CN113232006A

CN113232006A - Intelligent inspection robot, intelligent inspection system and inspection method for coal chemical industry

Info

Publication number: CN113232006A
Application number: CN202110457170.2A
Authority: CN
Inventors: 陈勇波; 陈鹏飞; 盛荣芬; 谭文攀; 赵凯; 沈海安; 陈龙; 李清源
Original assignee: Hunan Qianmeng Industrial Intelligent System Co ltd
Current assignee: Hunan Qianmeng Industrial Intelligent System Co ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2021-08-10

Abstract

The invention discloses an intelligent coal chemical inspection robot which is used for performing inspection along a track in a coke oven chamber and comprises a base, a hoisting component arranged on the base, a driving component connected with the hoisting component and used for driving the hoisting component to slide back and forth along the track and a sensor group arranged on the base, wherein the base comprises a bottom plate and an explosion-proof shell fixedly connected with the bottom plate, the hoisting component comprises two driving wheels arranged on one side of the bottom plate far away from the explosion-proof shell and parallel to the bottom plate and two hanging wheel components arranged on two sides of the two driving wheels along the arrangement direction of a guide rail, and the driving component is arranged on one side of the bottom plate far away from the driving wheels and connected with the two driving wheels. Compared with the prior art, the intelligent inspection robot for the coal chemical industry can effectively improve the heating safety performance of the coke oven. The invention also provides an intelligent inspection system and an intelligent inspection method for the coal chemical industry.

Description

Intelligent inspection robot, intelligent inspection system and inspection method for coal chemical industry

Technical Field

The invention relates to the technical field of inspection robots, in particular to an intelligent inspection robot, an intelligent inspection system and an inspection method for coal chemical industry.

Background

The coke oven is heated by adopting gas, heating activities are numerous, gas pipelines are huge, in order to realize safe production management and avoid dangerous accidents caused by overhigh temperature or overlarge residual concentration of the gas in a basement of the coke oven, the intelligent inspection robot is taken as an article capable of replacing workers to inspect and gradually enters the career of people, so that the intelligent inspection robot is basically popularized in industrial scenes such as power change plants, petrochemical plants and the like, the work of inspection personnel is replaced, the labor is saved, the safety coefficient is improved, and a good detection effect is obtained. The intelligent inspection robot mainly comprises a roller, a driving module, a control module, a track, a vision module and the like. Can complete the basic functions of visual identification, positioning and the like. At present, the inspection robots are used in the coal chemical industry in a few cases, the environments of power plants and petrochemical plants are simple, and the inspection robots designed by the method cannot cope with the complex environments in the coal chemical plants.

At present, the integration of high and new technologies endows the intelligent inspection robot with the characteristic of diversification, and the intelligent inspection robot can cope with complex environments and multiple services. Besides the functions of vision, thermal imaging and the like, the robot can be customized according to a specific scene. The inspection robot in the power transformation plant has an obvious effect. The inspection robot for the power transformation plant completes the target identification function in the power transformation plant through a traditional image algorithm or a depth learning brother based on a convolutional neural network by utilizing thermal imaging and visible light images, and performs judgment and early warning, so that the detection efficiency is improved, and the potential safety hazard in the detection process is reduced.

Meanwhile, in the closed underground environment of the existing coal chemical plant, the case of using the rail-mounted inspection robot is less, and a fixed camera is arranged in front of each detection target for detection, so that the cost is higher; the vision system of the method mostly uses the traditional image algorithm and the two-stage deep learning algorithm, and the algorithm has the problems of insufficient robustness and low detection efficiency.

Therefore, it is necessary to provide an intelligent coal chemical inspection robot, an intelligent inspection system and an inspection method capable of effectively improving the heating safety of the coke oven to solve the technical problems.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the coal chemical industry intelligent inspection robot, the intelligent inspection system and the inspection method which can effectively improve the heating safety of the coke oven.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a coal chemical industry intelligence patrols and examines robot for patrol and examine along the track at the coke oven indoor, including the base, install in the hoist and mount part of base, with hoist and mount part is connected and is used for the drive hoist and mount part is followed track reciprocating sliding's drive part and install in the sensor group of base, the base include the bottom plate and with bottom plate fixed connection's explosion-proof shell, hoist and mount part including set up in the bottom plate is kept away from explosion-proof shell one side and with two drive wheels that the bottom plate is parallel and edge the direction that sets up of guide rail sets up in two hang the dress wheel subassembly in drive wheel both sides, drive part set up in the bottom plate is kept away from drive wheel one side and with two the drive wheel is connected.

Preferably, the two driving wheels are located on the same plane, a first gap is formed between the two driving wheels, the hanging wheel assembly comprises two driven wheels which are perpendicular to the driving wheels and are respectively arranged on two sides of the axis of the track, a second gap is formed between the two driven wheels, and a connecting line between the two second gaps of the two hanging wheel assemblies is parallel to the axis of the guide rail and passes through the first gap.

Preferably, the hoisting part further comprises a friction adjusting device which is respectively connected with the two driving wheels and used for adjusting the size of the clamping force between the two driving wheels, wherein the friction adjusting device comprises a movable seat fixedly connected with the bottom plate, two movable blocks movably connected with the movable seat and perpendicular to the bottom plate, the movable seat sequentially penetrates through the movable blocks, the movable seat reaches the two rotating shafts of the bottom plate and two friction adjusters respectively connected with the two movable blocks, the two driving wheels are respectively arranged at one ends of the two rotating shafts, and the other ends of the two rotating shafts are connected with the driving part.

Preferably, the friction adjustment ware includes respectively with two L type panel of movable block fixed connection, connect two L type panel and with L type panel threaded connection's threaded rod and cover are located two sections elastic component of threaded rod, L type panel include with first panel that the movable block is connected and certainly the one end of first panel is buckled perpendicularly and is extended the second panel that forms, two the second panel sets up relatively, the both ends of threaded rod are provided with along the fender ring of radial outside expansion formation, two sections the elastic component set up in two the second panel with keep off between the ring.

Preferably, the hoisting component further comprises a planetary reducer connected with the rotating shaft.

Preferably, the driving wheel is formed by casting aluminum and nitrile rubber.

Preferably, the base plate and the explosion-proof housing are integrally formed.

Preferably, the sensor group comprises a position sensor, a vision sensor, a furnace number identifier and a harmful gas concentration detector, the position sensor is a laser ranging radar and is used for detecting whether obstacles exist in a movement path, and the vision sensor adopts a one-stage deep learning algorithm.

The utility model provides a coal chemical industry intelligence system of patrolling and examining, including high in the clouds server, with high in the clouds server communication connection's host computer, track, cable slide-wire system and like aforementioned coal chemical industry intelligence patrol and examine the robot, coal chemical industry intelligence patrol and examine the robot with cable slide-wire headtotail and activity set up in the track, coal chemical industry intelligence patrol and examine the robot with high in the clouds server communication connection.

An intelligent inspection method for coal chemical industry, which provides the intelligent inspection system for coal chemical industry according to claim 9, and comprises the following steps:

step S10, erecting the system, installing the track and the cable slide wire system before production, connecting the cable slide wire system with the coal chemical industry intelligent inspection robot after the coal chemical industry intelligent inspection robot is penetrated from one end of the track, enabling the coal chemical industry intelligent inspection robot to be in communication connection with the cloud server, and simultaneously ensuring that the driving wheel and the two hanging wheel assemblies are abutted against the track;

step S20, the cloud server sends a work instruction to the intelligent coal chemical industry inspection robot, the driving part works and drives the two driving wheels to rotate in opposite directions, so that the base slides to the other end along one end of the track under the action of friction force, during the period, the sensor group works and records the working condition of each coke oven and uploads the working condition to the cloud server in real time,

if the coke oven does not work abnormally, the step S20 is repeated,

if the coke oven works abnormally, the step S30 is carried out;

and S30, repeating inspection, wherein when the base runs to the end of the track, the cloud server sends a rechecking instruction to the intelligent coal chemical industry inspection robot according to the number of the coke oven with abnormal work, the driving part drives the base to slide to the coke oven with problems for rechecking, if the coke oven is not abnormal, the step S20 is repeated, and if the coke oven is abnormal, the cloud server reminds an operator to go to the corresponding coke oven for troubleshooting through an alarm.

In summary, compared with the prior art, the intelligent coal chemical inspection robot provided by the invention has the advantages that the driving part is used for driving the hoisting part to slide along the track in a reciprocating manner, the sensor group is used for detecting the environment in the coke oven chamber, and a detection mode of a special person in the prior art is replaced, so that on one hand, harmful gas sucked into the coke oven chamber by a human body can be avoided, and meanwhile, 24-hour uninterrupted real-time detection can be realized; the base comprises the explosion-proof shell, and is adapted to the flammable and explosive environment in the coal chemical industry, so that basic protection is provided for precision devices such as the sensor group; the visual sensor is arranged to perform visual identification by adopting a one-stage category deep learning algorithm, so that the robustness is better and the detection efficiency is higher; adopt the drive wheel with the mechanism of hanging dress wheel subassembly is as the running gear of robot, can ensure the stability of motion, simultaneously, sets up position sensor is laser rangefinder radar, can fix a position and detect whether have the obstacle in the motion route to the robot in real time, and the reliability is stronger.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of the intelligent coal chemical inspection robot provided by the invention when the intelligent coal chemical inspection robot is installed on a track;

fig. 2 is a schematic perspective view of another angle of the intelligent inspection robot for coal chemical industry according to the present invention;

FIG. 3 is an enlarged view of a portion A of the intelligent inspection robot for coal chemical industry shown in FIG. 2;

FIG. 4 is a schematic structural diagram of the intelligent coal chemical inspection system provided by the invention;

fig. 5 is a frame diagram of the intelligent routing inspection system for coal chemical industry provided by the invention.

In the figure, 100, a coal chemical industry intelligent inspection robot; 10. a base; 11. a base plate; 12. an explosion-proof housing; 20. hoisting the component; 21. a drive wheel; 22. hanging wheel assemblies; 221. a driven wheel; 23. a friction adjusting device; 231. a movable seat; 232. a movable block; 233. a rotating shaft; 234. a friction adjuster; 2341. an L-shaped plate; 2345. a first sheet material; 2346. a second sheet material; 2342. a threaded rod; 2343. an elastic member; 31. a drive motor; 40. a sensor group; 41. a position sensor; 42. a vision sensor; 43. a furnace number identifier; 44. a harmful gas concentration detector; 101. a first gap; 102. a second gap; 103. a baffle ring; 1000. an intelligent inspection system for coal chemical industry; 200. a cloud server; 300. an upper computer; 400. a track; 500. a cable slide wire system.

Detailed Description

The invention is described in detail below with reference to the figures and examples. The following experimental examples and examples are intended to further illustrate but not limit the invention.

Referring to fig. 1 to 3, the present invention provides an intelligent coal chemical inspection robot 100, wherein the intelligent coal chemical inspection robot 100 is used for performing inspection along a track 400 in a coke oven chamber to replace a human body to cyclically detect the concentration of toxic gas (CO) in real time in the coke oven chamber with a harsh environment.

The intelligent coal chemical industry inspection robot 100 comprises a base 10, a hoisting component 20 installed on the base 10, a driving component (not numbered) connected with the hoisting component 20 and used for driving the hoisting component 20 to slide back and forth along a track 400, and a sensor group 40 installed on the base 10.

The base 10 comprises a bottom plate 11 and an explosion-proof housing 12 fixedly connected with the bottom plate 11.

Preferably, in the present embodiment, the base plate 11 is integrally formed with the explosion-proof housing 12.

The hoisting component 20 includes two driving wheels 21 disposed on one side of the bottom plate 11 far from the explosion-proof housing 12 and parallel to the bottom plate 11, two hanging wheel assemblies 22 disposed on two sides of the two driving wheels along the direction of the guide rail 200, a friction adjusting device 23 connected to the two driving wheels 21 respectively and used for adjusting the clamping force between the two driving wheels 21, and a planetary reducer (not shown). The driving component is arranged on one side of the bottom plate 11 far away from the driving wheels 21 and connected with the two driving wheels 21.

The two driving wheels 21 are in the same plane, and a first gap 101 exists between the two driving wheels 21.

Preferably, in the present embodiment, the driving wheel 21 is formed by casting aluminum and nitrile rubber. So set up, utilize the nitrile rubber coating to have that coefficient of friction is big, the good and high temperature resistance's of wearability characteristic, make drive wheel 21 can remain stable throughout in the high temperature and the complicated coke oven room in environment, promoted coal industry intelligence patrols and examines robot 100's reliability.

The hanging wheel assembly 22 includes two driven wheels 221 perpendicular to the driving wheel 21 and respectively disposed at both sides of the axis of the rail 400. A second gap 102 exists between the two driven wheels 221, and a connecting line between the two second gaps 102 of the two hanging wheel assemblies 22 is parallel to the axis of the guide rail 200 and passes through the first gap 101.

The friction adjusting device 23 includes a movable seat 231 fixedly connected to the bottom plate 11, two movable blocks 232 movably connected to the movable seat 231, two rotating shafts 233 perpendicular to the bottom plate 11 and sequentially penetrating through the movable blocks 232, the movable seat 231 and the bottom plate 11, and friction adjusters 234 respectively connected to the two movable blocks 232. The two driving wheels 21 are respectively disposed at one end of the two rotating shafts 233, and the other end of the two rotating shafts 233 is connected to the driving member.

Specifically, the friction adjuster 234 includes two L-shaped plates 2341 fixedly connected to the two movable blocks 232, a threaded rod 2342 connected to the two L-shaped plates 2341 and threadedly connected to the L-shaped plates 2341, and two elastic members 2343 sleeved on the threaded rod 2342.

The L-shaped plate 2341 includes a first plate 2345 connected to the movable block 232 and a second plate 2346 formed by bending and extending one end of the first plate 2345 vertically. The two second plates 2346 are arranged oppositely, the two ends of the threaded rod 2342 are provided with retaining rings 103 which are formed by expanding outwards in the radial direction, and the two sections of elastic members 2343 are arranged between the two second plates 2346 and the retaining rings 103.

In the use of friction adjustment ware 234, through twisting threaded rod 2342, change threaded rod 2342 both ends the potential energy of elastic component 2343 adjusts two clamp force between the movable block 232 finally makes drive wheel 21 with keep certain coefficient of friction between the track 200 throughout, further promoted the stability that robot 100 was patrolled and examined to coal chemical industry intelligence.

The planetary reducer is connected to the rotary shaft 233.

The driving part includes a driving motor 31 and a connecting assembly (not shown) for connecting the driving motor 31 and the rotating shaft 233, and the driving motor 31 and the rotating shaft 233 form a right angle. In this embodiment, the number of the driving members is two, and two connecting assemblies respectively connect the two driving wheels 21 and the two driving motors 31.

Specifically, the connecting assembly may be a helical gear or a worm gear structure, and the rotation of the rotating shaft 233 is driven by the rotation of the driving motor 31.

The sensor group 40 includes a position sensor 41, a vision sensor 42, a furnace number identifier 43, and a harmful gas concentration detector 44. The position sensor 41 is a laser ranging radar and is configured to detect whether an obstacle exists in a movement path, and the vision sensor 42 employs a one-stage deep learning algorithm.

Referring to fig. 4 and 5, the invention further provides an intelligent coal chemical industry inspection system 1000, where the intelligent coal chemical industry inspection system 1000 includes a cloud server 200, an upper computer 300 in communication connection with the cloud server 200, a track 400, a cable slide system 500, and the intelligent coal chemical industry inspection robot 100. Wherein, the intelligent robot that patrols and examines of coal industry 100 with cable slide-wire system 500 is connected and the activity set up in track 400, the intelligent robot that patrols and examines of coal industry 100 with high in the clouds server communication connection.

In the working process of the intelligent coal chemical industry inspection system 1000, the upper computer 300 sends a working instruction to the intelligent coal chemical industry inspection robot 100 through the cloud server 200, the intelligent coal chemical industry inspection robot 100 starts to follow after receiving the working instruction, the track 400 is inspected, and real-time data is transmitted to the cloud server 200 through Ethernet communication in the inspection process.

Specifically, the returned information of the intelligent coal chemical industry inspection robot 100 includes data such as a waste gas weight exchange state, CO concentration data, and a furnace number. If the cloud server finds the abnormal furnace number, the coal chemical industry intelligent inspection robot 100 immediately goes to the corresponding furnace number for rechecking after walking the whole process, and sends data to the upper computer for early warning and prompts an operator to check.

Meanwhile, the invention also provides an intelligent inspection method for the coal chemical industry, which specifically comprises the following steps:

if the coke oven does not work abnormally, the step S20 is repeated,

if the coke oven works abnormally, the step S30 is carried out;

Compared with the prior art, the intelligent coal chemical inspection robot provided by the invention has the advantages that the driving part is used for driving the hoisting part to slide along the track in a reciprocating manner, the sensor group is used for detecting the environment in the coke oven chamber, and a detection mode depending on a special person in the prior art is replaced, so that on one hand, harmful gas sucked into the coke oven chamber by a human body can be avoided, and meanwhile, 24-hour uninterrupted real-time detection can be realized; the base comprises the explosion-proof shell, and is adapted to the flammable and explosive environment in the coal chemical industry, so that basic protection is provided for precision devices such as the sensor group; the visual sensor is arranged to perform visual identification by adopting a one-stage category deep learning algorithm, so that the robustness is better and the detection efficiency is higher; adopt the drive wheel with the mechanism of hanging dress wheel subassembly is as the running gear of robot, can ensure the stability of motion, simultaneously, sets up position sensor is laser rangefinder radar, can fix a position and detect whether have the obstacle in the motion route to the robot in real time, and the reliability is stronger.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that several improvements and modifications without departing from the principle of the present invention will occur to those skilled in the art, and such improvements and modifications should also be construed as within the scope of the present invention.

Claims

1. The utility model provides a coal chemical industry intelligence patrols and examines robot for patrol and examine along the track at the coke oven indoor, a serial communication port, including the base, install in the hoist and mount part of base, with hoist and mount part is connected and is used for the drive hoist and mount part is followed track reciprocating sliding's drive unit and install in the sensor group of base, the base include the bottom plate and with bottom plate fixed connection's explosion-proof shell, hoist and mount part including set up in the bottom plate is kept away from explosion-proof shell one side and with two drive wheels that the bottom plate is parallel and edge the direction that sets up of guide rail sets up in two hang dress wheel subassemblies in the drive wheel both sides, drive unit set up in the bottom plate is kept away from drive wheel one side and with two the drive wheel is connected.

2. The intelligent coal chemical inspection robot according to claim 1, wherein the two driving wheels are located on the same plane, a first gap is formed between the two driving wheels, the hanging wheel assembly comprises two driven wheels which are perpendicular to the driving wheels and are respectively arranged on two sides of the axis of the track, a second gap is formed between the two driven wheels, and a connecting line between the two second gaps of the two hanging wheel assemblies is parallel to the axis of the guide rail and passes through the first gap.

3. The coal chemical industry intelligence inspection robot according to claim 2, wherein the hoisting component further includes a friction adjusting device connected with the two driving wheels respectively and used for adjusting the magnitude of the clamping force between the two driving wheels, the friction adjusting device includes a movable seat fixedly connected with the bottom plate, two movable blocks movably connected with the movable seat, a friction adjuster perpendicular to the bottom plate and sequentially penetrating through the movable blocks, the movable seat and the two rotating shafts of the bottom plate and respectively connecting the two movable blocks, the two driving wheels are respectively disposed at one end of the two rotating shafts, and the other end of the two rotating shafts is connected with the driving component.

4. The coal chemical industry intelligence inspection robot according to claim 3, characterized in that, the friction adjustment ware include respectively with two L type panel of movable block fixed connection, connect two L type panel and with L type panel threaded connection's threaded rod and cover are located two sections elastic component of threaded rod, L type panel include with first panel that the movable block is connected and certainly the one end of first panel is perpendicular to be buckled and is extended the second panel that forms, two the second panel sets up relatively, the both ends of threaded rod are provided with along the fender ring of radial outside expansion formation, two sections the elastic component set up in two the second panel with keep off between the ring.

5. The intelligent coal chemical inspection robot according to claim 3, wherein the hoisting component further comprises a planetary reducer connected with the rotating shaft.

6. The intelligent inspection robot according to claim 3, wherein the drive wheels are cast from cast aluminum and nitrile rubber.

7. The intelligent inspection robot according to claim 1, wherein the base plate is integrally formed with the explosion-proof housing.

8. The intelligent coal chemical inspection robot according to claim 1, wherein the sensor group includes a position sensor, a vision sensor, a furnace number identifier and a harmful gas concentration detector, the position sensor is a laser range radar and is used for detecting whether obstacles exist in a movement path, and the vision sensor adopts a one-stage deep learning algorithm.

9. The utility model provides a coal chemical industry intelligence system of patrolling and examining, its characterized in that, including the high in the clouds server, with high in the clouds server communication connection's host computer, track, cable slide wire system and claim 1-8 coal chemical industry intelligence patrol and examine the robot, coal chemical industry intelligence patrol and examine the robot with cable slide wire headtotail and activity set up in the track, coal chemical industry intelligence patrol and examine the robot with high in the clouds server communication connection.

10. The intelligent coal chemical industry inspection method is characterized by providing the intelligent coal chemical industry inspection system according to claim 9, and comprising the following steps:

if the coke oven does not work abnormally, the step S20 is repeated,

if the coke oven works abnormally, the step S30 is carried out;