CN110815212A - Intelligent graphite cleaning device for coal charging port of coke oven - Google Patents
Intelligent graphite cleaning device for coal charging port of coke oven Download PDFInfo
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- CN110815212A CN110815212A CN201910952409.6A CN201910952409A CN110815212A CN 110815212 A CN110815212 A CN 110815212A CN 201910952409 A CN201910952409 A CN 201910952409A CN 110815212 A CN110815212 A CN 110815212A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Coke Industry (AREA)
Abstract
The invention provides an intelligent graphite cleaning device for a coal charging port of a coke oven, which comprises a control module, a robot, a mobile trolley and a cleaning operation module, wherein the intelligent graphite cleaning device is moved to a target coal charging port of the coke oven, which needs graphite cleaning, along a preset path through the mobile trolley according to respective graphite accumulation conditions of different coke oven coal charging ports, and the robot drives the cleaning operation module to perform corresponding graphite cleaning operation on the target coal charging port of the coke oven. The intelligent graphite cleaning device adopts the robot to replace an operator to perform corresponding graphite cleaning operation, and can really realize the unmanned graphite cleaning operation of the coal charging port of the coke oven, thereby improving the working area coverage and cleaning efficiency of the intelligent graphite cleaning device, improving the working reliability and safety of the intelligent graphite cleaning device and reducing the environmental pollution generated in the working process of the intelligent graphite cleaning device.
Description
Technical Field
The invention relates to the technical field of coke oven equipment, in particular to an intelligent graphite cleaning device for a coal charging port of a coke oven.
Background
In the working process of the coke oven equipment, a series of procedures such as coal charging, coke discharging and the like need to be continuously and repeatedly carried out, and because the difference between the temperature inside and outside the coal charging area is large, the graphite accumulation is easily formed inside the coal charging port of the coke oven, if the accumulated graphite is not cleaned in time, the aperture of the coal charging port of the coke oven is reduced due to the continuous deposition of the graphite on the hole wall of the coal charging port, and further the subsequent coal charging operation is influenced. In order to clean the graphite accumulated on the coal charging port of the coke oven in time, the prior art realizes the corresponding graphite cleaning process by means of manual steel rod cleaning, but because the graphite accumulation speed in the coal charging port of the coke oven is high, cleaning personnel is required to perform cleaning operation frequently, in addition, the temperature near the coal charging port of the coke oven is high, the concentration of coal ash and dust is high, the cleaning personnel are in a severe environment in the cleaning operation process, and great hidden troubles are caused to the working safety and the body health of the cleaning personnel; in addition, the manual steel chisel cleaning method can damage the refractory material inside the coke oven coal charging port, which also affects the service life of the whole coke oven. Therefore, the existing mode of cleaning by means of manual steel rods generally has the defects of long operation time, high labor intensity, serious environmental pollution, low working safety and the like in different aspects, and the efficiency and the safety of cleaning the graphite at the coal charging port of the coke oven cannot be effectively improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent graphite cleaning device for a coal charging port of a coke oven, which comprises a control module, a robot, a mobile trolley and a cleaning operation module, wherein the intelligent graphite cleaning device is moved to a target coal charging port of the coke oven, which needs graphite cleaning, along a preset path through the mobile trolley according to respective graphite accumulation conditions of different coke oven coal charging ports, and the robot drives the cleaning operation module to perform corresponding graphite cleaning operation on the target coke oven coal charging port. The intelligent graphite cleaning device adopts the robot to replace an operator to carry out corresponding graphite cleaning operation, the intelligent graphite cleaning device can really realize the unmanned graphite cleaning operation of the coal charging port of the coke oven, and the intelligent graphite cleaning device can quickly switch the motion among different coke oven coal charging ports so as to reach different target coke oven coal charging ports needing graphite cleaning in time, thereby improving the working area coverage and cleaning efficiency of the intelligent graphite cleaning device, the robot can adapt to the working environment with high temperature and high dust, and can also perform graphite cleaning with high-frequency action, thus leading the intelligent graphite cleaning device to carry out rapid and thorough graphite cleaning operation in a short time, thereby greatly improving the working reliability and safety of the intelligent graphite cleaning device and reducing the environmental pollution generated in the working process.
The invention provides an intelligent graphite cleaning device for a coal charging port of a coke oven, which is characterized in that:
the intelligent graphite cleaning device for the coal charging port of the coke oven comprises a control module, a robot, a mobile trolley and a cleaning operation module; wherein the content of the first and second substances,
the control module is used for respectively controlling the action state of the robot and the motion state of the mobile trolley;
the mobile trolley is used for bearing the robot and driving the robot to move along a preset path;
the robot is used for driving the cleaning operation module to perform adaptive cleaning operation on the coal charging port of the coke oven;
further, the mobile trolley comprises a first image acquisition sub-module, a motion sensing sub-module, a motion state adjusting sub-module and a first communication sub-module; wherein the content of the first and second substances,
the first communication sub-module is used for realizing data interactive transmission among the first image acquisition sub-module, the motion sensor sub-module and the motion state adjusting sub-module and the control module respectively;
the first image acquisition sub-module is used for acquiring an external environment image corresponding to the mobile trolley in the process of moving along the preset path;
the motion sensing sub-module is used for acquiring a plurality of different motion parameters of the mobile trolley in the process of moving along the preset path;
the control module is used for generating a motion indication signal according to the external environment image and/or the different motion parameters;
the motion state adjusting submodule is used for adjusting the motion state of the mobile trolley along the preset path in real time according to the motion indicating signal;
further, the first image acquisition submodule comprises an image shooting unit and a shooting action control unit; wherein the content of the first and second substances,
the image shooting unit is used for shooting a monocular image and/or a binocular image of the moving trolley relative to a coal charging port of the coke oven in the process of moving along the preset path, and the monocular image and/or the binocular image are used as the external environment image;
the shooting action control unit is used for controlling the image shooting unit to change at least one of exposure time, image shooting frequency and image shooting focal length according to the resolution and/or the different motion parameters of the monocular image and/or the binocular image related to the coal charging port of the coke oven;
further, the photographing action control unit controlling the image photographing unit to perform the change with respect to at least one of an exposure time, an image photographing frequency, an image photographing focal length, and an image photographing angle of view according to the resolution and/or the number of motion parameters includes,
if the resolution of the monocular image and/or the binocular image is gradually reduced along with the advance of the shooting action of the image shooting unit, the shooting action control unit controls the exposure time executed by the shooting action to be gradually reduced, or controls the image shooting frequency of the shooting action to be gradually increased, or controls the image shooting focal length of the shooting action to be gradually increased, or controls the image shooting visual angle of the shooting action to be gradually reduced;
alternatively, the first and second electrodes may be,
if the resolution of the monocular image and/or the binocular image is gradually increased along with the advance of the shooting action of the image shooting unit, the shooting action control unit controls the exposure time executed by the shooting action to be gradually increased, or controls the image shooting frequency of the shooting action to be gradually reduced, or controls the image shooting focal length of the shooting action to be gradually reduced, or controls the image shooting visual angle of the shooting action to be gradually increased;
further, the first image acquisition submodule is used for shooting distribution images of the coke oven coal charging openings corresponding to the preset path;
the motion sensing submodule is used for acquiring at least one of corresponding speed, acceleration, motion direction and motion attitude of the mobile trolley in the process of moving along the preset path to serve as the motion parameter;
the control module calculates at least one of the distribution images and/or the motion parameters of the coal charging port of the coke oven to obtain the relative position relationship between the mobile trolley and the coal charging port of the target coke oven, and generates the motion indication signal for adjusting the speed and/or the motion attitude of the mobile trolley according to the relative position relationship;
the motion state adjusting submodule is also used for adjusting the motion state of at least one of the speed adjustment, the motion direction and the braking action of the mobile trolley according to the motion indicating signal;
further, the robot comprises a second image acquisition sub-module, a structured light positioning sub-module, a mechanical arm sub-module and a second communication sub-module; wherein the content of the first and second substances,
the second communication sub-module is used for realizing data interactive transmission among the second image acquisition sub-module, the structured light positioning sub-module and the mechanical arm sub-module and the control module respectively;
the second image acquisition submodule is used for shooting a monocular image and/or a binocular image of a target coke oven coal charging port of the robot;
the structured light positioning submodule is used for acquiring structured light positioning parameters related to a target coke oven coal charging port of the robot;
the control module is used for generating a six-degree-of-freedom indicating signal according to a monocular image and/or a binocular image and/or the structured light positioning parameter related to the coal charging port of the target coke oven;
the mechanical arm submodule is used for adjusting and driving the cleaning operation of the cleaning operation module in real time according to the six-degree-of-freedom indication signal;
further, the robot further comprises a tool change submodule;
the cleaning operation module comprises a graphite cleaning submodule and a coke oven cover carrying submodule;
the tool replacing sub-module is detachably connected with the graphite cleaning sub-module and the coke oven cover carrying sub-module respectively;
the control module is also used for generating a tool change indicating signal according to the monocular image and/or the binocular image and/or the structured light positioning parameter related to the coal charging port of the target coke oven;
the tool replacing sub-module is used for adjusting the connection state between the tool replacing sub-module and the graphite cleaning sub-module or the coke oven cover carrying sub-module in real time according to the tool replacing indication signal;
further, the structured light positioning sub-module comprises a structured light emission scanning unit, a structured light reflection receiving unit and a reflected light signal analysis unit; wherein the content of the first and second substances,
the structural light emission scanning unit is used for emitting structural light with a preset mode to the target coke oven coal charging port and periodically scanning the structural light;
the structured light reflection receiving unit is used for receiving the structured light reflected by the coal charging port of the target coke oven;
the reflected light signal analysis unit is used for calculating and obtaining the structured light positioning parameters according to the reflected structured light;
furthermore, the robot also comprises a proximity sensing submodule and a protection shielding submodule; wherein the content of the first and second substances,
the proximity sensing submodule is used for carrying out proximity sensing operation on one side of a working face of the robot so as to obtain a human or object proximity sensing signal related to the one side of the working face;
the protection shielding submodule is used for executing physical isolation operation on the robot according to the human or object proximity sensing signal;
further, the robot also comprises a heat insulation submodule, and the heat insulation submodule covers the exposed surface of the robot;
or;
the mobile trolley further comprises a cooling submodule for performing a cooling operation on the mobile trolley and/or the robot;
alternatively, the first and second electrodes may be,
the purge operation module further includes a compressed air generation sub-module for generating compressed air of a convection type or a unidirectional flow type.
Compared with the prior art, the intelligent graphite cleaning device for the coke oven coal charging port comprises a control module, a robot, a mobile trolley and a cleaning operation module, the intelligent cleaning device moves to a target coke oven coal charging port needing graphite cleaning along a preset path through the mobile trolley according to respective graphite accumulation conditions of different coke oven coal charging ports, and the robot drives the cleaning operation module to perform corresponding graphite cleaning operation on the target coke oven coal charging port. The intelligent graphite cleaning device adopts the robot to replace an operator to carry out corresponding graphite cleaning operation, the intelligent graphite cleaning device can really realize the unmanned graphite cleaning operation of the coal charging port of the coke oven, and the intelligent graphite cleaning device can quickly switch the motion among different coke oven coal charging ports so as to reach different target coke oven coal charging ports needing graphite cleaning in time, thereby improving the working area coverage and cleaning efficiency of the intelligent graphite cleaning device, the robot can adapt to the working environment with high temperature and high dust, and can also perform graphite cleaning with high-frequency action, thus leading the intelligent graphite cleaning device to carry out rapid and thorough graphite cleaning operation in a short time, thereby greatly improving the working reliability and safety of the intelligent graphite cleaning device and reducing the environmental pollution generated in the working process.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of an intelligent graphite cleaning device for a coal charging port of a coke oven.
FIG. 2 is a flow chart of the operation of the robot-driven cleaning operation module in the intelligent graphite cleaning device for the coal charging port of the coke oven provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a block diagram of an intelligent graphite cleaning device for a coal charging port of a coke oven according to an embodiment of the present invention is shown. The intelligent graphite cleaning device for the coal charging port of the coke oven comprises a control module, a robot, a mobile trolley and a cleaning operation module; wherein the content of the first and second substances,
the control module is used for respectively controlling the action state of the robot and the motion state of the mobile trolley;
the mobile trolley is used for bearing the robot and driving the robot to move along a preset path;
the robot is used for driving the cleaning operation module to perform adaptive cleaning operation on the coal charging port of the coke oven.
Preferably, the mobile trolley comprises a first image acquisition sub-module, a motion sensing sub-module, a motion state adjusting sub-module and a first communication sub-module;
preferably, the first communication submodule is used for realizing data interactive transmission between the first image acquisition submodule, the motion sensor submodule and the motion state adjusting submodule and the control module respectively;
preferably, the first image acquisition sub-module is configured to acquire an external environment image corresponding to the mobile trolley during the movement along the preset path;
preferably, the motion sensing sub-module is used for acquiring a plurality of different motion parameters of the mobile trolley in the process of moving along the preset path;
preferably, the control module is configured to generate a motion indication signal according to the external environment image and/or the plurality of different motion parameters;
preferably, the motion state adjustment sub-module is configured to adjust a motion state of the mobile cart along the preset path in real time according to the motion indication signal;
preferably, the first image acquisition sub-module comprises an image shooting unit and a shooting action control unit;
preferably, the image shooting unit is used for shooting a monocular image and/or a binocular image of the moving trolley relative to a coal charging port of the coke oven in the process of moving along the preset path, and the images are taken as the external environment images;
preferably, the shooting action control unit is used for controlling the image shooting unit to change at least one of the exposure time, the image shooting frequency and the image shooting focal length according to the resolution of the monocular image and/or the binocular image related to the coal charging port of the coke oven and/or the plurality of different motion parameters, and the shooting action control unit adaptively adjusts the shooting work of the image shooting unit according to the plurality of different motion parameters due to the fact that the image shooting unit bumps or shakes and the like in the moving process of the mobile trolley, so that the situations of image shooting blurring or defocusing and the like are avoided;
preferably, the photographing action control unit controls the image photographing unit to perform the change with respect to at least one of the exposure time, the image photographing frequency, the image photographing focal length, and the image photographing viewing angle according to the resolution and/or the several motion parameters includes,
if the resolution of the monocular image and/or the binocular image gradually decreases as the shooting action of the image shooting unit advances, the shooting action control unit controls the exposure time executed by the shooting action to gradually decrease, or controls the image shooting frequency of the shooting action to gradually increase, or controls the image shooting focal length of the shooting action to gradually increase, or controls the image shooting visual angle of the shooting action to gradually decrease;
preferably, the photographing action control unit controlling the image photographing unit to perform the change with respect to at least one of the exposure time, the image photographing frequency, the image photographing focal length, and the image photographing viewing angle according to the resolution and/or the number of motion parameters may further specifically include,
if the resolution of the monocular image and/or the binocular image gradually increases as the shooting action of the image shooting unit advances, the shooting action control unit controls the exposure time executed by the shooting action to gradually increase, or controls the image shooting frequency of the shooting action to gradually decrease, or controls the image shooting focal length of the shooting action to gradually decrease, or controls the image shooting visual angle of the shooting action to gradually increase;
the shooting action control unit can carry out adaptive compensation on the shooting action of the image shooting unit according to the current different motion states of the image shooting unit through the two types of the motion states, so that the image shooting unit can realize normal image shooting action under different motion modes, and the image shooting reliability of the image shooting unit is improved.
Preferably, the first image acquisition submodule is used for shooting distribution images of the coal charging port of the coke oven corresponding to the preset path;
preferably, the motion sensing sub-module is configured to acquire at least one of a corresponding speed, an acceleration, a motion direction, and a motion posture of the mobile cart during the motion along the preset path as the motion parameter;
preferably, the control module calculates at least one of the distribution image of the coal charging port of the coke oven and/or the motion parameter to obtain a relative position relationship between the mobile trolley and the coal charging port of the target coke oven, and generates the motion indication signal for adjusting the speed and/or the motion attitude of the mobile trolley according to the relative position relationship;
preferably, the motion state adjusting sub-module is further configured to adjust a motion state of at least one of a speed adjustment, a motion direction and a braking action of the mobile trolley according to the motion indication signal;
because the mobile trolley can be convenient for the robot to clean graphite nearby only by integrally transporting the intelligent graphite cleaning device to the corresponding target coke oven coal charging port, the first image acquisition module can carry out continuous visual positioning on the target coke oven coal charging port, and the control module can adjust the motion mode of the mobile trolley in real time according to the result of the visual positioning and the current motion state of the mobile trolley, so that the mobile trolley can accurately, quickly and stably move to the vicinity of the operation area corresponding to the target coke oven coal charging port.
Preferably, the robot comprises a second image acquisition submodule, a structured light positioning submodule, a mechanical arm submodule and a second communication submodule;
preferably, the second communication sub-module is configured to implement data interactive transmission between the second image acquisition sub-module, the structured light positioning sub-module and the manipulator sub-module and the control module, respectively;
preferably, the second image acquisition submodule is used for shooting a monocular image and/or a binocular image about a target coke oven coal charging port of the robot;
preferably, the structured light positioning submodule is used for acquiring structured light positioning parameters of a target coke oven coal charging port of the robot;
preferably, the control module is used for generating a six-degree-of-freedom indicating signal according to the monocular image and/or the binocular image and/or the structured light positioning parameter related to the coal charging port of the target coke oven;
preferably, the mechanical arm submodule is used for adjusting and driving the cleaning operation of the cleaning operation module in real time according to the six-degree-of-freedom indication signal;
the mechanical arm submodule is used for connecting or holding the cleaning operation module and driving the cleaning operation module to perform cleaning action to clean accumulated graphite in a coke oven coal charging port, and in order to ensure that the cleaning operation module can accurately align with the coke oven coal charging port to clean, the mechanical arm submodule adaptively drives the cleaning operation module to perform corresponding cleaning action according to a visual positioning result of the two image acquisition submodules on the target coke oven coal charging port and/or a structured light positioning result of the structured light positioning submodule on the target coke oven coal charging port, so that the cleaning efficiency and the accuracy of the cleaning operation module can be improved.
Preferably, the robot further comprises a tool change submodule;
preferably, the cleaning operation module comprises a graphite cleaning submodule and a coke oven cover carrying submodule;
preferably, the tool change submodule is detachably connected with the graphite cleaning submodule and the coke oven cover carrying submodule respectively, wherein the detachable connection can be, but is not limited to, a magnetic adsorption detachable connection;
preferably, the control module is also used for generating a tool change indicating signal according to the monocular image and/or the binocular image and/or the structured light positioning parameter of the target coke oven coal charging port;
preferably, the tool replacement submodule is used for adjusting the connection state between the graphite cleaning submodule or the coke oven cover carrying submodule in real time according to the tool replacement indicating signal;
preferably, the structured light positioning sub-module comprises a structured light emission scanning unit, a structured light reflection receiving unit and a reflected light signal analysis unit;
preferably, the structured light emission scanning unit is used for emitting structured light with a preset pattern to the target coke oven coal charging port and periodically scanning the structured light;
preferably, the structured light reflection receiving unit is used for receiving the structured light reflected by the coal charging port of the target coke oven;
preferably, the reflected light signal analysis unit is configured to calculate the structured light positioning parameter according to the reflected structured light;
preferably, the robot further comprises a proximity sensing submodule and a protection shielding submodule;
preferably, the proximity sensing submodule is used for performing proximity sensing operation on the working face side of the robot so as to obtain a human or object proximity sensing signal related to the working face side;
preferably, the protection shielding submodule is used for performing physical isolation operation on the robot according to the human or object proximity sensing signal, so that people or other objects are prevented from being present in the working radius range of the robot and the working safety of the robot is improved;
preferably, the robot further comprises a heat insulation submodule covering the exposed surface of the robot, wherein the heat insulation submodule can be, but is not limited to, a heat insulation protective garment sleeved on different exposed surfaces of the robot;
preferably, the mobile trolley further comprises a cooling submodule for performing a cooling operation on the mobile trolley and/or the robot, wherein the cooling submodule may be, but is not limited to, an air-cooled radiator or a water-cooled radiator;
preferably, the cleaning operation module further comprises a compressed air generation sub-module, the compressed air generation sub-module is used for generating compressed air in a convection mode or a one-way flow mode, and the compressed air generation sub-module is used for conveying the compressed air to the coal charging opening of the coke oven in the process of performing physical cleaning by the cleaning operation module, so that the thoroughness of graphite cleaning is further improved.
Referring to fig. 2, it is a working flow chart of a robot-driven cleaning operation module in the intelligent graphite cleaning device for the coal charging port of the coke oven provided by the invention. The working process of the robot driving cleaning operation module mainly comprises the following steps:
step (S1), the robot connects the mechanical arm sub-module to the coke oven cover carrying sub-module according to the tool replacing indication signal and the six-freedom-degree indication signal from the control module, so as to lift the coke oven cover at the coal charging port of the coke oven;
a step (S2) in which the robot connects the mechanical arm submodule to the graphite cleaning submodule by adsorption according to the tool replacement indication signal and the six-degree-of-freedom indication signal from the control module, thereby cleaning the graphite accumulated at the coal charging port of the coke oven;
and (S3) the robot re-attaches the mechanical arm submodule to the coke oven cover carrying submodule according to the tool replacement indication signal and the six-degree-of-freedom indication signal from the control module, so as to re-cover the coke oven cover on the coke oven coal charging port.
The intelligent graphite cleaning device for the coke oven coal charging port comprises a control module, a robot, a mobile trolley and a cleaning operation module, wherein the mobile trolley moves the intelligent cleaning device to a target coke oven coal charging port needing graphite cleaning along a preset path according to respective graphite accumulation conditions of different coke oven coal charging ports, and the robot drives the cleaning operation module to perform corresponding graphite cleaning operation on the target coke oven coal charging port. The intelligent graphite cleaning device adopts the robot to replace an operator to carry out corresponding graphite cleaning operation, the intelligent graphite cleaning device can really realize the unmanned graphite cleaning operation of the coal charging port of the coke oven, and the intelligent graphite cleaning device can quickly switch the motion among different coke oven coal charging ports so as to reach different target coke oven coal charging ports needing graphite cleaning in time, thereby improving the working area coverage and cleaning efficiency of the intelligent graphite cleaning device, the robot can adapt to the working environment with high temperature and high dust, and can also perform graphite cleaning with high-frequency action, thus leading the intelligent graphite cleaning device to carry out rapid and thorough graphite cleaning operation in a short time, thereby greatly improving the working reliability and safety of the intelligent graphite cleaning device and reducing the environmental pollution generated in the working process.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an intelligent graphite cleaning device of coke oven coal charging mouth which characterized in that:
the intelligent graphite cleaning device for the coal charging port of the coke oven comprises a control module, a robot, a mobile trolley and a cleaning operation module; wherein the content of the first and second substances,
the control module is used for respectively controlling the action state of the robot and the motion state of the mobile trolley;
the mobile trolley is used for bearing the robot and driving the robot to move along a preset path;
the robot is used for driving the cleaning operation module to perform adaptive cleaning operation on the coal charging port of the coke oven.
2. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 1, wherein:
the mobile trolley comprises a first image acquisition sub-module, a motion sensing sub-module, a motion state adjusting sub-module and a first communication sub-module; wherein the content of the first and second substances,
the first communication sub-module is used for realizing data interactive transmission among the first image acquisition sub-module, the motion sensor sub-module and the motion state adjusting sub-module and the control module respectively;
the first image acquisition sub-module is used for acquiring an external environment image corresponding to the mobile trolley in the process of moving along the preset path;
the motion sensing sub-module is used for acquiring a plurality of different motion parameters of the mobile trolley in the process of moving along the preset path;
the control module is used for generating a motion indication signal according to the external environment image and/or the different motion parameters;
and the motion state adjusting submodule is used for adjusting the motion state of the mobile trolley along the preset path in real time according to the motion indicating signal.
3. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 2, wherein:
the first image acquisition submodule comprises an image shooting unit and a shooting action control unit; wherein the content of the first and second substances,
the image shooting unit is used for shooting a monocular image and/or a binocular image of the moving trolley relative to a coal charging port of the coke oven in the process of moving along the preset path, and the monocular image and/or the binocular image are used as the external environment image;
the shooting action control unit is used for controlling the image shooting unit to change at least one of exposure time, image shooting frequency and image shooting focal length according to the resolution of the monocular image and/or the binocular image related to the coal charging port of the coke oven and/or the plurality of different motion parameters.
4. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 3, wherein:
the photographing action control unit controls the image photographing unit to perform a change with respect to at least one of an exposure time, an image photographing frequency, an image photographing focal length, and an image photographing angle of view according to the resolution and/or the plurality of motion parameters,
if the resolution of the monocular image and/or the binocular image is gradually reduced along with the advance of the shooting action of the image shooting unit, the shooting action control unit controls the exposure time executed by the shooting action to be gradually reduced, or controls the image shooting frequency of the shooting action to be gradually increased, or controls the image shooting focal length of the shooting action to be gradually increased, or controls the image shooting visual angle of the shooting action to be gradually reduced;
alternatively, the first and second electrodes may be,
if the resolution of the monocular image and/or the binocular image gradually increases as the shooting action of the image shooting unit advances, the shooting action control unit controls the exposure time executed by the shooting action to gradually increase, or controls the image shooting frequency of the shooting action to gradually decrease, or controls the image shooting focal length of the shooting action to gradually decrease, or controls the image shooting visual angle of the shooting action to gradually increase.
5. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 2, wherein:
the first image acquisition sub-module is used for shooting distribution images of the coke oven coal charging ports corresponding to the preset path;
the motion sensing submodule is used for acquiring at least one of corresponding speed, acceleration, motion direction and motion attitude of the mobile trolley in the process of moving along the preset path to serve as the motion parameter;
the control module calculates at least one of the distribution images and/or the motion parameters of the coal charging port of the coke oven to obtain the relative position relationship between the mobile trolley and the coal charging port of the target coke oven, and generates the motion indication signal for adjusting the speed and/or the motion attitude of the mobile trolley according to the relative position relationship;
the motion state adjusting submodule is further used for adjusting the motion state of at least one of the speed adjustment, the motion direction and the braking action of the mobile trolley according to the motion indicating signal.
6. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 1, wherein:
the robot comprises a second image acquisition sub-module, a structured light positioning sub-module, a mechanical arm sub-module and a second communication sub-module; wherein the content of the first and second substances,
the second communication sub-module is used for realizing data interactive transmission among the second image acquisition sub-module, the structured light positioning sub-module and the mechanical arm sub-module and the control module respectively;
the second image acquisition submodule is used for shooting a monocular image and/or a binocular image of a target coke oven coal charging port of the robot;
the structured light positioning submodule is used for acquiring structured light positioning parameters related to a target coke oven coal charging port of the robot;
the control module is used for generating a six-degree-of-freedom indicating signal according to a monocular image and/or a binocular image and/or the structured light positioning parameter related to the coal charging port of the target coke oven;
and the mechanical arm submodule is used for adjusting and driving the cleaning operation of the cleaning operation module in real time according to the six-degree-of-freedom indication signal.
7. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 6, wherein:
the robot further comprises a tool change submodule;
the cleaning operation module comprises a graphite cleaning submodule and a coke oven cover carrying submodule;
the tool replacing sub-module is detachably connected with the graphite cleaning sub-module and the coke oven cover carrying sub-module respectively;
the control module is also used for generating a tool change indicating signal according to the monocular image and/or the binocular image and/or the structured light positioning parameter related to the coal charging port of the target coke oven;
the tool replacing sub-module is used for adjusting the connection state between the tool replacing sub-module and the graphite cleaning sub-module or the coke oven cover carrying sub-module in real time according to the tool replacing indication signal.
8. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 6, wherein:
the structured light positioning sub-module comprises a structured light emission scanning unit, a structured light reflection receiving unit and a reflected light signal analysis unit; wherein the content of the first and second substances,
the structural light emission scanning unit is used for emitting structural light with a preset mode to the target coke oven coal charging port and periodically scanning the structural light;
the structured light reflection receiving unit is used for receiving the structured light reflected by the coal charging port of the target coke oven;
and the reflected light signal analysis unit is used for calculating the structured light positioning parameters according to the reflected structured light.
9. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 6, wherein:
the robot also comprises a proximity sensing submodule and a protection shielding submodule; wherein the content of the first and second substances,
the proximity sensing submodule is used for carrying out proximity sensing operation on one side of a working face of the robot so as to obtain a human or object proximity sensing signal related to the one side of the working face;
and the protection shielding submodule is used for executing physical isolation operation on the robot according to the human or object proximity sensing signal.
10. The intelligent graphite cleaning device for the coal charging port of the coke oven as claimed in claim 1, wherein:
the robot also comprises a heat insulation submodule, and the heat insulation submodule covers the exposed surface of the robot;
or;
the mobile trolley further comprises a cooling submodule for performing a cooling operation on the mobile trolley and/or the robot;
alternatively, the first and second electrodes may be,
the purge operation module further includes a compressed air generation sub-module for generating compressed air of a convection type or a unidirectional flow type.
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