CN111152236A - Inspection robot for safety detection of mining belt conveyor - Google Patents
Inspection robot for safety detection of mining belt conveyor Download PDFInfo
- Publication number
- CN111152236A CN111152236A CN202010059816.7A CN202010059816A CN111152236A CN 111152236 A CN111152236 A CN 111152236A CN 202010059816 A CN202010059816 A CN 202010059816A CN 111152236 A CN111152236 A CN 111152236A
- Authority
- CN
- China
- Prior art keywords
- belt conveyor
- concentration sensor
- battery
- sensor
- mining belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J19/02—Sensing devices
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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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0275—Damage on the load carrier
Abstract
A patrol robot for safety detection of a mining belt conveyor comprises a rail, a travelling mechanism, a battery bin, a binocular camera, a control bin, a charging plug, a charging socket and a charging pile; a direct current motor is arranged in the travelling mechanism, and travelling wheels and an encoder are arranged on the direct current motor; an intrinsic safety storage battery is arranged in the battery compartment, and a wireless network bridge is arranged outside the compartment; a programmable controller, a motor driver, a noise sensor, a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor, a digital quantity signal integration module and a battery supervision system are arranged in the control bin, and a smoke alarm is arranged outside the bin; the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor and the smoke alarm are connected with the digital quantity signal integration module, and the signals are integrated and then transmitted back to an upper computer of a remote control room through the wireless network bridge, so that the running state of the mining belt conveyor can be detected remotely, intelligently, automatically and unmanned.
Description
Technical Field
The invention belongs to the technical field of safety detection of a mining belt conveyor, and particularly relates to a patrol robot for safety detection of the mining belt conveyor.
Background
The belt conveyor is the most important long-distance continuous transportation equipment in mining machinery, is widely applied due to the characteristics of simple structure and various conveying materials, and correspondingly has a plurality of fault problems and influences the safety production of mines.
At present, the mining belt conveyor realizes remote start-stop centralized control, but in order to ensure safety, post personnel and inspection personnel still need to be arranged to inspect and monitor the running state of the equipment, so that unattended operation is difficult to realize, the labor intensity of workers is increased, the manual inspection result also has hysteresis and uncertainty, and finally the accuracy of on-line monitoring and detection of the running fault of the mining belt conveyor is reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the inspection robot for the safety detection of the mine belt conveyor, which can remotely, intelligently, automatically and unmanned detect the running state of the mine belt conveyor, effectively reduce the labor intensity of workers and ensure the safety production of mines to be higher.
In order to achieve the purpose, the invention adopts the following technical scheme: a patrol robot for safety detection of a mining belt conveyor comprises a rail, a travelling mechanism, a battery bin, a binocular camera, a control bin, a charging plug, a charging socket and a charging pile; the rail fixing frame is arranged above the belt conveyor, the travelling mechanism is hoisted on the rail, the travelling mechanism can freely move along the rail, the battery bin and the control bin are fixedly arranged on the travelling mechanism, the control bin is positioned below the battery bin, and the binocular camera is arranged at the bottom of the control bin; the charging plug sets up at the battery compartment lateral part, it sets firmly at the track tip to fill electric pile, the socket that charges sets up at filling the electric pile lateral part, and the socket that charges cooperates with charging plug grafting.
A direct current motor is arranged in the travelling mechanism, a travelling wheel is fixedly arranged on a motor shaft of the direct current motor, and the travelling wheel is positioned on the track; an encoder is installed at the end part of the direct current motor, and an input shaft of the encoder is fixedly connected with a motor shaft of the direct current motor; the battery compartment is internally provided with an intrinsic safety storage battery, and the outside of the battery compartment is provided with a first wireless network bridge; a programmable controller, a motor driver, a noise sensor, a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor, a digital quantity signal integration module and a battery supervision system are arranged in the control cabin, and a smoke alarm is arranged outside the control cabin; the motor driver is connected with the direct current motor through a communication line; the first wireless network bridge, the encoder, the motor driver, the digital quantity signal integration module and the battery monitoring system are all connected with the programmable controller through communication lines; the binocular camera is connected with the first wireless bridge through a communication line; the battery monitoring system is connected with the intrinsic safety storage battery; the direct current motor, the encoder, the programmable controller, the motor driver, the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor, the digital quantity signal integration module, the battery supervision system, the smoke alarm and the first wireless network bridge are all powered by an intrinsically safe storage battery; the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor and the smoke alarm are all connected with the digital quantity signal integration module through communication lines; the noise sensor detects the working state sound information of the mining belt conveyor, the temperature and humidity sensor detects the temperature and humidity information of the working environment of the mining belt conveyor, the dust concentration sensor detects the dust concentration information of the working environment of the mining belt conveyor, the CO concentration sensor detects the CO concentration information of the working environment of the mining belt conveyor, the gas concentration sensor detects the gas concentration information of the working environment of the mining belt conveyor, and the smoke alarm detects the smoke concentration information of the working environment of the mining belt conveyor.
The binocular camera comprises a visible light camera and an infrared thermal imaging camera, the binocular camera has 360-degree horizontal rotation freedom degree, the binocular camera has a pitching angle adjusting range of +45 degrees to-90 degrees, visible light video images along the mine belt conveyor are obtained through the visible light camera, and infrared thermal imaging video images along the mine belt conveyor are obtained through the infrared thermal imaging camera.
The invention has the beneficial effects that:
the inspection robot for safety detection of the mining belt conveyor can detect the running state of the mining belt conveyor remotely, intelligently, automatically and unmanned, effectively reduce the labor intensity of workers and ensure the safety production of mines.
Drawings
FIG. 1 is a schematic structural diagram of an inspection robot for safety detection of a mining belt conveyor, which is disclosed by the invention;
FIG. 2 is a control schematic diagram of the inspection robot for the safety detection of the mining belt conveyor;
in the figure, 1-track, 2-running gear, 3-battery compartment, 4-binocular camera, 5-control cabin, 6-charging plug, 7-charging socket, 8-charging pile.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 and 2, the inspection robot for safety detection of the mining belt conveyor comprises a track 1, a travelling mechanism 2, a battery bin 3, a binocular camera 4, a control bin 5, a charging plug 6, a charging socket 7 and a charging pile 8; the track 1 fixing frame is arranged above the belt conveyor, the travelling mechanism 2 is hung on the track 1 in a hanging mode, the travelling mechanism 2 can freely move along the track 1, the battery bin 3 and the control bin 5 are fixedly arranged on the travelling mechanism 2, the control bin 5 is located below the battery bin 3, and the binocular camera 4 is arranged at the bottom of the control bin 5; charging plug 6 sets up in 3 lateral parts of battery compartment, it sets firmly at 1 tip on track to fill electric pile 8, charging socket 7 sets up and is filling 8 lateral parts of electric pile, and charging socket 7 cooperates with 6 grafting of charging plug.
A direct current motor is arranged in the travelling mechanism 2, a travelling wheel is fixedly arranged on a motor shaft of the direct current motor, and the travelling wheel is positioned on the track 1; an encoder is installed at the end part of the direct current motor, and an input shaft of the encoder is fixedly connected with a motor shaft of the direct current motor; an intrinsic safety storage battery is arranged in the battery compartment 3, and a first wireless network bridge is arranged outside the battery compartment 3; a programmable controller, a motor driver, a noise sensor, a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor, a digital quantity signal integration module and a battery supervision system are arranged in the control cabin 5, and a smoke alarm is arranged outside the control cabin 5; the motor driver is connected with the direct current motor through a communication line; the first wireless network bridge, the encoder, the motor driver, the digital quantity signal integration module and the battery monitoring system are all connected with the programmable controller through communication lines; the binocular camera 4 is connected with the first wireless bridge through a communication line; the battery monitoring system is connected with the intrinsic safety storage battery; the direct current motor, the encoder, the programmable controller, the motor driver, the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor, the digital quantity signal integration module, the battery supervision system, the smoke alarm and the first wireless network bridge are all powered by an intrinsically safe storage battery; the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor and the smoke alarm are all connected with the digital quantity signal integration module through communication lines; the noise sensor detects the working state sound information of the mining belt conveyor, the temperature and humidity sensor detects the temperature and humidity information of the working environment of the mining belt conveyor, the dust concentration sensor detects the dust concentration information of the working environment of the mining belt conveyor, the CO concentration sensor detects the CO concentration information of the working environment of the mining belt conveyor, the gas concentration sensor detects the gas concentration information of the working environment of the mining belt conveyor, and the smoke alarm detects the smoke concentration information of the working environment of the mining belt conveyor.
The binocular camera 4 comprises a visible light camera and an infrared thermal imaging camera, the binocular camera 4 has 360-degree horizontal rotation freedom, the binocular camera 4 has a pitch angle adjusting range of +45 degrees to-90 degrees, visible light video images along the mine belt conveyor are obtained through the visible light camera, and infrared thermal imaging video images along the mine belt conveyor are obtained through the infrared thermal imaging camera.
The one-time use process of the present invention is described below with reference to the accompanying drawings:
in order to detect the running state of the mining belt conveyor remotely, intelligently, automatically and unmanned, an upper computer and a second wireless network bridge are further required to be arranged in a remote control room, the upper computer is connected with the second wireless network bridge through a network cable and establishes communication connection, wireless local area network communication is established between the second wireless network bridge and a first wireless network bridge, and the first wireless network bridge and the second wireless network bridge can be carried in the existing local area network.
The upper computer is used as a highest-level control end, the binocular camera 4 and the programmable controller are directly controlled through the established wireless local area network communication, the programmable controller controls the action of the direct current motor through the motor driver, and then the traveling wheels are driven to rotate, so that the inspection robot can move forwards and backwards along the track 1.
In the process that the inspection robot moves along the track 1, the programmable controller can acquire data generated by the encoder in real time, further determining the real-time position of the inspection robot, simultaneously detecting the battery voltage value, the input and output current value, the battery temperature value, the electric quantity reserve value and the battery charging and discharging state of the intrinsic safety storage battery in real time by the battery monitoring system, and the digital quantity signals collected by the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor and the smoke alarm can be transmitted to the digital quantity signal integration module in real time, when the programmable controller receives the signal transmitted by the digital quantity signal integration module, the signal is directly transmitted back to the upper computer in real time through the established wireless local area network communication, finally, the running state of the mining belt conveyor is remotely, intelligently, automatically and unmanned detected.
In the inspection robot working process, after the electric quantity reserve value of this ampere of battery is less than the setting value, need control to patrol and examine the robot and remove to filling 8 directions of electric pile, in charging plug 6 inserts charging socket 7, make this ampere of battery be in charged state, after the electric quantity of this ampere of battery is full of, patrol and examine the robot and can resume operating condition from charged state automatically.
In the working process of the inspection robot, whether the fault problems of deviation and tearing of a conveying belt, material stacking, damage of a carrier roller and the like of the mining belt conveyor occur or not can be judged according to data signals and video image signals which are transmitted back to an upper computer, and meanwhile fault points can be accurately positioned.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (3)
1. The utility model provides a mining belt conveyor safety inspection is with patrolling and examining robot which characterized in that: the device comprises a track, a walking mechanism, a battery compartment, a binocular camera, a control compartment, a charging plug, a charging socket and a charging pile; the rail fixing frame is arranged above the belt conveyor, the travelling mechanism is hoisted on the rail, the travelling mechanism can freely move along the rail, the battery bin and the control bin are fixedly arranged on the travelling mechanism, the control bin is positioned below the battery bin, and the binocular camera is arranged at the bottom of the control bin; the charging plug sets up at the battery compartment lateral part, it sets firmly at the track tip to fill electric pile, the socket that charges sets up at filling the electric pile lateral part, and the socket that charges cooperates with charging plug grafting.
2. The inspection robot for the safety detection of the mining belt conveyor according to claim 1, characterized in that: a direct current motor is arranged in the travelling mechanism, a travelling wheel is fixedly arranged on a motor shaft of the direct current motor, and the travelling wheel is positioned on the track; an encoder is installed at the end part of the direct current motor, and an input shaft of the encoder is fixedly connected with a motor shaft of the direct current motor; the battery compartment is internally provided with an intrinsic safety storage battery, and the outside of the battery compartment is provided with a first wireless network bridge; a programmable controller, a motor driver, a noise sensor, a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor, a digital quantity signal integration module and a battery supervision system are arranged in the control cabin, and a smoke alarm is arranged outside the control cabin; the motor driver is connected with the direct current motor through a communication line; the first wireless network bridge, the encoder, the motor driver, the digital quantity signal integration module and the battery monitoring system are all connected with the programmable controller through communication lines; the binocular camera is connected with the first wireless bridge through a communication line; the battery monitoring system is connected with the intrinsic safety storage battery; the direct current motor, the encoder, the programmable controller, the motor driver, the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor, the digital quantity signal integration module, the battery supervision system, the smoke alarm and the first wireless network bridge are all powered by an intrinsically safe storage battery; the noise sensor, the temperature and humidity sensor, the dust concentration sensor, the CO concentration sensor, the gas concentration sensor and the smoke alarm are all connected with the digital quantity signal integration module through communication lines; the noise sensor detects the working state sound information of the mining belt conveyor, the temperature and humidity sensor detects the temperature and humidity information of the working environment of the mining belt conveyor, the dust concentration sensor detects the dust concentration information of the working environment of the mining belt conveyor, the CO concentration sensor detects the CO concentration information of the working environment of the mining belt conveyor, the gas concentration sensor detects the gas concentration information of the working environment of the mining belt conveyor, and the smoke alarm detects the smoke concentration information of the working environment of the mining belt conveyor.
3. The inspection robot for the safety detection of the mining belt conveyor according to claim 1, characterized in that: the binocular camera comprises a visible light camera and an infrared thermal imaging camera, the binocular camera has 360-degree horizontal rotation freedom degree, the binocular camera has a pitching angle adjusting range of +45 degrees to-90 degrees, visible light video images along the mine belt conveyor are obtained through the visible light camera, and infrared thermal imaging video images along the mine belt conveyor are obtained through the infrared thermal imaging camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010059816.7A CN111152236A (en) | 2020-01-19 | 2020-01-19 | Inspection robot for safety detection of mining belt conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010059816.7A CN111152236A (en) | 2020-01-19 | 2020-01-19 | Inspection robot for safety detection of mining belt conveyor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111152236A true CN111152236A (en) | 2020-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010059816.7A Pending CN111152236A (en) | 2020-01-19 | 2020-01-19 | Inspection robot for safety detection of mining belt conveyor |
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| CN (1) | CN111152236A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112261385A (en) * | 2020-11-13 | 2021-01-22 | 苏文电能科技股份有限公司 | Remote operation and maintenance system and method for transformer substation |
| CN112621777A (en) * | 2020-12-14 | 2021-04-09 | 国网山东省电力公司栖霞市供电公司 | Rail mounted intelligent power distribution live working warehouse management robot |
| CN113099172A (en) * | 2021-03-06 | 2021-07-09 | 广东信通通信有限公司 | Intelligent monitoring camera with polling function |
| CN113910254A (en) * | 2021-10-13 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Ceiling type inspection robot |
| CN114047747A (en) * | 2021-10-18 | 2022-02-15 | 北京华能新锐控制技术有限公司 | Track type inspection robot |
| CN114879655A (en) * | 2022-03-24 | 2022-08-09 | 慧之安信息技术股份有限公司 | Intelligent robot inspection method for underground coal mine conveyor belt |
| CN115649235A (en) * | 2022-12-12 | 2023-01-31 | 徐州江煤科技有限公司 | Wireless signal transmission system of intelligent monorail crane |
-
2020
- 2020-01-19 CN CN202010059816.7A patent/CN111152236A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112261385A (en) * | 2020-11-13 | 2021-01-22 | 苏文电能科技股份有限公司 | Remote operation and maintenance system and method for transformer substation |
| CN112621777A (en) * | 2020-12-14 | 2021-04-09 | 国网山东省电力公司栖霞市供电公司 | Rail mounted intelligent power distribution live working warehouse management robot |
| CN113099172A (en) * | 2021-03-06 | 2021-07-09 | 广东信通通信有限公司 | Intelligent monitoring camera with polling function |
| CN113099172B (en) * | 2021-03-06 | 2023-06-02 | 广东信通通信有限公司 | Intelligent monitoring camera with inspection function |
| CN113910254A (en) * | 2021-10-13 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Ceiling type inspection robot |
| CN114047747A (en) * | 2021-10-18 | 2022-02-15 | 北京华能新锐控制技术有限公司 | Track type inspection robot |
| CN114047747B (en) * | 2021-10-18 | 2023-12-08 | 北京华能新锐控制技术有限公司 | Rail type inspection robot |
| CN114879655A (en) * | 2022-03-24 | 2022-08-09 | 慧之安信息技术股份有限公司 | Intelligent robot inspection method for underground coal mine conveyor belt |
| CN114879655B (en) * | 2022-03-24 | 2022-12-02 | 慧之安信息技术股份有限公司 | Intelligent robot inspection method for underground coal mine conveyor belt |
| CN115649235A (en) * | 2022-12-12 | 2023-01-31 | 徐州江煤科技有限公司 | Wireless signal transmission system of intelligent monorail crane |
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