CN109656251B - Inspection robot for detecting soil in abandoned land of mining area and working method - Google Patents
Inspection robot for detecting soil in abandoned land of mining area and working method Download PDFInfo
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- CN109656251B CN109656251B CN201811631425.7A CN201811631425A CN109656251B CN 109656251 B CN109656251 B CN 109656251B CN 201811631425 A CN201811631425 A CN 201811631425A CN 109656251 B CN109656251 B CN 109656251B
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- 238000007689 inspection Methods 0.000 title claims abstract description 81
- 239000002689 soil Substances 0.000 title claims abstract description 66
- 238000005065 mining Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000003860 storage Methods 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000009412 basement excavation Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 239000003245 coal Substances 0.000 description 4
- 238000012271 agricultural production Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009439 industrial construction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses an inspection robot for detecting soil in abandoned land of a mining area and a working method thereof. The invention can automatically navigate and inspect the abandoned land of the mining area, and can detect and sample the soil temperature and humidity of multiple areas of the abandoned land of the mining area, thereby ensuring the accuracy and the real-time performance of soil detection.
Description
Technical Field
The invention relates to a soil detection inspection robot and a working method thereof, in particular to an inspection robot for detecting soil in abandoned lands of mining areas and a working method thereof.
Background
Land resources are the carriers for human survival and development and are the basic material conditions for agricultural production and industrial construction. However, the urbanization and industrialization speed of China is high, the construction land still keeps high requirements for a long time, the land resources which can be used for agricultural land are relatively scarce, and the per-capita cultivated land area of China is only 0.101 hectare, which is less than half of the per-capita level of the world. Coal is a main energy source in China since industrialization, mining becomes an important means for production activity and economic growth in China, and the coal occupies an important proportion in national economy. Due to the extensive economic development mode of high input and high output in China, coal mining causes different degrees of damage to agricultural land, and coal mining digging damage, collapse and occupation generate a large amount of waste land, and research and practice in recent years show that: the land reclamation of the abandoned land in the mining area is an important way for relieving the agricultural land and improving the ecological environment of the mining area, and whether the soil of the reclaimed land meets the requirement of agricultural production is the key for land reclamation of the abandoned land in the mining area, so the soil detection is the key link of the land reclamation. Therefore, the robot for detecting the soil in the abandoned land of the mining area is significant in research aiming at improving the accuracy and real-time performance of soil detection.
Poor ground surface structure and soil nutrient and the excessive mining of mine lead to the mine surface collapse, have produced a large amount of collecting space areas and collapse areas, lead to the mining area environment complicated and abominable, this kind of complicated geographical condition has higher requirement to soil detection robot moving platform, environmental perception ability, autonomous navigation ability and mechanical arm detection and sample ability, and the robot that is used for soil detection at present can only be used in the structured environment.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the inspection robot for detecting the soil in the abandoned land of the mining area and the working method thereof, which can automatically navigate in the abandoned land of the mining area for inspection, can detect and sample the temperature and humidity of the soil in multiple areas of the abandoned land of the mining area, can effectively ensure the accuracy and real-time performance of soil detection, and is convenient for the subsequent land reclamation work.
In order to achieve the purpose, the invention adopts the technical scheme that: a patrol robot for detecting soil in abandoned land of a mining area comprises a mobile platform and a power system, wherein a crawler belt is installed on the mobile platform, the power system is fixed on the upper part of the mobile platform, the patrol robot further comprises a sample storage area, a display, a GPS signal receiver, two supports, two rotary platforms, an industrial personal computer, an electric mechanical arm and a bucket, the display is installed on the upper part of the power system, the sample storage area is fixed above the display through a support column, the sample storage area consists of a plurality of sample storage boxes, the GPS signal receiver and the industrial personal computer are installed on the mobile platform, the rotary platforms are installed on the upper part of the industrial personal computer, the two supports are symmetrically arranged on two sides of the rotary platform, a vision camera is arranged on each support, the vision camera faces the front, one end of the electric mechanical arm is connected with a motor on the rotary platform, and the other end, a torque sensor is arranged at the hinged position of the electric mechanical arm and the bucket, a temperature and humidity sensor is arranged at the digging end of the bucket, an ultrasonic sensor is arranged at the side part of the moving platform, a laser radar is arranged at the front end of the industrial personal computer, and the scanning direction of the laser radar is the horizontal direction;
the industrial personal computer is connected with a power system, a display, a GPS signal receiver, a vision camera, an ultrasonic sensor, a laser radar, a torque sensor and a temperature and humidity sensor, and the power system is electrically connected with the mobile platform, the rotary platform and the electric mechanical arm.
Furthermore, the electric mechanical arm comprises a first section arm, a second section arm and a third section arm, one end of the first section arm is connected with the rotating platform through a first joint, the other end of the first section arm is connected with one end of the second section arm through a second joint, the other end of the second section arm is connected with one end of the third section arm through a third joint, the other end of the third section arm is connected with a torque sensor at a fourth joint, and the other end of the torque sensor is connected with the bucket.
Further, the power system is an electric motor.
A working method of an inspection robot for detecting soil in a abandoned land of a mining area comprises the following specific steps:
A. before the inspection robot starts to inspect the abandoned land of the mining area, GPS coordinates of an area needing inspection are calibrated through a satellite map and stored in an industrial personal computer, then an inspection path is preset in the area, and a plurality of soil detection points are set on the inspection path; meanwhile, a detection distance threshold fed back by an ultrasonic sensor, a detection distance threshold fed back by a laser radar, a torque threshold of a torque sensor and a plurality of landform images capable of passing safely are stored in an industrial personal computer in advance;
B. the robot will be patrolled and examined and placed the initiating terminal in the route of patrolling and examining that step A confirms, when beginning to patrol and examine to first soil detection point, the industrial computer passes through GPS signal receiver real-time reception and patrols and examines the GPS coordinate of robot, then it patrols and examines the route to compare with preset, the industrial computer is located the coordinate and is controlled moving platform through driving system according to real time and is gone along predetermined route of patrolling and examining and traveling, the landform environment feedback in the place ahead is shot to the industrial computer in real time to two vision cameras simultaneously, ultrasonic sensor sends ultrasonic detection and patrols and examines the environment around the robot and receives the ultrasonic wave of feedback and sends for the industrial computer, laser radar sends radar signal and receives feedback signal and sends for:
if the distance between the peripheral object fed back by the ultrasonic sensor and the inspection robot is larger than or equal to the set distance threshold value, the inspection robot keeps the current running path of the inspection robot, and if the distance between the peripheral object fed back by the ultrasonic sensor and the inspection robot is smaller than the set distance threshold value, the industrial personal computer controls the mobile platform to adjust the running direction to increase the distance between the mobile platform and the object and continuously move to the first soil detection point by receiving the GPS coordinates in real time;
if the distance between the front obstacle fed back by the laser radar and the inspection robot is larger than or equal to the set distance threshold, the inspection robot keeps the current running path of the inspection robot, and if the distance between the front object fed back by the laser radar and the inspection robot is smaller than the set distance threshold, the industrial personal computer controls the mobile platform to adjust the running direction to increase the distance between the mobile platform and the object, and the mobile platform continues to travel to the first soil detection point by receiving the GPS coordinates in real time;
if the comparison between the landform image shot by the visual camera and one of the stored landform images which can safely pass is successful, the inspection robot keeps the current running path of the inspection robot, if the comparison between the landform image shot by the visual camera and the stored landform image is not successful, the industrial personal computer controls the mobile platform to stop running, the industrial personal computer controls the mechanical arm and the bucket to stretch to apply pressure to the ground in front through the power system, the torque sensor feeds back the torque value at the hinged position between the bucket and the mechanical arm to the industrial personal computer in real time, the industrial personal computer compares the detected torque value with the stored torque threshold value, if the detected torque value is greater than or equal to the torque threshold value, the inspection robot can safely pass through the area, the industrial personal computer enables the mechanical arm to retract and controls the mobile platform to continue running along the current path, and if the detected torque value is less than the torque threshold value, the, the industrial personal computer controls the mobile platform to adjust the driving direction to bypass the area, and continuously moves to the first soil detection point by receiving the GPS coordinates in real time;
C. when the inspection robot reaches a first soil detection point, the industrial personal computer controls the mechanical arm and the bucket to extend through the power system to excavate and sample the soil at the point, the sampled soil is placed in a sample storage box in the sample storage area, and the temperature and humidity sensor detects the temperature and humidity of the soil at the point and feeds the temperature and humidity back to the industrial personal computer for storage in the soil excavation process;
D. and C, after the inspection robot finishes the detection work of the first soil detection point, the industrial personal computer controls the mobile platform to drive to the next soil detection point along the preset path, and the steps B and C are repeated until the inspection robot finishes the detection of all the soil detection points, so that the whole inspection work of the inspection robot is finished.
Compared with the prior art, the invention adopts a mode of combining the sample storage area, the display, the GPS signal receiver, the bracket, the rotary platform, the industrial personal computer, the electric mechanical arm and the bucket, and has the following advantages:
(1) the invention adopts a multi-sensor information fusion technology, can more comprehensively reflect the characteristics of the external environment, increase the complementarity among the sensors and improve the decision correctness of the robot.
(2) The mechanical arm system provided by the invention has the functions of detecting unknown environment and sampling soil.
(3) The mechanical arm detection system is used, and the environment sensing system is combined, so that the slip region and the impassable region in the mine area can be accurately detected.
(4) The invention has strong structural adaptability, and the robot can autonomously navigate and avoid obstacles in the abandoned scene of the mining area.
(5) The invention can detect the temperature and humidity information of the soil in the mining area in real time in the advancing process of the robot.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the construction of the motorized robotic arm of the present invention;
fig. 3 is a schematic view of the installation position of the torque sensor in the present invention.
In the figure: 1. the system comprises a mobile platform, 2, a crawler belt, 3, an ultrasonic sensor, 4, a power system, 5, a display, 6, a sample storage area, 7, a GPS signal receiver, 8, a support, 9, a vision camera, 10, a rotating platform, 11, an industrial personal computer, 12, a laser radar, 13, an electric mechanical arm, 14, a torque sensor, 15, a bucket, 16, a temperature and humidity sensor, 17, a first joint arm, 18, a second joint arm, 19, a third joint arm, 20, a first joint, 21, a second joint, 22, a third joint, 23 and a fourth joint.
Detailed Description
The present invention will be further explained below.
As shown in the drawing, the right side of figure 1 is used as the front for patent description, the inspection robot for detecting the soil in the abandoned land of a mining area comprises a mobile platform 1 and a power system 4, wherein the mobile platform 1 is provided with a crawler 2, the power system 4 is fixed on the upper part of the mobile platform 1, the inspection robot further comprises a sample storage area 6, a display 5, a GPS signal receiver 7, a support 8, a rotating platform 10, an industrial personal computer 11, an electric mechanical arm 13 and a bucket 15, the display 5 is arranged on the upper part of the power system 4, the sample storage area 6 is fixed above the display 5 through a support column, the sample storage area 6 consists of a plurality of sample storage boxes, the GPS signal receiver 7 and the industrial personal computer 11 are arranged on the mobile platform 1, the rotating platform 10 is arranged on the upper part of the rotating platform 11, the supports 8 are two industrial personal computers, the two supports 8 are symmetrically arranged on two sides of the rotating, the vision camera 9 faces the front, one end of an electric mechanical arm 13 is connected with a motor on the rotary platform 10, the other end of the electric mechanical arm 13 is in hinged transmission with a bucket 15, a torque sensor 14 is arranged at the hinged position of the electric mechanical arm 13 and the bucket 15, a temperature and humidity sensor 16 is arranged at the digging end of the bucket 15, an ultrasonic sensor 3 is arranged on the side of the mobile platform 1, a laser radar 12 is arranged at the front end of an industrial personal computer 11, and the scanning direction of the laser radar 12 is the horizontal direction;
the industrial personal computer 11 is connected with the power system 4, the display 5, the GPS signal receiver 7, the vision camera 9, the ultrasonic sensor 3, the laser radar 12, the torque sensor 14 and the temperature and humidity sensor 16, and the power system 4 is electrically connected with the mobile platform 1, the rotary platform 10 and the electric mechanical arm 13. The vision camera 9 is used for acquiring large-area image information in front of the robot, the laser radar 12 is used for acquiring information in front of a robot body, the ultrasonic sensor 3 is used for assisting other sensors in acquiring obstacle information around the robot and sensing the surrounding environment of the robot, and the GPS signal receiver 7 is used for providing real-time position coordinates of the robot.
Further, the electric mechanical arm 13 includes a first joint arm 17, a second joint arm 18 and a third joint arm 19, one end of the first joint arm 17 is connected to the rotary platform 10 through the first joint 17, the other end of the first joint arm 17 is connected to one end of the second joint arm 18 through a second joint 21, the other end of the second joint arm 18 is connected to one end of the third joint arm 19 through a third joint 22, the other end of the third joint arm 19 is connected to the torque sensor 14 at a fourth joint 23, and the other end of the torque sensor 14 is connected to the bucket 15. The electric mechanical arm 13 is in an unfolded state when an unknown area is detected, sampled and detected in soil, and is in a folded state in the advancing process.
Further, the power system 4 is an electric motor.
A working method of an inspection robot for detecting soil in a abandoned land of a mining area comprises the following specific steps:
A. before the inspection robot starts to inspect the abandoned land of the mining area, GPS coordinates of an area needing inspection are calibrated through a satellite map and stored in an industrial personal computer 11, an inspection path is preset in the area, and a plurality of soil detection points are set on the inspection path; meanwhile, a detection distance threshold fed back by the ultrasonic sensor 3, a detection distance threshold fed back by the laser radar 12, a torque threshold of the torque sensor 14 and a plurality of safely passable topographic images are prestored in the industrial personal computer 11;
B. placing the inspection robot at the initial end of the inspection path determined in the step A, starting inspection to the first soil detection point, the industrial personal computer 11 receives the GPS coordinates of the inspection robot in real time through the GPS signal receiver 7, then comparing with the preset routing inspection path, the industrial personal computer 11 controls the mobile platform 1 to run along the preset routing inspection path through the power system 4 according to the real-time coordinates, simultaneously, the landform environment in the place ahead is shot in real time to two vision cameras 9 and is fed back to industrial computer 11, and ultrasonic sensor 3 sends ultrasonic detection and patrols and examines the environment around the robot and receives the ultrasonic wave of feedback and send for industrial computer 11, and laser radar 12 sends radar signal and receives feedback signal to the horizontal direction and sends for industrial computer 11, and industrial computer 11 carries out analysis processes to feedback data, and above-mentioned data collection shows through display 5 simultaneously, specifically does:
if the distance between the peripheral object fed back by the ultrasonic sensor 3 and the inspection robot is larger than or equal to the set distance threshold, the inspection robot keeps the current running path of the inspection robot, and if the distance between the peripheral object fed back by the ultrasonic sensor and the inspection robot is smaller than the set distance threshold, the industrial personal computer 11 controls the mobile platform 1 to adjust the running direction to increase the distance between the mobile platform and the object, and continuously moves to the first soil detection point by receiving the GPS coordinates in real time;
if the distance between the front obstacle fed back by the laser radar 12 and the inspection robot is larger than or equal to the set distance threshold, the inspection robot keeps the current running path of the inspection robot, and if the distance between the front object fed back by the laser radar 12 and the inspection robot is smaller than the set distance threshold, the industrial personal computer 11 controls the mobile platform 1 to adjust the running direction to increase the distance between the object and continue to advance to the first soil detection point by receiving the GPS coordinates in real time;
if the comparison between the landform image shot by the visual camera 9 and one of the stored landform images which can safely pass is successful, the inspection robot keeps the current running path of the inspection robot, if the comparison between the landform image shot by the visual camera 9 and one of the stored landform images is not successful, the industrial personal computer 11 controls the mobile platform 1 to stop running, the industrial personal computer 11 controls the electric mechanical arm 13 and the bucket 15 to extend through the power system 4 to apply pressure to the ground in front, the torque sensor 14 feeds back the torque value at the hinged position between the bucket 15 and the electric mechanical arm 13 to the industrial personal computer 11 in real time, the industrial personal computer 11 compares the detected torque value with the stored torque threshold value, if the detected torque value is greater than or equal to the torque threshold value, the inspection robot can safely pass through the area, the industrial personal computer 11 enables the electric mechanical arm 13 to retract and controls the mobile platform 1 to continuously run along, if the detected torque value is smaller than the torque threshold value, which indicates that the inspection robot cannot safely pass through the area, the industrial personal computer 11 controls the mobile platform 1 to adjust the driving direction to bypass the area, and continuously moves to the first soil detection point by receiving the GPS coordinates in real time;
C. when the inspection robot reaches a first soil detection point, the industrial personal computer 11 controls the electric mechanical arm 13 and the bucket 15 to extend through the power system 4 to excavate and sample the soil at the point, the sampled soil is placed in a sample storage box in the sample storage area 6, and the temperature and humidity sensor 16 detects the temperature and humidity of the soil at the point in the soil excavation process and feeds the temperature and humidity back to the industrial personal computer 11 for storage;
D. and after the inspection robot finishes the detection work of the first soil detection point, the industrial personal computer 11 controls the mobile platform 1 to drive to the next soil detection point along the preset path, and the steps B and C are repeated until the inspection robot finishes the detection of all the soil detection points, and the whole inspection work of the inspection robot is finished.
Claims (3)
1. A working method of an inspection robot for detecting abandoned land soil in a mining area is characterized by further comprising a sample storage area, a display, a GPS signal receiver, a support, a rotary platform, an industrial personal computer, two electric mechanical arms and a bucket, wherein the display is arranged on the upper portion of the power system, the sample storage area is fixed above the display through a support column and consists of a plurality of sample storage boxes, the GPS signal receiver and the industrial personal computer are arranged on the mobile platform, the rotary platform is arranged on the upper portion of the industrial personal computer, the two supports are symmetrically arranged on two sides of the rotary platform, the two supports are respectively provided with a vision camera, the vision cameras face the front, one end of each electric mechanical arm is connected with a motor on the rotary platform, the other end of the electric mechanical arm is in hinged transmission with the bucket, a torque sensor is arranged at the hinged position of the electric mechanical arm and the bucket, a temperature and humidity sensor is arranged at the digging end of the bucket, an ultrasonic sensor is arranged at the side part of the moving platform, a laser radar is arranged at the front end of the industrial personal computer, and the scanning direction of the laser radar is the horizontal direction; the industrial personal computer is connected with the power system, the display, the GPS signal receiver, the vision camera, the ultrasonic sensor, the laser radar, the torque sensor and the temperature and humidity sensor, and the power system is electrically connected with the mobile platform, the rotary platform and the electric mechanical arm; the method comprises the following specific steps:
A. before the inspection robot starts to inspect the abandoned land of the mining area, GPS coordinates of an area needing inspection are calibrated through a satellite map and stored in an industrial personal computer, then an inspection path is preset in the area, and a plurality of soil detection points are set on the inspection path; meanwhile, a distance threshold value detected by an ultrasonic sensor, a distance threshold value detected by a laser radar, a torque threshold value of a torque sensor and a plurality of landform images capable of passing safely are preset in the industrial personal computer;
B. the robot will be patrolled and examined and placed the initiating terminal in the route of patrolling and examining that step A confirms, when beginning to patrol and examine to first soil detection point, the industrial computer passes through GPS signal receiver real-time reception and patrols and examines the GPS coordinate of robot, then it patrols and examines the route to compare with preset, the industrial computer is located the coordinate and is controlled moving platform through driving system according to real time and is gone along predetermined route of patrolling and examining and traveling, the landform environment feedback in the place ahead is shot to the industrial computer in real time to two vision cameras simultaneously, ultrasonic sensor sends ultrasonic detection and patrols and examines the environment around the robot and receives the ultrasonic wave of feedback and sends for the industrial computer, laser radar sends radar signal and receives feedback signal and sends for:
if the distance between the peripheral object fed back by the ultrasonic sensor and the inspection robot is larger than or equal to the set distance threshold value, the inspection robot keeps the current running path of the inspection robot, and if the distance between the peripheral object fed back by the ultrasonic sensor and the inspection robot is smaller than the set distance threshold value, the industrial personal computer controls the mobile platform to adjust the running direction to increase the distance between the mobile platform and the object and continuously move to the first soil detection point by receiving the GPS coordinates in real time;
if the distance between the front obstacle fed back by the laser radar and the inspection robot is larger than or equal to the set distance threshold, the inspection robot keeps the current running path of the inspection robot, and if the distance between the front object fed back by the laser radar and the inspection robot is smaller than the set distance threshold, the industrial personal computer controls the mobile platform to adjust the running direction to increase the distance between the mobile platform and the object, and the mobile platform continues to travel to the first soil detection point by receiving the GPS coordinates in real time;
if the comparison between the landform image shot by the visual camera and one of the stored landform images which can safely pass is successful, the inspection robot keeps the current running path of the inspection robot, if the comparison between the landform image shot by the visual camera and the stored landform image is not successful, the industrial personal computer controls the mobile platform to stop running, the industrial personal computer controls the mechanical arm and the bucket to stretch to apply pressure to the ground in front through the power system, the torque sensor feeds back the torque value at the hinged position between the bucket and the mechanical arm to the industrial personal computer in real time, the industrial personal computer compares the detected torque value with the stored torque threshold value, if the detected torque value is greater than or equal to the torque threshold value, the inspection robot can safely pass through the area, the industrial personal computer enables the mechanical arm to retract and controls the mobile platform to continue running along the current path, and if the detected torque value is less than the torque threshold value, the, the industrial personal computer controls the mobile platform to adjust the driving direction to bypass the area, and continuously moves to the first soil detection point by receiving the GPS coordinates in real time;
C. when the inspection robot reaches a first soil detection point, the industrial personal computer controls the mechanical arm and the bucket to extend through the power system to excavate and sample the soil at the point, the sampled soil is placed in a sample storage box in the sample storage area, and the temperature and humidity sensor detects the temperature and humidity of the soil at the point and feeds the temperature and humidity back to the industrial personal computer for storage in the soil excavation process;
D. and C, after the inspection robot finishes the detection work of the first soil detection point, the industrial personal computer controls the mobile platform to drive to the next soil detection point along the preset path, and the steps B and C are repeated until the inspection robot finishes the detection of all the soil detection points, so that the whole inspection work of the inspection robot is finished.
2. The working method of the inspection robot for the soil detection of the abandoned land in the mining area according to claim 1, wherein the electric mechanical arm comprises a first section arm, a second section arm and a third section arm, one end of the first section arm is connected with the rotating platform through a first joint, the other end of the first section arm is connected with one end of the second section arm through a second joint, the other end of the second section arm is connected with one end of the third section arm through a third joint, the other end of the third section arm is connected with a torque sensor at a fourth joint, and the other end of the torque sensor is connected with the bucket.
3. The working method of the inspection robot for the soil detection of the abandoned land of the mining area according to claim 1, wherein the power system is an electric motor.
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| CN201811631425.7A CN109656251B (en) | 2018-12-29 | 2018-12-29 | Inspection robot for detecting soil in abandoned land of mining area and working method |
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| CN201811631425.7A CN109656251B (en) | 2018-12-29 | 2018-12-29 | Inspection robot for detecting soil in abandoned land of mining area and working method |
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| CN109656251B true CN109656251B (en) | 2021-03-26 |
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|---|---|---|---|---|
| CN110320329A (en) * | 2019-07-13 | 2019-10-11 | 西安鸿安仪器仪表有限公司 | Gas patrolling and checking management system |
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