CN115027908A - Automatic cleaning system of belt conveyor - Google Patents
Automatic cleaning system of belt conveyor Download PDFInfo
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- CN115027908A CN115027908A CN202210772404.7A CN202210772404A CN115027908A CN 115027908 A CN115027908 A CN 115027908A CN 202210772404 A CN202210772404 A CN 202210772404A CN 115027908 A CN115027908 A CN 115027908A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 223
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 87
- 239000010865 sewage Substances 0.000 claims description 47
- 238000000034 method Methods 0.000 claims description 26
- 210000001503 joint Anatomy 0.000 claims description 20
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- 239000007788 liquid Substances 0.000 claims description 10
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- 238000003860 storage Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000001502 supplementing effect Effects 0.000 abstract description 4
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Images
Classifications
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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
- B65G45/00—Lubricating, cleaning, or clearing devices
- B65G45/10—Cleaning devices
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- B08B1/12—
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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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
- B65G45/00—Lubricating, cleaning, or clearing devices
- B65G45/10—Cleaning devices
- B65G45/18—Cleaning devices comprising brushes
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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
- B65G45/00—Lubricating, cleaning, or clearing devices
- B65G45/10—Cleaning devices
- B65G45/22—Cleaning devices comprising fluid applying means
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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
- B65G45/00—Lubricating, cleaning, or clearing devices
- B65G45/10—Cleaning devices
- B65G45/24—Cleaning devices comprising plural diverse cleaning devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention provides an automatic cleaning system of a belt conveyor, which comprises an AGV navigation system, a plurality of belt conveyors, at least one mobile cleaning vehicle, a main control platform, a charging station, a water replenishing and draining station and an identification visual module, wherein the vehicle body of the mobile cleaning vehicle is the AGV trolley, the ground below the belt conveyors, the charging station and the water replenishing and draining station are respectively provided with an AGV positioning module aiming at the AGV trolley, AGV navigation circuits are arranged among the belt conveyors, the charging station and the water replenishing and draining station, and the main control platform controls the working states of the AGV navigation system, the mobile cleaning vehicle, the charging station and the water replenishing and draining station; the visual identification module is arranged on the cleaning machine and used for identifying the cleaning degree of the conveying belt. The system has the advantages of high automation of mobile automation, water supply supplementing automation, charging automation, cleaning automation and acceptance inspection automation.
Description
Technical Field
The invention relates to the field of cleaning of belt conveyors in the tobacco industry, in particular to an automatic cleaning system of a belt conveyor.
Background
The belt conveyor in the tobacco industry has higher sanitary safety level because the transfer carrier is tobacco leaves, thereby having extremely high requirement on cleanness. At present, belt conveyors of most cigarette factories rely on manual cleaning, the cleaning efficiency is low, potential safety hazards of climbing operation exist, secondary pollution is caused to the surrounding environment in the cleaning process, workers are poor in participation of cleaning willingness, and the cleaning work of the belt conveyors is further influenced. With the pursuit of the tobacco industry for the overall automation of machinery, automated cleaning also becomes one of the main research subjects, wherein, with the maturity of the AGV technology, the conventional functions of walking, positioning and the like in the production workshop are already applied to the fields of express delivery and freight transportation. The system has important significance for a series of problems of an AGV circuit, an automatic charging, an automatic water supply and drainage, an automatic cleaning effect, an automatic identification cleaning effect and the like in a cigarette production workshop, particularly a workshop with a plurality of belt conveyors.
Disclosure of Invention
The invention provides an automatic cleaning system for a belt conveyor, which solves the problems of low operation efficiency and unsafe operation of manual cleaning of the belt conveyor of the existing cigarette factory, can improve the integration of cleaning of the belt conveyor of the cigarette factory, improve the working efficiency of cleaning equipment of the cigarette factory and reduce the potential safety hazard of the cigarette factory.
In order to realize the purpose, the invention provides the following technical scheme:
an automatic cleaning system of a belt conveyor comprises an AGV navigation system, a plurality of belt conveyors, at least one mobile cleaning vehicle, a main control platform, a charging station, a water replenishing and draining station and an identification visual module, wherein the vehicle body of the mobile cleaning vehicle is an AGV trolley, AGV positioning modules for the AGV trolley are respectively arranged on the ground below the belt conveyors, the charging station and the water replenishing and draining station, AGV navigation circuits are arranged among the belt conveyors, between the belt conveyors and the charging station and between the belt conveyors and the water replenishing and draining station, and the main control platform controls the working states of the AGV navigation system, the mobile cleaning vehicle, the charging station and the water replenishing and draining station;
a contact type charging sliding plate is arranged at the charging station, and a charging sliding block is correspondingly arranged on the AGV;
a horizontally telescopic water replenishing pipe joint is arranged at the water replenishing and draining station, and a water supply electromagnetic valve is installed on the water replenishing pipe joint; a sewer pipe with the upper edge higher than the ground is arranged on the ground of the water replenishing and draining station;
the movable cleaning vehicle comprises a controller, an AGV trolley, a water tank, a cleaning machine, a lifting mechanism, an offset adjusting mechanism, a door opening mechanism and a frame;
the cleaning machine is mounted on an AGV trolley through a lifting mechanism, the deviation adjusting mechanism is mounted on a base of the cleaning machine, the door opening mechanism is mounted at the top of the frame, the cleaning machine is located inside the frame in a storage state, the water tank is respectively provided with an automatic water replenishing mechanism and an automatic water discharging mechanism, the automatic water replenishing mechanism corresponds to a water replenishing pipe joint to realize automatic water replenishing, and the automatic water discharging mechanism corresponds to a sewer pipe to realize automatic water discharging;
the visual identification module is arranged on the cleaning machine and used for identifying the cleaning degree of the conveying belt.
Further, the frame is arranged at the upper end of the AGV trolley, and the water tank is arranged at the bottom of the frame and fixed on the AGV trolley;
the lifting mechanism comprises a lifting mast and a secondary lifting mechanism, the bottom of the lifting mast is mounted on the AGV trolley, the secondary lifting mechanism is mounted at the movable end of the lifting mast, and the secondary lifting mechanism comprises a lifting slide rail, a truss, a motor and a lead screw, the lifting slide rail is arranged on the side surface of the lifting mast, the truss runs on the lifting slide rail, and the motor and the lead screw drive the truss to do lifting motion;
the deviation adjusting mechanism comprises a first base, a second base, a third base, a rotary fluted disc and a fine adjustment mechanism, wherein the first base is fixed on the truss, the second base is installed on the first base through the rotary fluted disc, a driving motor of the rotary fluted disc is installed on the first base, the third base is installed on the second base through a sliding rail, and the fine adjustment mechanism is installed on the second base and drives the third base to horizontally displace relative to the second base;
the cleaning machine comprises a case, an electric control double-roller hairbrush and a high-pressure nozzle, wherein the electric control double-roller hairbrush and the high-pressure nozzle are arranged in the case;
the automatic water replenishing device comprises a water tank, a cleaning machine, a water inlet pump, a water tank, a water inlet elbow, an automatic water replenishing mechanism and an automatic water discharging mechanism, wherein the interior of the water tank is divided into a clean water tank and a sewage tank by a partition plate, the clean water tank is connected with a high-pressure spray head of the cleaning machine through a water pumping pipeline and the water inlet pump, a sewage tank of a machine case of the cleaning machine is communicated with the sewage tank through a water discharging pipeline, the water tank is also provided with the automatic water replenishing mechanism and the automatic water discharging mechanism, the automatic water replenishing mechanism comprises a water replenishing valve, a water inlet elbow, a butt joint and a flexible seal head, the water inlet elbow is arranged at the top of the water tank and communicated with the clean water tank, the butt joint is arranged at the water inlet end of the water inlet elbow, the flexible seal head is a flexible conical seal head arranged in the butt joint, a through hole is arranged in the center of the flexible conical seal head, and the water replenishing valve is arranged on the water inlet elbow;
the automatic drainage mechanism comprises a water outlet valve, a water outlet elbow, an electric telescopic drainage head and a flexible pipeline, wherein the water inlet end of the water outlet elbow is connected with the bottom of the sewage tank and communicated with the inside of the sewage tank;
the door opening mechanism comprises a vertical rail arranged on the frame and an electric control side-by-side door arranged at the top end of the frame, and when the electric control side-by-side door is in an opening state, the outer side of the electric control side-by-side door moves downwards along the vertical rail and the inner side of the electric control side-by-side door rotates around a motor shaft;
in the stowed state, the cleaning machine is located within the frame.
Furthermore, the fine adjustment mechanism is an air cylinder, a base of the air cylinder is hinged to the second base, and a movable end of the air cylinder is hinged to the third base.
Furthermore, the fine adjustment mechanism is a spring, and two ends of the spring are hinged to the second base and the third base respectively.
Further, the visual recognition module comprises an industrial camera and an image processing module which are installed on the cleaning machine, and the image processing module performs image processing through the following steps:
filtering the acquired image by adopting a neighborhood average method and a median filtering method in a matched manner, adopting a neighborhood average method for continuous images and using a median filtering method for isolated noise, and filtering the image;
carrying out image normalization processing, carrying out normalization under an RGB color channel, and solving the problem of uneven illumination, wherein the normalization formula is as follows:
and carrying out image enhancement, determining the size of the color value of each channel of the corresponding output pixel point by the color value of the input pixel point occupying each channel, converting the color values of all the pixel points in the image according to a linear conversion function, and carrying out linear expansion on each pixel in the image by using a linear single-value function under the condition of underexposure or overexposure so as to change the visual effect of the image.
Furthermore, a water pumping hole and a first exhaust hole are formed in the top of the clean water tank, and a first exhaust valve is installed at the first exhaust hole; the top of the sewage tank is provided with a drain hole and a second exhaust hole, and a second exhaust valve is arranged at the second exhaust hole; the water inlet end of the water outlet bent pipe is provided with two branches which are respectively communicated with the bottom of the clean water tank and the bottom of the sewage tank, and the two branches are respectively provided with a water outlet valve; liquid level sensors are respectively installed in the clean water tank and the sewage tank, and the liquid level sensors are connected with a controller and used for triggering water inlet action and water discharge action; the baffle is the baffle of slope, the baffle is from the top outside slope of clear water tank to the bottom outside slope of sewage case for the sewage case presents the big end in top big end, clear water tank presents the big structure in top little end, install the scavenge pipe that distributes along sewage case length direction in the sewage case, the equipartition has the washing hole on the scavenge pipe, a style of calligraphy high pressure nozzle is installed to washing hole department.
Furthermore, a thin film type piezoelectric patch with a waterproof adhesive film is mounted on the surface of the flexible conical sealing head and connected with a controller, and the controller controls the opening and closing of the water inlet valve according to the state of the thin film type piezoelectric patch; the outer side wall of the tail end of the in-line pipe joint is provided with a distance sensor with a waterproof structure, and the controller controls the opening and closing of the drain valve according to the sensing state of the distance sensor.
The invention provides an automatic cleaning system for a belt conveyor, which automatically walks and positions through an AGV trolley, and adjusts the position of a cleaning machine through a lifting mechanism and a deviation adjusting mechanism which are arranged on the AGV trolley so as to position the cleaning machine with the belt conveyor to be cleaned. The belt conveyor cleaning device can solve the problems that manual cleaning is adopted for cleaning the belt conveyor of the existing cigarette factory, the operation efficiency is low, and the operation is unsafe, can improve the cleaning integration of the belt conveyor of the cigarette factory, improve the working efficiency of cleaning equipment of the cigarette factory, and reduce the potential safety hazard of the cigarette factory.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings used in the embodiments will be briefly described below.
Fig. 1 is an overall distribution diagram of the automatic cleaning system of the belt conveyor of the present invention.
Fig. 2 is a plan view angle distribution diagram of the automatic cleaning system of the belt conveyor in the present invention.
Fig. 3 is a schematic view of the overall structure of the belt conveyor belt cleaning machine of the present invention.
Fig. 4 is a schematic structural view of the lifting mechanism of the present invention.
Fig. 5 is a schematic structural view of the door opening mechanism of the present invention.
Fig. 6 is a sectional view of the cleaning machine of the present invention.
Fig. 7 is an overall structural view of a mounting position of the water tank in the present invention.
Fig. 8 is a schematic view showing the entire structure of the water tank of the present invention.
Fig. 9 is a sectional view of the water tank in the present invention.
Fig. 10 is a schematic view of the internal structure of the deviation adjusting mechanism of the present invention.
Reference numerals
1. Moving the cleaning vehicle; 2. a belt conveyor; 3. an AGV station; 4. a charging station; 5. supplementing a water station; 6. a main console; 11. a lifting mast; 12. lifting the slide rail; 13. a truss; 14. a motor; 15. a screw rod; 21. a first base; 22. a second base; 23. a third base; 24. rotating the fluted disc; 25. a cylinder; 26. a drive motor; 27. a slide rail; 28. aligning the bayonet; 31. a chassis; 32. a pair of roller brushes; 33. a high pressure spray head; 34. a sewage tank; 35. a water retaining edge; 41. a clear water tank; 42. a sewage tank; 43. a water replenishing valve; 44. a water inlet bent pipe; 45. butt joint; 46. a flexible end enclosure; 47. perforating; 48. a water outlet valve; 49. a water outlet bent pipe; 50. a flexible conduit; 51. an electric control telescopic rod; 52. a straight-insertion pipe joint; 61. a vertical track; 62. electrically controlled side-by-side doors; 411. a water pumping hole; 412. a first exhaust port; 421. a drain hole; 422. a second vent hole.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
As shown in fig. 1-10, a belt conveyor self-cleaning system, including AGV navigation, a plurality of belt conveyor 2, an at least removal cleaning cart 1, main control station 6, charging station 4, benefit drain station 5 and discernment visual module, the automobile body that removes the cleaning cart is the AGV dolly, belt conveyor 2's below ground, charging station 4 and benefit drain station 5 are provided with the AGV orientation module to the AGV dolly respectively, belt conveyor 2 each other, and between charging station 4 and with benefit drain station 5 between be provided with AGV navigation circuit, main control station control AGV navigation move the cleaning cart the charging station with the operating condition of benefit drain station.
The water replenishing and draining station 5 is provided with a horizontally telescopic water replenishing pipe joint which can be driven by a micro motor or a micro electric push rod, a water supply electromagnetic valve is installed on the water replenishing pipe joint, and when the movable cleaning vehicle 1 moves to the water replenishing and draining station 5 and receives a water replenishing instruction, the main control platform controls the water replenishing pipe joint to extend to be in butt joint with an automatic water replenishing mechanism on the movable cleaning vehicle 1 so as to replenish water; the ground of the water replenishing and discharging station is provided with a sewer pipe with the upper edge higher than the ground, and the sewer pipe is used for bearing the automatic water discharging mechanism at the bottom of the movable cleaning vehicle 1 and is designed to prevent sewage from overflowing.
The movable cleaning vehicle 1 comprises a controller, an AGV trolley, a water tank, a cleaning machine, a lifting mechanism, an offset adjusting mechanism, a door opening mechanism and a frame.
The cleaning machine passes through elevating system and installs on the AGV dolly, tuningout mechanism installs on the base of cleaning machine, the mechanism of opening the door is installed in the top of frame, the cleaning machine is located inside the frame under the state of accomodating, set up automatic water supply mechanism and automatic drainage mechanism on the water tank respectively, automatic water supply mechanism corresponds with moisturizing pipe head and realizes automatic water supply, automatic drainage mechanism corresponds with the downcomer and realizes automatic drainage.
The visual identification module is arranged on the cleaning machine and used for identifying the cleaning degree of the conveying belt.
The frame mounting is in AGV dolly upper end, the water tank is installed in the frame bottom and is fixed in on the AGV dolly.
It is specific, elevating system includes that the bottom installs the lift mast 11 on the AGV dolly and installs in the secondary elevating system of 11 expansion ends of lift mast, secondary elevating system is including the lift slide rail 12 of locating the lift mast side, walking 13 and the drive on lift slide rail 12 truss 13 is elevating movement's motor 14 and lead screw 15, uses earphone elevating system's purpose, lets the cleaning machine can rise high, the degree that reduces lower, when accomodating, can accomodate inside the entering frame, more pleasing to the eye, when raising, can avoid the mast to cross thick and take place to interfere with other structures.
The cleaning machine comprises a case 31, an electric control pair roller brush 32 and a high-pressure spray nozzle 33, wherein the electric control pair roller brush 32 and the high-pressure spray nozzle 33 are installed in the case 31, the case 31 is hinged to the upper end of a third base, alignment bayonets 28 with upward openings are respectively arranged on the front side and the rear side of the case 31, the alignment bayonets 28 are of flaring structures and are used for being meshed with positioning columns on a conveying belt, and a water retaining edge 35 is arranged at the top of the case 31.
The tuningout mechanism includes first base 21, second base 22, third base 23, rotatory fluted disc 24 and cylinder 25, first base 21 is fixed in on the truss 13, second base 22 is installed on first base 21 through rotatory fluted disc 24, the driving motor 26 of rotatory fluted disc 24 is installed on first base 21, third base 23 passes through slide rail 27 and installs on second base 22, the cylinder is installed on second base 22 and is driven the relative second base 22 horizontal displacement of third base 23.
The rotary fluted disc 24 in the deviation adjusting mechanism mainly aims at solving the problems that the orientation of the AGV trolley is not consistent with that of the upper conveying belt, and the orientation of the cleaning machine needs to be adjusted to be consistent with that of the conveying belt; and cylinder and slide rail cooperation then are used for the fine setting, and when counterpoint bayonet socket 28 on the cleaning machine matches with the reference column on the conveyer belt, through the position of fine setting cleaning machine, realize counterpoint bayonet socket 28 and the abundant interlock of reference column.
In a more preferred embodiment, in order to avoid the situation that the air cylinder is blocked during the movement process, the air cylinder is replaced by a spring, and the self-matching engagement of the alignment bayonet and the positioning column is realized during the butt joint process of the cleaning machine and the conveying belt through the self-driving capacity of the spring, and the alignment bayonet and the positioning column can be timely reset after being separated from each other.
The inside clear water tank 41 and the sewage case 42 of being divided into by the baffle of water tank, clear water tank 41 connects the high pressure nozzle 33 of cleaning machine through drinking-water pipeline and intake pump, quick-witted case bilge pit 34 of cleaning machine passes through the drainage pipe intercommunication sewage case 42, still be provided with automatic water supply mechanism and automatic drainage mechanism on the water tank, automatic water supply mechanism includes moisturizing valve 43, the return bend 44 of intaking, butt joint 45 and flexible head 46, the return bend of intaking sets up in the top of water tank and communicates clear water tank, the end of intaking of the return bend of intaking is located to the butt joint, flexible head is for locating the flexible toper head in the butt joint, the center department of flexible toper head sets up perforation 47, the moisturizing valve is installed on the return bend of intaking.
The automatic drainage mechanism comprises a water outlet valve 48, a water outlet elbow 49, an electric telescopic drainage head and a flexible pipeline 50, wherein the water inlet end of the water outlet elbow is connected with the bottom of the sewage tank and communicated with the inside of the sewage tank, the water outlet valve is installed on the water outlet elbow, the electric telescopic drainage head comprises a vertically-arranged electric control telescopic rod 51 and a vertically-arranged straight pipe joint 52 connected to the movable end of the electric control telescopic rod, and the water inlet end of the straight pipe joint is connected with the drainage end of the water outlet elbow through the flexible pipeline.
A water pumping hole 411 and a first exhaust hole 412 are formed in the top of the clean water tank, and a first exhaust valve is installed at the first exhaust hole; a water discharge hole 421 and a second air discharge hole 422 are arranged at the top of the sewage tank, and a second air discharge valve is arranged at the second air discharge hole; the water inlet end of the water outlet bent pipe is provided with two branches which are respectively communicated with the bottom of the clean water tank and the bottom of the sewage tank, and the two branches are respectively provided with a water outlet valve; liquid level sensors are respectively arranged in the clean water tank and the sewage tank, and the liquid level sensors are connected with a controller and used for triggering water inlet action and water discharge action; the baffle is the baffle of slope, the baffle is from the top outside slope of clear water tank to the bottom outside slope of sewage case for the sewage case presents the big end in top big end, clear water tank presents the big structure in top little end, install the scavenge pipe that distributes along sewage case length direction in the sewage case, the equipartition has the washing hole on the scavenge pipe, a style of calligraphy high pressure nozzle is installed to washing hole department.
The surface of the flexible end socket 46 is provided with a thin film type piezoelectric patch with a waterproof adhesive film, the thin film type piezoelectric patch is connected with a controller, and the controller controls the water inlet valve to be opened and closed according to the state of the thin film type piezoelectric patch; the outer side wall of the tail end of the in-line pipe joint is provided with a distance sensor with a waterproof structure, and the controller controls the opening and closing of the drain valve according to the sensing state of the distance sensor.
The door opening mechanism comprises a vertical rail 61 arranged on the frame and an electric control side-by-side door 62 arranged on the top end of the frame, wherein under the opening state of the electric control side-by-side door, the outer side of the electric control side-by-side door moves downwards along the vertical rail, the inner side of the electric control side-by-side door rotates around a motor shaft, and under the folding state, the cleaning machine is positioned inside the frame.
The visual recognition module comprises an industrial camera and an image processing module which are arranged on the cleaning machine, and the image processing module carries out image processing through the following steps:
filtering the acquired image by adopting a neighborhood average method and a median filtering method in a matched manner, adopting a neighborhood average method for continuous images and using a median filtering method for isolated noise, and filtering the image;
the image normalization processing is carried out under an RGB color channel to solve the problem of uneven illumination, and the normalization formula is as follows:
and image enhancement, namely determining the color value of each channel of a corresponding output pixel according to the color value of each channel occupied by the input pixel, converting the color values of all pixels in the image according to a linear conversion function, and performing linear expansion on each pixel in the image by using a linear single-value function under the condition of underexposure or overexposure to change the visual effect of the image.
The system carries out self-learning through the neural network, takes pictures on the surfaces of the conveyor belts before and after cleaning, acquires and compares image information, builds a model through a large amount of sample learning, then judges, judges in the judging process, and can control the cleaning time according to the judgment, thereby realizing intelligent cleaning.
When using, the controller is connected with the control cabinet, realizes passing each other and control of signal, and the staff assigns clean instruction in control cabinet department, and in the system, numbering is carried out to the orientation module of every conveyer belt below to the AGV system, binds with the conveyer belt, the staff only need input need clean conveyer belt code can, the built-in AGV system of control cabinet can plan out reasonable route, goes to and work by oneself.
When the cleaning instruction is given, the remote control system sends a control instruction to the standby mobile cleaning vehicle, after the controller of the mobile cleaning vehicle obtains the instruction, correspondingly obtaining the position information of the conveyer belt, the machine position angle information and the route planning information below the position of the conveyer belt, then the controller controls the AGV to move to a corresponding machine position, the controller controls the electric control side-by-side door to open, controls the lifting mechanism to act, lifts the cleaning machine, when the cleaning machine is lifted to the space above the frame and no obvious shielding exists, the rotating fluted disc is controlled to rotate, the angle of the cleaning machine is adjusted to the angle opposite to the conveying belt, then the cleaning machine is continuously lifted, along with the lifting of the cleaning machine, the alignment bayonet 28 is engaged with the positioning column on the conveying belt, at the moment, the alignment bayonet 28 and the positioning column are fully engaged and aligned through adjustment of a spring or an air cylinder, and meanwhile, the hinged state of the cleaning machine can be adjusted to be parallel to the conveying machine.
After the positioning and the alignment are completed, the controller controls the cleaning machine to start, water is pumped from the clean water tank 41 to supply water for the high-pressure spray head to spray water, and simultaneously the electrically-controlled pair-roller brushes are controlled to start to scrub the surface of the conveyor belt, so that the cleaned sewage enters the sewage tank along the sewage tank 34 and the pipeline.
When the sewage tank triggers the sewage to pass the waterline alarm or the clear water tank triggers the water shortage alarm, after the cleaning is finished, the controller firstly controls the cleaning machine to reset, the electric control door is opened oppositely, then the AGV trolley is controlled to move to the water supplementing or draining station, and the station is provided with an electric control telescopic water supplementing pipeline and a water draining hole which is positioned on the ground.
In the water replenishing process, after the AGV trolley is in place, the controller sends a water replenishing request, an external electric control telescopic water replenishing pipeline extends into a flexible seal head 46 of a butt joint 45 and is wrapped and sealed by the flexible seal head 46, external equipment controls an electromagnetic valve to be opened according to stroke information of the water replenishing pipeline and deformation information of a piezoelectric plate, meanwhile, the controller also informs a water replenishing valve 43 to be opened to start water replenishing until a liquid level sensor in a clean water tank triggers an alarm to reach a water level line, water supply is stopped, a water supply stopping instruction is sent, the electromagnetic valve of the external equipment is closed, the telescopic water replenishing pipeline is pumped back, the piezoelectric plate is deformed and returned to indicate that separation is finished, the controller controls the water replenishing valve 43 to be closed, and then the AGV trolley is controlled to travel to the next position to be cleaned or to be prepared in a standby mode.
The drainage process, the AGV dolly targets in place the back, automatically controlled telescopic link 51 of controller control stretches out, the intubate coupling 52 moves down to inserting in the downcomer, the controller is according to automatically controlled telescopic link 51's stroke information, and distance sensor's distance information, control outlet valve 48 starts, discharge the waste water in the sewage case, trigger the response until the liquid level inductor in the sewage case, control outlet valve 48 closes, automatically controlled telescopic link 51 playback moves up, distance sensor's distance information can judge simultaneously that the separation is accomplished, then control AGV dolly walking is washd to next position, or the standby is prepared.
The system utilizes the AGV technology, plans the AGV route between conveyer belt and conveyer belt, plans AGV orientation module under the conveyer belt, sets up AGV orientation module and AGV circuit in charging station and water supply station department, has realized removing the automatic walking and the location of cleaning cart in the universe within range.
The system enables the cleaning machine to have flexibility in height by means of the lifting mast and the secondary lifting mechanism, and solves the problem of angle and fine adjustment of the cleaning machine by means of the deviation adjusting mechanism.
The system determines when to start the cleaning machine by means of stroke detection of the lifting mechanism and the fine adjustment mechanism, and determines cleaning time and water consumption according to image information before cleaning.
The system determines the water replenishing time and the water draining time of the water tank by means of the liquid level sensor in the water tank, solves the automatic water replenishing process and the automatic water draining process according to the set butt joint structure, and prevents water leakage.
The system is provided with a contact type charging sliding plate and a contact type sliding block, so that automatic charging is realized.
The system determines whether the degree of cleanliness is in place by means of image comparison before and after washing.
Specifically, the deviation adjusting mechanism comprises two parts, wherein the first part is a rotary fluted disc, the first part is mainly applied in a scene mode, the space below the conveying belt is limited, so that the trolley cannot swing into the position at a completely opposite angle, at the moment, the angle adjusting data at the position is preset by combining the positioning of the AGV trolley and the angle of the conveying belt, and when the AGV trolley moves to the position, the system adjusts the angle of the rotary fluted disc by reading the preset data in the process of lifting the cleaning machine, so that the cleaning machine corresponds to the position of the conveying belt; the second part is fine adjustment mechanism, fine adjustment mechanism can be the cylinder, also can be the spring, the cylinder mainly is the initiative regulation, the spring mainly is the self-interacting, through the settlement back of AGV dolly and rotatory fluted disc, positional deviation is minimum, usually only need slight regulation, at the lifting in-process, the counterpoint bayonet socket in the cleaning machine outside and the reference column block on the conveyer belt, controller control cylinder fine setting, can make both abundant blocks realize counterpointing, also can be through the self-adaptability of spring, the abundant block of self-adaptation of cleaning machine is realized through the action of pushing up the cleaning machine, the adjustment mode is more nimble.
The automatic water replenishing mechanism is arranged, particularly the design of the butt joint head and the flexible seal head is adopted, when the butt joint is carried out, the direct insertion type butt joint with an external water replenishing pipe joint can be realized, the butt joint success rate can be improved because the flexible seal head is in a conical structure, and the flexible seal head wraps the external joint after the butt joint is completed, so that the self-sealing is realized, and the water overflow in the water replenishing process is prevented;
the automatic drainage mechanism is arranged, particularly the electric telescopic drainage head is designed, when the automatic drainage mechanism is butted to an external drainage pipe, the electric telescopic drainage head is used for inserting the straight pipe joint into the sewer pipe, so that the water flow in the drainage process is prevented from overflowing;
further, the water tank divide into clear water tank and sewage case, and the sewage case design is the structure that the top is big end down little to the configuration liquid level sensor enables dirty accumulational more on the one hand, and the easy processing, on the other hand are dirty to be piled up on the inclined plane, through the scavenge pipe structure, are rinsed more easily, realize dirty timely cleaing away.
Furthermore, a thin film type piezoelectric patch is installed on the flexible conical end socket, and whether the alignment is accurate or not is judged through the state change of the piezoelectric patch after the butt joint is completed, so that the water replenishing process is controlled.
Furthermore, a distance sensor is arranged for drainage, and whether the alignment is accurate or not is judged by sensing the gap between the straight pipe joint and the wall of the sewer pipe, so that the drainage process is controlled.
The cleaning device for the belt conveyor automatically walks and positions through the AGV trolley, and adjusts the position of the cleaning device through the lifting mechanism and the deviation adjusting mechanism which are arranged on the AGV trolley so as to position the cleaning device with the belt conveyor to be cleaned. The problem that the belt conveyor of the existing cigarette factory is cleaned manually, operation efficiency is low and operation is unsafe is solved, integration of cleaning of the belt conveyor of the cigarette factory can be improved, working efficiency of cleaning of equipment of the cigarette factory is improved, and potential safety hazards of the cigarette factory are reduced.
The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.
Claims (7)
1. A belt conveyor self-cleaning system, comprising: the system comprises an AGV navigation system, a plurality of belt conveyors, at least one mobile cleaning vehicle, a main control console, a charging station, a water replenishing and draining station and an identification vision module;
the cleaning vehicle comprises a vehicle body, a main control platform and a belt conveyor, wherein the vehicle body of the cleaning vehicle is an AGV trolley, the ground below the belt conveyor, a charging station and a water replenishing and draining station are respectively provided with an AGV positioning module aiming at the AGV trolley, AGV navigation circuits are arranged among the belt conveyors, the charging station and the water replenishing and draining station, and the main control platform controls the working states of the AGV navigation system, the cleaning vehicle, the charging station and the water replenishing and draining station;
a contact type charging sliding plate is arranged at the charging station, and a charging sliding block is correspondingly arranged on the AGV;
a horizontally telescopic water replenishing pipe joint is arranged at the water replenishing and draining station, and a water supply electromagnetic valve is installed on the water replenishing pipe joint; a sewer pipe with the upper edge higher than the ground is arranged on the ground of the water replenishing and draining station;
the movable cleaning vehicle comprises a controller, an AGV trolley, a water tank, a cleaning machine, a lifting mechanism, an offset adjusting mechanism, a door opening mechanism and a frame;
the cleaning machine is mounted on an AGV trolley through a lifting mechanism, the deviation adjusting mechanism is mounted on a base of the cleaning machine, the door opening mechanism is mounted at the top of the frame, the cleaning machine is located inside the frame in a storage state, the water tank is respectively provided with an automatic water replenishing mechanism and an automatic water discharging mechanism, the automatic water replenishing mechanism corresponds to a water replenishing pipe joint to realize automatic water replenishing, and the automatic water discharging mechanism corresponds to a sewer pipe to realize automatic water discharging;
the visual recognition module is arranged on the cleaning machine and used for recognizing the cleaning degree of the conveying belt.
2. The automatic belt conveyor cleaning system of claim 1, wherein the frame is mounted on an upper end of an AGV cart, and the water tank is mounted on a bottom of the frame and secured to the AGV cart;
the lifting mechanism comprises a lifting mast with the bottom mounted on the AGV trolley and a secondary lifting mechanism mounted at the movable end of the lifting mast, and the secondary lifting mechanism comprises a lifting slide rail arranged on the side surface of the lifting mast, a truss walking on the lifting slide rail, a motor driving the truss to do lifting motion and a screw rod;
the deviation adjusting mechanism comprises a first base, a second base, a third base, a rotary fluted disc and a fine adjustment mechanism, wherein the first base is fixed on the truss, the second base is installed on the first base through the rotary fluted disc, a driving motor of the rotary fluted disc is installed on the first base, the third base is installed on the second base through a sliding rail, and the fine adjustment mechanism is installed on the second base and drives the third base to horizontally displace relative to the second base;
the cleaning machine comprises a case, an electric control pair roller hairbrush and a high-pressure nozzle, wherein the electric control pair roller hairbrush and the high-pressure nozzle are arranged in the case;
the automatic water replenishing device comprises a water tank, a cleaning machine, a water inlet pump, a water tank, a water inlet elbow, an automatic water replenishing mechanism and an automatic water discharging mechanism, wherein the interior of the water tank is divided into a clean water tank and a sewage tank by a partition plate, the clean water tank is connected with a high-pressure spray head of the cleaning machine through a water pumping pipeline and the water inlet pump, a sewage tank of a machine case of the cleaning machine is communicated with the sewage tank through a water discharging pipeline, the water tank is also provided with the automatic water replenishing mechanism and the automatic water discharging mechanism, the automatic water replenishing mechanism comprises a water replenishing valve, a water inlet elbow, a butt joint and a flexible seal head, the water inlet elbow is arranged at the top of the water tank and communicated with the clean water tank, the butt joint is arranged at the water inlet end of the water inlet elbow, the flexible seal head is a flexible conical seal head arranged in the butt joint, a through hole is arranged in the center of the flexible conical seal head, and the water replenishing valve is arranged on the water inlet elbow;
the automatic drainage mechanism comprises a water outlet valve, a water outlet elbow, an electric telescopic drainage head and a flexible pipeline, wherein the water inlet end of the water outlet elbow is connected with the bottom of the sewage tank and communicated with the inside of the sewage tank;
the door opening mechanism comprises a vertical rail arranged on the frame and an electric control side-by-side door arranged at the top end of the frame, and when the electric control side-by-side door is in an opening state, the outer side of the electric control side-by-side door moves downwards along the vertical rail and the inner side of the electric control side-by-side door rotates around a motor shaft;
in the stowed state, the cleaning machine is located within the frame.
3. The automatic cleaning system of a belt conveyor according to claim 2, wherein the fine adjustment mechanism is an air cylinder, a base of the air cylinder is hinged on the second base, and a movable end of the air cylinder is hinged on the third base.
4. The automatic cleaning system of a belt conveyor according to claim 3, wherein the fine adjustment mechanism is a spring, and two ends of the spring are respectively hinged to the second base and the third base.
5. The automatic belt conveyor cleaning system of claim 4, wherein the vision recognition module comprises an industrial camera mounted on the washing machine and an image processing module that performs image processing by:
filtering the acquired image by adopting a neighborhood average method and a median filtering method in a matched manner, adopting a neighborhood average method for continuous images and using a median filtering method for isolated noise, and filtering the image;
carrying out image normalization processing, carrying out normalization under an RGB color channel, and solving the problem of uneven illumination, wherein the normalization formula is as follows:
and carrying out image enhancement, determining the color value of each channel of the corresponding output pixel point by the color value of the input pixel point occupying each channel, converting the color values of all the pixel points in the image according to a linear conversion function, and carrying out linear expansion on each pixel in the image by using a linear single-valued function under the condition of underexposure or overexposure to change the visual effect of the image.
6. The automatic cleaning system for the belt conveyor according to claim 5, wherein a water pumping hole and a first exhaust hole are formed in the top of the clean water tank, and a first exhaust valve is installed at the first exhaust hole; the top of the sewage tank is provided with a drain hole and a second exhaust hole, and a second exhaust valve is arranged at the second exhaust hole; the water inlet end of the water outlet bent pipe is provided with two branches which are respectively communicated with the bottom of the clean water tank and the bottom of the sewage tank, and the two branches are respectively provided with a water outlet valve; liquid level sensors are respectively installed in the clean water tank and the sewage tank, and the liquid level sensors are connected with a controller and used for triggering water inlet action and water discharge action; the baffle is the baffle of slope, the baffle is from the top outside slope of clear water tank to the bottom outside slope of sewage case for the sewage case presents the big end in top big end, clear water tank presents the big structure in top little end, install the scavenge pipe that distributes along sewage case length direction in the sewage case, the equipartition has the washing hole on the scavenge pipe, a style of calligraphy high pressure nozzle is installed to washing hole department.
7. The automatic belt conveyor cleaning system according to claim 6, wherein: the surface of the flexible conical end socket is provided with a thin film type piezoelectric patch with a waterproof adhesive film, the thin film type piezoelectric patch is connected with a controller, and the controller controls the opening and closing of the water inlet valve according to the state of the thin film type piezoelectric patch; the outer side wall of the tail end of the in-line pipe joint is provided with a distance sensor with a waterproof structure, and the controller controls the opening and closing of the drain valve according to the sensing state of the distance sensor.
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| CN202210772404.7A CN115027908A (en) | 2022-06-30 | 2022-06-30 | Automatic cleaning system of belt conveyor |
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