the invention has the following advantages that the present invention passes through setting helicla flute, due to the helicla flute
It is symmetrical arranged, is controlled between inside and outside bar by multi-angle frictional force and shearing, it is more firm, and adjustable in length.And it is inside and outside
Arbitrarily move, do not controlled by modulus between bar, can take random length and any angle, realize rod piece it is horizontal unlimited flexible and
300 degree (two-way/every to 150 degree) rotate freely positioning.
In order to solve the problems, such as that it is as above that prior art camera shooting generates, the present invention is intended to provide a kind of flexible bar apparatus, the equipment
It is being composed by the camera of multiple and different equipment, as shown in Figure 3.
In order to achieve the purpose that gantry crane barrier on dynamic monitoring driving path during the motion, the present invention is using such as
Lower technical solution: it is a kind of can be with the space three-dimensional point cloud information of three-dimensional acquisition subject and can be with real-time optimization trolley movement
Picture pick-up device or laser equipment, it is characterized in that: dynamic monitoring, strong antijamming capability.The installation locating rack setting is pushed up in positioning
Disk top center is simultaneously equipped with Ethernet Wiring port.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of lifting equipment for being configured with four groups of picture pick-up devices shown according to an exemplary embodiment.
Fig. 2 is a kind of single camera picture pick-up device structural schematic diagram of telescopic rod shown according to an exemplary embodiment.
Fig. 3 is a kind of dual camera picture pick-up device structural representation comprising telescopic rod shown according to an exemplary embodiment
Figure.
Fig. 4 is a kind of lifting equipment structural representation for being configured with three groups of picture pick-up devices shown according to an exemplary embodiment
Figure.
Fig. 5 is a kind of lifting equipment structural representation for being configured with three groups of picture pick-up devices shown according to an exemplary embodiment
Figure.
Fig. 6 is a kind of lifting equipment structural representation for being configured with three groups of picture pick-up devices shown according to an exemplary embodiment
Figure.
Fig. 7 is a kind of Telescopic rod structure schematic diagram shown according to an exemplary embodiment.
Specific embodiment
Hereinafter, being illustrated referring to attached drawing to mode for carrying out the present invention (hereinafter referred to as embodiment).In addition, this
Invention is not limited by embodiments described below.Moreover, enclosing identical label to same section in described in the attached drawing.
(outline structure of video camera protecting crust)
Fig. 1 is to show the lifting equipment schematic diagram for being configured with four groups of picture pick-up devices of the invention.Fig. 2 and Fig. 3 is every group and takes the photograph
As equipment is made of telescopic rod, fixation member and camera group.Length of telescopic bar can be adjusted within the scope of 0-60cm, and fixation is taken the photograph
As the part of head group can freely be adjusted within the scope of 0-150 degree three-dimensional space.In Fig. 2, the camera group at the top of telescopic rod is
One group, and at three kinds of figure, the camera group number at the top of telescopic rod is two groups, and each one group of left and right is to improve accuracy of identification.
According to actual needs, the group number of picture pick-up device is adjustable, and by the combination of different location, it is fixed still to may be implemented
Position, the purpose controlled.Such as the equipment that Fig. 4 and Fig. 6 have been equipped with three camera groups, unlike they be respectively at difference
Installation site.And the lifting equipment of two groups of camera groups is equipped with shown in Fig. 5.
(movement of equipment)
In the operational process of equipment, video camera is in wherein equipment outer always, and the direction length for prolonging telescopic rod can
It adjusts.Camera lens itself can be fixed, and be also possible to telescopic.But its inside for being in protecting crust always.Its
Secondary is the motion control for camera group, in three-dimensional space, is rotated around at an angle, to obtain not
With the picture of angle.Dead range can be reduced in this way, effectively improves recognition efficiency, this acts the picture that can effectively improve acquisition
Quality.
Claims (12)
1. a kind of positioning device with container position recognition capability, including for the flexible of fixing camera and laser radar
Bar, the combination of multiple groups camera, the combination of multiple groups laser radar；Picture pick-up device acquires image data, extracts characteristic point, laser thunder
Up to extraction spatial point cloud；It is reconstructed by the spatial positional information to characteristic point, in conjunction with spatial point cloud processing, optimization safety
Efficient cargo transport route；It is characterized in that, the positional relationship of processing crawl in real time object and chaff interferent, has anti-well
Interference；The optimization of motion path, to reach efficient demand.
2. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Telescopic rod, which is characterized in that the device length is adjustable, and can according to need at top can within the scope of -150 ° to 150 °
Controllably to rotate freely.
3. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Telescopic rod, which is characterized in that the equipment can be controlled free extension between 0 to 60 centimetre.
4. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Camera group, which is characterized in that the picture pick-up device group that the equipment can be different number is composed.It is characterized in that, group number
Value can be one group, two groups, three groups, four groups or multiple groups.
5. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Laser radar group, which is characterized in that the laser radar group that the equipment can be different number is composed.It is characterized in that, group
Several values can be one group, two groups, three groups, four groups or multiple groups.
6. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Camera group, which is characterized in that the equipment can be mounted in different positions.It is characterized in that, camera shooting group may be mounted at
The arbitrary face any position of lifting equipment cart, trolley, suspender.
7. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Laser radar group, which is characterized in that the equipment can be mounted in different positions.It is characterized in that, laser radar group can be with
It is mounted on the arbitrary face any position of lifting equipment cart, trolley, suspender.
8. a kind of positioning device of container position recognition capability according to claim 1, the protected object of the device are
Telescopic rod, which is characterized in that one group, two groups or multiple groups picture pick-up device can be installed at the top of the pole of every telescopic rod and swashed
Optical radar.
9. the positioning device of container position recognition capability according to claim 1, it is characterised in that for container
It once grabs case or puts case, one to eight not equal telescopic rod can be equipped with.
10. the positioning device of container position recognition capability according to claim 1, it is characterised in that for container
Single camera combination can be equipped on the primary each telescopic rod grabbed case or put case.
11. the positioning device of container position recognition capability according to claim 1, it is characterised in that for container
Two camera combinations can be equipped on each telescopic rod once grabbed.
12. the positioning device of container position recognition capability according to claim 1, it is characterised in that for container
Single laser radar combination can be equipped on each telescopic rod once grabbed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519070.0A CN110329907A (en) | 2019-06-14 | 2019-06-14 | The design of telescopic rod about a adjustable in length |
| CN202021066936.1U CN212609114U (en) | 2019-06-14 | 2020-06-11 | Length-adjustable telescopic rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519070.0A CN110329907A (en) | 2019-06-14 | 2019-06-14 | The design of telescopic rod about a adjustable in length |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110329907A true CN110329907A (en) | 2019-10-15 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910519070.0A Pending CN110329907A (en) | 2019-06-14 | 2019-06-14 | The design of telescopic rod about a adjustable in length |
| CN202021066936.1U Active CN212609114U (en) | 2019-06-14 | 2020-06-11 | Length-adjustable telescopic rod |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021066936.1U Active CN212609114U (en) | 2019-06-14 | 2020-06-11 | Length-adjustable telescopic rod |
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| CN (2) | CN110329907A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902570A (en) * | 2019-11-25 | 2020-03-24 | 上海驭矩信息科技有限公司 | Dynamic measurement method and system for container loading and unloading operation |
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| CN101206262A (en) * | 2007-12-06 | 2008-06-25 | 上海交通大学 | System and method for automatically detecting shiploader article position two-dimension laser scanning radar |
| US20130154869A1 (en) * | 2011-12-19 | 2013-06-20 | John F. Cameron | Determining the location of a load for a tower crane |
| CN103336282A (en) * | 2013-06-17 | 2013-10-02 | 上海海事大学 | Automatic cabin positioning device and positioning method thereof |
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| CN108345305A (en) * | 2018-01-31 | 2018-07-31 | 中国矿业大学 | Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method |
| CN109634282A (en) * | 2018-12-25 | 2019-04-16 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus |
-
2019
- 2019-06-14 CN CN201910519070.0A patent/CN110329907A/en active Pending
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2020
- 2020-06-11 CN CN202021066936.1U patent/CN212609114U/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101206262A (en) * | 2007-12-06 | 2008-06-25 | 上海交通大学 | System and method for automatically detecting shiploader article position two-dimension laser scanning radar |
| US20130154869A1 (en) * | 2011-12-19 | 2013-06-20 | John F. Cameron | Determining the location of a load for a tower crane |
| CN103336282A (en) * | 2013-06-17 | 2013-10-02 | 上海海事大学 | Automatic cabin positioning device and positioning method thereof |
| CN204090036U (en) * | 2014-09-26 | 2015-01-07 | 国家电网公司 | Insulation high-altitude inspection device |
| CN207150742U (en) * | 2017-08-22 | 2018-03-27 | 四川邮科通信技术有限公司 | A kind of intelligent mobile video monitoring system |
| CN108345305A (en) * | 2018-01-31 | 2018-07-31 | 中国矿业大学 | Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method |
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| CN110902570A (en) * | 2019-11-25 | 2020-03-24 | 上海驭矩信息科技有限公司 | Dynamic measurement method and system for container loading and unloading operation |
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| CN212609114U (en) | 2021-02-26 |
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