CN111425709A - On-site image acquisition device and image acquisition method for fully mechanized coal mining face - Google Patents
On-site image acquisition device and image acquisition method for fully mechanized coal mining face Download PDFInfo
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- CN111425709A CN111425709A CN202010235157.8A CN202010235157A CN111425709A CN 111425709 A CN111425709 A CN 111425709A CN 202010235157 A CN202010235157 A CN 202010235157A CN 111425709 A CN111425709 A CN 111425709A
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Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- B08B1/12—
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- B08B1/30—
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
Abstract
The invention provides a site image acquisition device for a fully mechanized mining face, which comprises a two-degree-of-freedom moving part, a cradle head, a cleaning part and a camera, wherein the camera is arranged on a camera mounting flat plate of the cradle head, the cradle head can drive the camera to horizontally rotate and pitch, a cleaning mechanism is arranged on an outer frame body of the cradle head so as to clean front transparent glass of the cradle head, the cradle head is arranged on a platform of the two-degree-of-freedom moving part, the two-degree-of-freedom moving part can drive the cradle head to move in the horizontal direction and the vertical direction so as to shoot images at different position points of the fully mechanized mining face, and the device realizes the acquisition of images at any position in the whole range of the fully mechanized mining face, the acquired images are clear, the images are smoothly transmitted, and the device is particularly suitable for occasions with a large.
Description
Technical Field
The present invention relates to a large-scale job site image acquiring apparatus, and more particularly to a large-scale job site image acquiring apparatus with a large amount of dust.
Background
Coal is one of the most main energy sources in China at present, but safety accidents often occur due to complex working conditions and poor working environment of coal mines, and great loss is caused to the society and families.
Coal mining is currently integrated mechanization, namely, all the production processes of coal mining, including coal breaking, coal loading, coal transporting, supporting, goaf processing, stoping roadway transportation, tunneling and the like, are all mechanized, and the main equipment of a fully mechanized coal mining face comprises a coal mining machine, a scraper conveyor and a hydraulic support. In order to enhance the monitoring of coal in the mining process, the fully mechanized coal face needs to be monitored in a video mode to obtain a field image of the fully mechanized coal face, the fully mechanized coal face is large in working span and small in space, a single camera cannot monitor the fully mechanized coal face comprehensively, the cameras are mounted in different places of the fully mechanized coal face at present, the cost is increased due to the fact that a plurality of cameras are arranged, image signal transmission is not smooth under the current bandwidth condition due to the fact that a plurality of paths of video signals are transmitted, in addition, a large amount of coal dust exists in the fully mechanized coal face, the dust easily damages the lens of the camera, and the service life of the camera is seriously affected.
Disclosure of Invention
The invention aims to provide a field image acquisition device for a fully mechanized coal mining face, aiming at the problems and the defects in the prior art.
The technical purpose is achieved through the following technical scheme.
A field image acquisition device for a fully mechanized coal mining face comprises a two-degree-of-freedom moving part, a holder, a cleaning part and a camera; the two-degree-of-freedom moving component comprises a left upright, a steel wire rope, a horizontal moving component, a right upright, a platform and a vertical moving component, wherein the left upright, the right upright and the right upright are arranged in parallel, the steel wire rope is arranged between the left upright and the right upright, the horizontal moving component is arranged on the steel wire rope and can move along the steel wire rope, the vertical moving component is arranged on the horizontal moving component and can move along the direction vertical to the steel wire rope, and the platform is arranged on the vertical moving component; the holder comprises a pitching assembly, an outer frame body and a horizontal rotating assembly, wherein the outer frame body is a sealed cavity with a light transmitting surface made of transparent materials, the pitching assembly is arranged in the outer frame body and can pitch relative to the outer frame body, the outer frame body is arranged on the horizontal rotating assembly, and the horizontal rotating assembly is arranged on the platform and can rotate relative to the platform; the cleaning component is arranged on the outer frame body and can clean dust on the light transmission surface of the outer frame body; the camera is installed on the pitching assembly of the holder.
Further, the two-degree-of-freedom moving part further comprises tensioning wheel assemblies, two tensioning wheel assemblies are symmetrically mounted on the side faces of the upper portions and the lower portions of the left upright post and the right upright post, and the two steel wire ropes are respectively tensioned between the tensioning wheel assemblies on the upper portions and the lower portions of the left upright post and the right upright post.
Further, the horizontal movement component comprises a support plate, a driving mechanism and a guiding mechanism, the driving mechanism is installed on the upper portion of the support plate, the guiding mechanism is installed on the upper portion and the lower portion of the support plate, the support plate (1041) comprises a front panel and a rear panel which are arranged in parallel, the driving mechanism comprises a horizontal traction belt, a first belt pulley, a second belt pulley, a horizontal motor, a walking roller shaft and a walking roller, the walking roller shaft is rotatably installed on the support plate, the first belt pulley and the walking roller are installed on the walking roller shaft, the walking roller is located between the front panel and the rear panel, the horizontal motor is installed on the support plate, the second belt pulley is installed on an output shaft of the horizontal motor, and the first belt pulley and the second belt pulley are in transmission connection through the horizontal traction belt, the guide mechanism comprises a walking guide wheel shaft and a walking guide wheel, the walking guide shaft is fixedly arranged on the supporting plate, the walking guide wheel is rotatably arranged on the walking guide wheel shaft and is positioned between the front panel and the rear panel, and the walking roller and the walking guide wheel frame are arranged on the steel wire rope.
Further, the vertical moving component comprises a roller component, a vertical traction belt, a vertical guide rod, a linear bearing and a vertical motor, the roller components comprise rollers, roller shafts and roller component brackets, the rollers are rotatably arranged on the roller component brackets through the roller shafts, the two vertical guide rods are arranged on the horizontal moving component in parallel, the two roller components are respectively arranged on the horizontal moving component and positioned in the middle of the two ends of the two vertical guide rods, wherein the roller shaft of one roller component is in transmission connection with the vertical motor, the vertical traction belt is installed between the rollers of the two roller components, the linear bearings are installed on the two vertical guide rods, and the platform is installed on the linear bearings and is fixedly connected with the vertical traction belt.
Further, horizontal rotation subassembly includes horizontal rotation motor, worm, slewing bearing and braced frame, the worm is installed braced frame is last and with horizontal rotation motor transmission is connected, slewing bearing's inner circle fixed mounting be in on braced frame's the bottom surface, slewing bearing's outer lane processing has the worm wheel, worm wheel on slewing bearing's the outer lane with the worm meshes mutually, braced frame fixed mounting be in on the platform, outer frame body is installed slewing bearing's outer lane is last.
Furthermore, every single move subassembly is including installing flat board, camera installation flat board, every single move axle, first gear, second gear and steering wheel, the every single move axle is installed on the installation flat board, the one end of every single move axle is installed first gear, first gear with the meshing of second gear, the second gear with steering wheel transmission is connected, the flat board of camera installation is fixed the intermediate position of every single move axle, the camera is installed on the flat board of camera installation, the every single move subassembly passes through the installation flat board is installed in the frame.
Further, the cleaning component comprises a cleaning motor, a lead screw nut, a water tank, a water pump, a water pipe, a nozzle and a brush, wherein the lead screw is installed on the top surface of the outer frame body and is in transmission connection with the cleaning motor, the lead screw is installed on the lead screw, the lead screw nut forms a lead screw nut pair, the brush is tightly attached to the outer frame body on the light transmission surface, one end of the brush is fixedly connected with the lead screw nut, the water tank is installed on one side of the outer frame body, the nozzle is connected with the water pump through the water pipe, and the nozzle is arranged on the periphery of the light transmission surface of the outer frame body and can spray water to the light transmission surface.
Further, the tensioning wheel assembly comprises an extension spring, a tensioning wheel mounting frame, a tensioning wheel shaft and a tensioning wheel, a long hole groove is formed in the tensioning wheel support, two ends of the tensioning wheel shaft are slidably arranged in the long hole groove, the tensioning wheel is mounted on the tensioning wheel shaft, and the extension spring is arranged between the tensioning wheel shaft and the tensioning wheel mounting frame.
The image acquisition method using the field image acquisition device for the fully mechanized coal mining face comprises the following steps:
firstly, when the horizontal moving component moves along the steel wire rope, the horizontal moving component drives the vertical moving component, the platform and the holder to move, so that the camera is driven to move along the steel wire rope, and the image acquisition at any position of the fully mechanized coal face in the horizontal direction is realized;
secondly, when the vertical moving component moves in the direction vertical to the steel wire rope, the platform and the holder can be driven to move, so that the camera is driven to move in the direction vertical to the steel wire rope, and the image acquisition at any position in the vertical direction of the fully mechanized coal mining face is realized;
thirdly, the outer frame body and the pitching assembly can be driven to rotate by the rotation action of the horizontal rotation assembly, so that the camera is driven to rotate, the shooting direction of the camera is changed, and multi-direction image acquisition at any position in the fully mechanized coal mining working face is realized;
fourthly, the pitching motion of the pitching assembly can drive the camera to do pitching motion as well, the shooting angle of the camera is changed, and all-dimensional image acquisition at any position in the fully mechanized mining working face is realized.
Further, the water pump starts, the nozzle with glass water in the water tank sprays on the printing opacity face of outer frame body under the drive of cleaning motor, the brush can be followed printing opacity face surface round trip movement will printing opacity face brush is clean, in order to improve the image acquisition quality of camera (4).
Compared with the prior art, the invention has the following beneficial effects:
1. the method has the advantages that 1 camera is used for acquiring images at any position in the whole range of the fully mechanized coal mining face, and the defects that the transmission of image signals is not smooth and the cost is high due to the fact that multiple cameras are used for acquiring images of the fully mechanized coal mining face are overcome.
2. The camera is installed inside the frame with the front transparent material, so that the influence of floating dust in the fully mechanized mining face on the camera is avoided, and the service life of the camera is prolonged.
3. The cleaning component cleans the front transparent glass, ensures that the camera can clearly acquire the image of the fully mechanized coal mining face, and avoids the problem that the image acquired by the traditional fully mechanized coal mining face image acquisition device is fuzzy.
Drawings
FIG. 1 is a schematic view of an embodiment of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a schematic structural diagram of a two-degree-of-freedom moving part according to an embodiment of the present invention;
FIG. 4 is an enlarged view of FIG. 3 at B;
FIG. 5 is a schematic structural diagram of a horizontal movement assembly according to an embodiment of the present invention;
FIG. 6 is a front view of the horizontal motion assembly in an embodiment of the present invention;
FIG. 7 is a cross-sectional view A-A of FIG. 6;
FIG. 8 is a rear view of the horizontal motion assembly in an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a support plate according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a vertical shift group according to an embodiment of the present invention;
FIG. 11 is a schematic structural view of a tension wheel assembly in an embodiment of the present invention;
FIG. 12 is a schematic diagram of the structure of a tensioner mount in an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of a roller assembly according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present invention;
FIG. 15 is a schematic structural diagram of a pitch assembly in an embodiment of the present invention;
FIG. 16 is a schematic view of a horizontal rotation assembly according to an embodiment of the present invention;
FIG. 17 is a top view of a horizontal rotation assembly in an embodiment of the present invention;
FIG. 18 is a view A-A of FIG. 17;
FIG. 19 is a view B-B of FIG. 18;
FIG. 20 is a schematic view of the structure of a cleaning part in the embodiment of the present invention;
wherein, 1, two-degree-of-freedom moving part; 2. a holder; 3. cleaning the component; 4. a camera;
101. a left upright post; 102. a tension wheel assembly; 103. a wire rope; 104. a horizontal movement assembly; 105. a right upright post; 106. a platform; 107. a vertical movement assembly;
1021. an extension spring; 1022. a tension wheel mounting bracket; 1023. a spring hook is buckled; 1024. a tension pulley shaft; 1025. a tension wheel;
1022.1, elongated slots;
1041. a support plate; 1042. a horizontal traction belt; 1043.1, a first pulley; 1043.2, a second pulley; 1044. a walking guide wheel shaft; 1045. a traveling guide wheel; 1046. a horizontal motor; 1047. a traveling roller shaft; 1048. a walking roller;
1041.1, a front panel; 1041.2, a rear panel; 1041.3, an intermediate tank; 1041.4, rectangular holes; 1041.5, mounting holes of walking roller shafts; 1041.6 mounting hole for walking guide wheel axle
1071. A T-shaped polished rod mounting seat; 1072. a roller assembly; 1073. a vertical traction belt; 1074. a vertical guide bar; 1075. a linear bearing; 1076. a vertical motor;
1072.1, rollers; 1072.2, roller axle; 1072.3, roller axle;
21. a pitch assembly; 22. an outer frame body; 23. a horizontal rotation assembly;
211. installing a flat plate; 212. a first belt seat bearing 213, a camera mounting plate; 214. a pitch axis; 215.1, a first gear; 215.2, second gear; 216. the steering engine, 217 and the steering engine mounting rack;
22.1, a light-transmitting surface;
231. a horizontal rotation motor; 232. a left bearing seat 233, a right bearing seat 234, a worm; 235. a slew bearing; 236. a support frame; 238. a flat bond; 239. a cylindrical roller bearing;
31. cleaning the motor; 32. a second rolling bearing; 33. a lead screw; 34. a lead screw nut; 35. a water tank; 36. a water pump; 37. a water pipe; 38. a nozzle; 39. a brush;
Detailed Description
The technical solution of the present invention is further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and fig. 2, the field image acquiring apparatus for a fully mechanized coal mining face according to the present invention includes a two-degree-of-freedom moving component 1, a pan/tilt head 2, a cleaning component 3, and a camera 4.
As shown in fig. 15, the camera 4 is installed on the camera installation flat plate 213 of the pan/tilt head 2, the pan/tilt head 2 can drive the camera 4 to perform horizontal rotation and pitching motion, the cleaning mechanism 3 is installed on the outer frame 22 of the pan/tilt head 2 to clean the light-transmitting surface 22.1 of the pan/tilt head 2, the pan/tilt head 2 is installed on the platform 106 of the two-degree-of-freedom moving component 1, and the two-degree-of-freedom moving component 1 can drive the pan/tilt head 2 to perform motion in the horizontal direction and the vertical direction, so as to capture images at different positions of the fully mechanized mining face.
As shown in fig. 3 and 4, the two-degree-of-freedom moving unit 1 includes a left column 101, a wire rope 103, a horizontal moving unit 104, a right column 105, a platform 106, and a vertical moving unit 107, the left column 101, the right column 205, and the right column 105 are disposed in parallel, the wire rope 103 is disposed between the left column 101 and the right column 105, the horizontal moving unit 104 is disposed on the wire rope 103 and is movable along the wire rope 103, the vertical moving unit 107 is mounted on the horizontal moving unit 104 and is movable in a direction perpendicular to the wire rope 103, and the platform 106 is mounted on the vertical moving unit 107.
As shown in fig. 14, 15 and 20, the pan/tilt head 2 includes a pitching assembly 21, an outer frame 22 and a horizontal rotation assembly 23, the outer frame 22 is a sealed cavity with a transparent surface 22.1 made of a transparent material, the pitching assembly 21 is installed in the outer frame 22 and can be pitched relative to the outer frame 22, the outer frame 22 is installed on the horizontal rotation assembly 23, and the horizontal rotation assembly 23 is installed on the platform 106 and can rotate relative to the platform 106.
As shown in fig. 20, the cleaning member 3 is attached to the outer frame 22 to clean dust on the light-transmitting surface of the outer frame 22;
as shown in fig. 14, the camera 4 is mounted on the tilt assembly 21 of the head 2.
As shown in fig. 3 and 4, the two-degree-of-freedom moving member 1 further includes tension pulley assemblies 102, two tension pulley assemblies 102 are symmetrically mounted on side surfaces of upper portions and lower portions of the left upright 101 and the right upright 105, and two wire ropes 103 are respectively tensioned between the tension pulley assemblies 102 of the upper portions and lower portions of the left upright 101 and the right upright 205.
As shown in fig. 5 to 9, the horizontal moving assembly 104 includes a support plate 1041, a driving mechanism and a guiding mechanism, the driving mechanism is installed on the upper portion of the support plate 1041, the guiding mechanism is installed on the upper portion and the lower portion of the support plate 1041, the support plate 1041 includes a front plate 1041.1 and a rear plate 1041.2 which are arranged in parallel, the driving mechanism includes a horizontal traction belt 1042, a first belt pulley 1043.1, a second belt pulley 1043.2, a horizontal motor 1046, a walking roller shaft 1047 and a walking roller 1048, the walking roller shaft 1047 is rotatably installed on the support plate 1041, specifically, the walking roller shaft 1047 is installed in the walking roller shaft installation holes 1041.5 of the front plate 1041.1 and the rear plate 1041.2 on the upper portion of the support plate 1041, the walking roller shaft 1047 and the walking roller shaft installation holes 1041.5 are in clearance fit, the first belt pulley 1043.1 and the walking roller 1048 are installed on the walking roller shaft 1047, the traveling rollers 1048 are located in the middle groove 1041.3 between the front panel 1041.1 and the rear panel 1041.2, the traveling rollers 1048 and the traveling roller shafts 1047 are circumferentially fixed by keys, the horizontal motor 1046 is mounted on the support plate 1041, specifically, the horizontal motor 1046 passes through the rectangular hole 1041.4 on the front panel 1041.1 and is fixedly mounted on the rear panel 1041.2, the second pulley 1043.2 is mounted on the output shaft of the horizontal motor 1046 by keys, the first pulley 1043.1 and the second pulley 1043.2 are in transmission connection by the horizontal traction belt 1042, the guiding mechanism includes a traveling guide wheel shaft 1044 and a traveling guide wheel 1045, the traveling guide shaft 1044 is fixedly mounted on the support plate 1041, specifically, six traveling guide shafts 1044 pass through the traveling guide wheel shaft mounting holes 1041.6 of the front panel 1041.1 and the rear panel 1041.2 on the upper portion and the lower portion of the support plate 1041 respectively, the walking guide wheel shaft 1044 is in interference fit with the walking guide wheel shaft mounting hole 1041.6, the walking guide wheel 1045 is rotatably mounted on the walking guide wheel shaft 1044 and is located in the middle groove 1041.3 between the front panel 1041.1 and the rear panel 1041.2, and the horizontal moving assembly 104 is erected on the steel wire rope 103 through the walking roller 1048 and the walking guide wheel 1045. When the horizontal motor 1046 rotates, the first belt pulley 1043.1 installed on the output shaft of the horizontal motor 1046 is driven to rotate, then the horizontal traction belt 1042 drives the second belt pulley 1043.2 installed on the walking roller shaft 1047 to rotate, the rotation of the second belt pulley 1043.2 drives the walking roller shaft 1047 to rotate, and the rotation of the walking roller shaft 1047 drives the rotation of the walking roller 1048. The rotation of the walking rollers 1048 and the guidance of the walking guide wheels 1045 realize that the horizontal moving assembly 104 can move on the steel wire rope 103 in the horizontal direction.
As shown in fig. 10, the vertical moving assembly 107 includes a T-shaped polished rod mounting seat 1071, a roller assembly 1072, a vertical traction belt 1073, a vertical guide rod 1074, a linear bearing 1075 and a vertical motor 1076, the roller assembly 1072 includes a roller 1072.1, a roller shaft 1072.2 and a roller assembly support 1072.3, the roller 1072.1 is rotatably mounted on the roller assembly support 1072.3 through the roller shaft 1072.2, two vertical guide rods 1074 are mounted on the horizontal moving assembly 104 in parallel through the T-shaped polished rod mounting seat 1071, two roller assemblies 1072 are respectively mounted on the horizontal moving assembly 104 and are located at the middle position of the two ends of the two vertical guide rods 1074, wherein the roller shaft 1072.2 of one roller assembly 1072 is in transmission connection with the vertical motor 1076 through a shaft coupling, the vertical motor 1076 is mounted at the lower end of the support plate 1041 through a motor mounting support, the vertical traction belt 1073 is installed between the rollers 1072.1 of the two roller assemblies 1072, the linear bearings 1075 are installed on the two vertical guide rods 1074, and the platform 106 is installed on the linear bearings 1075 and is fixedly connected with the vertical traction belt 1073. When the vertical motor 1076 rotates, the roller shaft 1072.2 of the roller assembly 1072 mounted at the lower end of the support plate 1041 is driven to rotate, the rotation of the roller shaft 1072.2 drives the roller 1072.1 mounted thereon to rotate, thereby driving the vertical traction belt 1073 to rotate, and the rotation of the vertical traction belt 1073 drives the platform 106 fixedly connected thereto to move up and down along the vertical guide rod 1074.
As shown in fig. 16 to 19, the horizontal rotation assembly 23 includes a horizontal rotation motor 231, a left bearing seat 232, a right bearing seat 233, a worm 234, a rotary bearing 235 and a support frame 236, the worm 234 is mounted on the support frame 236 and is in transmission connection with the horizontal rotation motor 231, specifically, the left bearing seat 232 and the right bearing seat 233 are respectively and fixedly mounted on one side of the support frame 236, the worm 234 is mounted between the left bearing seat 232 and the right bearing seat 233 through a cylindrical roller bearing 239, the horizontal rotation motor 231 is fixedly mounted on the left bearing 231, an output shaft of the horizontal rotation motor 231 is circumferentially and fixedly connected with the worm 234 through a flat key 238, an inner ring of the rotary bearing 235 is fixedly mounted on a bottom surface of the support frame 236, and an outer ring of the rotary bearing 235 is processed with a worm wheel, the worm wheel on the outer ring of the slewing bearing 235 is engaged with the worm 234, the supporting frame 236 is fixedly installed on the platform 106, and the outer frame 22 is installed on the outer ring of the slewing bearing 235. When the horizontal rotation motor 231 rotates, the worm 234 is driven to rotate, the worm 234 rotates to drive the outer ring of the slewing bearing 235 to rotate horizontally, and the outer ring of the slewing bearing 235 rotates horizontally to drive the outer frame 22 and the pitch assembly 21 mounted on the outer frame 22 to rotate horizontally together.
As shown in fig. 15, the pitching assembly 21 comprises a mounting plate 211, a first belt seat bearing 212, a camera mounting plate 213, a pitching shaft 214, a first gear 215.1, a second gear 215.2, a steering engine 216 and a steering engine mounting bracket 217, the pitch axis 214 is mounted to the mounting plate 211 by the first pedestal bearing 212, the first gear 215.1 is installed at one end of the pitch shaft 214, the first gear 215.1 is meshed with the second gear 215.2, the transmission ratio is 1:1, the second gear 215.2 is in transmission connection with the steering engine 216, the steering engine 216 is mounted on the mounting flat plate 211 through the steering engine mounting frame 217, the camera mounting plate 213 is fixed at a middle position of the tilt shaft 214, the camera 4 is mounted on the camera mounting plate 213, the pitch assembly 21 is mounted in the outer frame 22 through the mounting plate 211. When steering wheel 216 swings, drive through gear mechanism pitch shaft 214 with fixed mounting on the pitch shaft 214 camera installation flat board 213 every single move, the every single move of camera installation flat board 213 drives and installs it above camera 4 every single move.
As shown in fig. 20, the cleaning part 3 includes a cleaning motor 31, a second seated bearing 32, a lead screw 33, a lead screw nut 34, a water tank 35, a water pump 36, a water pipe 37, a nozzle 38 and a brush 39, the screw 33 is mounted on the top surface of the outer frame 22 through the second bearing with seat 32 and is in transmission connection with the cleaning motor 31 through a coupling, the lead screw 33 is provided with the lead screw nut 34 to form a lead screw nut pair, the hairbrush 39 is tightly attached to the light transmitting surface 22.1 of the outer frame 22, one end of the brush 39 is fixedly connected with the lead screw nut 34, the water tank 35 and the water pump 36 are installed on one side of the outer frame 22, the nozzle 38 is connected to the water pump 36 through the water pipe 37, and the nozzle 38 is provided around the translucent surface 22.1 of the outer frame 22 and can spray water toward the translucent surface 22.1. When the cleaning motor 31 rotates, the brush 39 is driven by the screw-nut pair to move on the surface of the light-transmitting surface 22.1, and when the water pump 36 is started, the nozzle 38 sprays the glass water in the water tank 35 onto the light-transmitting surface 22.1, so that the brush 39 brushes the light-transmitting surface 22.1 completely.
As shown in fig. 11 and 12, the tensioning wheel assembly 102 includes an extension spring 1021, a tensioning wheel mounting bracket 1022, a spring catch 1023, a tensioning wheel shaft 1024, and a tensioning wheel 1025, wherein the tensioning wheel bracket 1022 is provided with an elongated hole 1022.1, two ends of the tensioning wheel shaft 1024 are slidably disposed in the elongated hole 1022.1, the tensioning wheel 1025 is mounted on the tensioning wheel shaft 1024, and the extension spring 1021 is disposed between the tensioning wheel shaft 1024 and the tensioning wheel mounting bracket 1022. Specifically, the tension wheel shaft 1024 and the tension wheel mounting bracket 1022 are fixedly connected to the spring hooks 1023, the tension spring 1021 is connected between the corresponding spring hooks 1023, and the tension wheel shaft 1024 can move in the elongated slot 1022.1 under the action of the tension spring 1021, so that the tension of the steel wire rope 103 mounted between the tension wheels 1025 is kept constant.
The invention discloses an image acquisition method of a field image acquisition device for a fully mechanized coal mining face, which comprises the following specific steps:
firstly, when the horizontal moving component 104 moves along the steel wire rope 103, the horizontal moving component 104 drives the vertical moving component 107, the platform 106 and the cloud deck 2 to move, so as to drive the camera 4 to move along the steel wire rope 103, and realize image acquisition at any position of the fully mechanized coal mining face in the horizontal direction;
secondly, when the vertical moving component 107 moves in the direction vertical to the steel wire rope 103, the platform 106 and the holder 2 can be driven to move, so that the camera 4 is driven to move in the direction vertical to the steel wire rope 103, and image acquisition at any position of the fully mechanized coal mining face in the vertical direction is realized;
thirdly, the rotation of the horizontal rotation component 23 can drive the outer frame 22 and the pitching component 21 to rotate, so as to drive the camera 4 to rotate, change the shooting direction of the camera 4, and realize multi-directional image acquisition at any position in the fully mechanized coal mining working face;
fourthly, the pitching motion of the pitching assembly 21 can drive the camera 4 to do pitching motion as well, so that the shooting angle of the camera 4 is changed, and the all-dimensional image acquisition at any position in the fully mechanized coal mining working face is realized.
The water pump 36 is not started, the nozzle 38 sprays the glass water in the water tank 35 onto the light-transmitting surface 22.1 of the outer frame 22, the brush 39 can move back and forth along the surface of the light-transmitting surface 22.1 under the driving of the cleaning motor 31, and the light-transmitting surface is brushed clean, so that the image acquisition quality of the camera 4 is improved.
The foregoing is only a preferred embodiment of the present invention. The present invention is capable of other embodiments, and various changes and modifications can be made by one skilled in the art without departing from the spirit and scope of the invention. All technical solutions which are formed by adopting equivalent substitutions or equivalent transformations shall fall within the protection scope of the appended claims.
Claims (10)
1. A field image acquisition device for a fully mechanized coal mining face is characterized by comprising a two-degree-of-freedom moving part (1), a holder (2), a cleaning part (3) and a camera (4);
the two-degree-of-freedom moving part (1) comprises a left upright (101), a steel wire rope (103), a horizontal moving assembly (104), a right upright (105), a platform (106) and a vertical moving assembly (107), wherein the left upright (101), the right upright (205) and the right upright (105) are arranged in parallel, the steel wire rope (103) is arranged between the left upright (101) and the right upright (105), the horizontal moving assembly (104) is arranged on the steel wire rope (103) and can move along the steel wire rope (103), the vertical moving assembly (107) is arranged on the horizontal moving assembly (104) and can move in a direction vertical to the steel wire rope (103), and the platform (106) is arranged on the vertical moving assembly (107);
the holder (2) comprises a pitching assembly (21), an outer frame body (22) and a horizontal rotating assembly (23), wherein the outer frame body (22) is a sealed cavity body with a light transmitting surface (22.1) made of a transparent material, the pitching assembly (21) is installed in the outer frame body (22) and can pitch relative to the outer frame body (22), the outer frame body (22) is installed on the horizontal rotating assembly (23), and the horizontal rotating assembly (23) is installed on the platform (106) and can rotate relative to the platform (106);
the cleaning component (3) is arranged on the outer frame body (22) and can clean dust on the light transmission surface of the outer frame body (22);
the camera (4) is mounted on the pitching assembly (21) of the pan/tilt head (2).
2. The spraying dust-settling device for the fully mechanized mining face of claim 1, wherein the two-degree-of-freedom moving part (1) further comprises two tension wheel assemblies (102), two tension wheel assemblies (102) are symmetrically mounted on the side surfaces of the upper portions and the lower portions of the left upright column (101) and the right upright column (105), and the two steel wire ropes (103) are respectively tensioned between the tension wheel assemblies (102) on the upper portions and the lower portions of the left upright column (101) and the right upright column (205).
3. The spraying dust-settling device for the fully mechanized mining face of claim 1, wherein the horizontal moving assembly (104) comprises a support plate (1041), a driving mechanism and a guiding mechanism, the driving mechanism is installed at the upper part of the support plate (1041), the guiding mechanism is installed at the upper part and the lower part of the support plate (1041), the support plate (1041) comprises a front panel (1041.1) and a rear panel (1041.2) which are arranged in parallel, the driving mechanism comprises a horizontal traction belt (1042), a first belt pulley (1043.1), a second belt pulley (1043.2), a horizontal motor (1046), a walking roller shaft (1047) and a walking roller (1048), the walking roller shaft (1047) is rotatably installed on the support plate (1041), the walking roller shaft (1047) is installed with the first belt pulley (1043.1) and the walking roller (1048), the walking roller (1048) is located between the front panel (1041.1) and the rear panel (1041.2), the horizontal motor (1046) is installed on the supporting plate (1041), the second belt pulley (1043.2) is installed on an output shaft of the horizontal motor (1046), the first belt pulley (1043.1) and the second belt pulley (1043.2) are in transmission connection through the horizontal traction belt (1042), the guide mechanism comprises a walking guide wheel shaft (1044) and a walking guide wheel (1045), the walking guide shaft (1044) is fixedly installed on the supporting plate (1041), the walking guide wheel (1045) is rotatably installed on the walking guide wheel shaft (1044) and is located between the front panel (1041.1) and the rear panel (1041.2), and the walking roller (1048) and the walking guide wheel (1045) are erected on the steel wire rope (103).
4. The field image capturing device for the fully mechanized mining face of claim 1, wherein the vertical moving assembly (107) comprises a roller assembly (1072), a vertical traction belt (1073), a vertical guide rod (1074), a linear bearing (1075), and a vertical motor (1076), the roller assembly (1072) comprises a roller (1072.1), a roller shaft (1072.2), and a roller assembly support (1072.3), the roller (1072.1) is rotatably mounted on the roller assembly support (1072.3) through the roller shaft (1072.2), two vertical guide rods (1074) are mounted in parallel on the horizontal moving assembly (104), two roller assemblies (1072) are respectively mounted on the horizontal moving assembly (104) at intermediate positions of both ends of the two vertical guide rods (1074), and wherein the roller shaft (1072.2) of one roller assembly (1072) is in driving connection with the vertical motor (1076), the vertical traction belt (1073) is installed between the rollers (1072.1) of the two roller assemblies (1072), the linear bearings (1075) are installed on the two vertical guide rods (1074), and the platform (106) is installed on the linear bearings (1075) and is fixedly connected with the vertical traction belt (1073).
5. The field image acquisition device for the fully mechanized mining face of claim 1, wherein the horizontal rotation assembly (23) comprises a horizontal rotation motor (231), a worm (234), a slewing bearing (235) and a support frame (236), the worm (234) is installed on the support frame (236) and is in transmission connection with the horizontal rotation motor (231), an inner ring of the slewing bearing (235) is fixedly installed on a bottom surface of the support frame (236), an outer ring of the slewing bearing (235) is provided with a worm wheel, the worm wheel on the outer ring of the slewing bearing (235) is meshed with the worm (234), the support frame (236) is fixedly installed on the platform (106), and the outer frame (22) is installed on the outer ring of the slewing bearing (235).
6. The field image acquiring apparatus for the fully mechanized mining face of claim 1, the pitching assembly (21) comprises a mounting flat plate (211), a camera mounting flat plate (213), a pitching shaft (214), a first gear (215.1), a second gear (215.2) and a steering engine (216), the pitch shaft (214) is mounted on the mounting plate (211), the first gear (215.1) is mounted at one end of the pitch shaft (214), the first gear (215.1) is meshed with the second gear (215.2), the second gear (215.2) is in transmission connection with the steering engine (216), the camera mounting plate (213) is fixed at the middle position of the pitch axis (214), the camera (4) is mounted on the camera mounting plate (213), the pitching assembly (21) is installed in the outer frame body (22) through the installation flat plate (211).
7. The device for acquiring the field image of the fully mechanized coal mining face according to claim 1, wherein the cleaning component (3) comprises a cleaning motor (31), a lead screw (33), a lead screw nut (34), a water tank (35), a water pump (36), a water pipe (37), a nozzle (38) and a brush (39), the lead screw (33) is installed on the top surface of the outer frame (22) and is in transmission connection with the cleaning motor (31), the lead screw nut (34) is installed on the lead screw (33) to form a lead screw nut pair, the brush (39) is tightly attached to the light transmission surface (22.1) of the outer frame (22), one end of the brush (39) is fixedly connected with the lead screw nut (34), the water tank (35) and the water pump (36) are installed on one side of the outer frame (22), and the nozzle (38) is connected with the water pump (36) through the water pipe (37), the nozzle (38) is provided around the light transmission surface (22.1) of the outer frame (22) and can spray water to the light transmission surface (22.1).
8. The field image capturing device for the fully mechanized coal mining face of claim 2, wherein the tension wheel assembly (102) comprises a tension spring (1021), a tension wheel mounting bracket (1022), a tension wheel shaft (1024), and a tension wheel (1025), wherein the tension wheel bracket (1022) is provided with an elongated hole slot (1022.1), both ends of the tension wheel shaft (1024) are slidably disposed in the elongated hole slot (1022.1), the tension wheel (1025) is mounted on the tension wheel shaft (1024), and the tension spring (1021) is disposed between the tension wheel shaft (1024) and the tension wheel mounting bracket (1022).
9. An image acquisition method using the site image acquisition apparatus for a fully mechanized mining face according to any one of claims 1 to 8, comprising the steps of:
firstly, when the horizontal moving component (104) moves along the steel wire rope (103), the horizontal moving component (104) drives the vertical moving component (107), the platform (106) and the cloud deck (2) to move, so that the camera (4) is driven to move along the steel wire rope (103), and image acquisition at any position of the fully mechanized coal mining face in the horizontal direction is realized;
secondly, when the vertical moving component (107) moves along the direction vertical to the steel wire rope (103), the platform (106) and the holder (2) can be driven to move, so that the camera (4) is driven to move along the direction vertical to the steel wire rope (103), and image acquisition at any position of the fully mechanized coal mining face in the vertical direction is realized;
thirdly, the horizontal rotating component (23) rotates to drive the outer frame body (22) and the pitching component (21) to rotate, so that the camera (4) is driven to rotate, the shooting direction of the camera (4) is changed, and multi-direction image acquisition at any position in the fully mechanized mining working face is realized;
fourthly, the pitching motion of the pitching assembly (21) can drive the camera (4) to do pitching motion, the shooting angle of the camera (4) is changed, and all-dimensional image acquisition at any position in the fully mechanized coal mining working face is realized.
10. The image capturing method using the device for acquiring a scene image of a fully mechanized mining face according to claim 9, further comprising starting the water pump (36), wherein the nozzle (38) sprays the molten glass in the water tank (35) onto the light-transmitting face (22.1) of the outer frame (22), and the brush (39) can move back and forth along the surface of the light-transmitting face (22.1) under the driving of the cleaning motor (31) to brush the light-transmitting face (22.1) clean, so as to improve the image capturing quality of the camera (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235157.8A CN111425709B (en) | 2020-03-30 | 2020-03-30 | On-site image acquisition device and image acquisition method for fully mechanized coal mining face |
| PCT/CN2021/081301 WO2021197070A1 (en) | 2020-03-30 | 2021-03-17 | On-site image acquisition device and image acquisition method for fully-mechanized mining face |
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| CN202010235157.8A CN111425709B (en) | 2020-03-30 | 2020-03-30 | On-site image acquisition device and image acquisition method for fully mechanized coal mining face |
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| CN111425709B CN111425709B (en) | 2021-08-10 |
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Cited By (4)
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| CN112483781A (en) * | 2020-10-30 | 2021-03-12 | 佛山市坦斯盯科技有限公司 | AOI camera shooting mechanism |
| WO2021197069A1 (en) * | 2020-03-30 | 2021-10-07 | 江苏科技大学 | Dust suppression spraying apparatus for use on fully-mechanized coal-mining face and working method for apparatus |
| WO2021197070A1 (en) * | 2020-03-30 | 2021-10-07 | 江苏科技大学 | On-site image acquisition device and image acquisition method for fully-mechanized mining face |
| CN114151672A (en) * | 2021-11-18 | 2022-03-08 | 南方电网数字电网研究院有限公司 | Electric power machine room monitoring system |
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| CN113933216B (en) * | 2021-10-12 | 2023-08-25 | 长安大学 | On-spot real-time supervision device of edges and corners nature gathers materials |
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| CN111425709B (en) | 2021-08-10 |
| WO2021197070A1 (en) | 2021-10-07 |
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Effective date of registration: 20231129 Address after: Room 2202, 22 / F, Wantong building, No. 3002, Sungang East Road, Sungang street, Luohu District, Shenzhen City, Guangdong Province Patentee after: Shenzhen dragon totem technology achievement transformation Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20231129 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 212003, No. 2, Mengxi Road, Zhenjiang, Jiangsu Patentee before: JIANGSU University OF SCIENCE AND TECHNOLOGY |