CN116237178A - Automatic spraying equipment for unmanned trolley of coal transport vehicle and using method - Google Patents
Automatic spraying equipment for unmanned trolley of coal transport vehicle and using method Download PDFInfo
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- CN116237178A CN116237178A CN202310068449.0A CN202310068449A CN116237178A CN 116237178 A CN116237178 A CN 116237178A CN 202310068449 A CN202310068449 A CN 202310068449A CN 116237178 A CN116237178 A CN 116237178A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic spraying device of an unmanned trolley for a coal transport vehicle and a use method thereof, wherein the automatic spraying device comprises a vehicle body, the vehicle body is provided with an unmanned system, the lower end of the vehicle body is provided with a drive-by-wire chassis, the drive-by-wire chassis comprises a domain controller, the vehicle body is provided with a coating device system, a six-axis coating robot and a robot controller, the six-axis coating robot is connected with the robot controller, the coating device system is connected with the six-axis coating robot, the vehicle body is also provided with an automatic rain-shielding and light-shielding cover, the upper end of the automatic rain-shielding and light-shielding cover is provided with a 3D laser radar, the front side of the automatic rain-shielding and light-shielding cover is provided with an AI camera, and one side of the rain-shielding cover is provided with a vision sensor, and the 3D laser radar, the AI camera, the vision sensor and the robot controller are connected with the domain controller. The spray coating device has the advantages of replacing the traditional manual spray coating mode, breaking through the limitations of working environment, weather and working time, effectively improving working efficiency, saving a great deal of manpower and material resources and greatly improving the reliability of spray coating work.
Description
Technical Field
The invention relates to the technical field of mechanical manufacturing and spraying equipment, in particular to unmanned trolley automatic spraying equipment for a coal transport vehicle and a using method thereof.
Background
At present, a plurality of train doors are arranged at two sides of each train of the coal transportation train, the train doors belong to movable parts, and need to be opened when coal is discharged each time and need to be closed when the coal is loaded. When train doors are used for a period of time, the extrusion of the coal blocks creates large gaps between the train doors and the train body, which can lead to leakage of coal during train transportation. The scattered coal not only can influence the environment, but also can cause the waste of coal resources for a long time. And when the train runs, the train can also form danger to the intersected train, and potential safety hazards are caused to the train transportation route and personnel.
In the prior art, the method for processing gaps between train doors and a train body mainly comprises two modes, namely manually spraying gaps between train doors through a handheld spray gun, and spraying and plugging the positions of each train door with obvious gaps; the trains are divided into different types, each train has about 170 carriages, each carriage has 6 doors, about 60 people are needed each day, the workload is large, and the working time is long; moreover, when the spraying workers encounter extremely severe weather in winter and summer, the workload of the spraying workers is increased suddenly; the other is that one person drives the vehicle, and the other person needs to hold the spray gun to spray the gap of the vehicle door, and the mode also has the problems of large workload and long working time, and can be influenced by severe weather.
In conclusion, the manual operation efficiency of processing gaps between the train door and the train body is low, the workload is large, the working time is long, and the influence of bad weather is large.
Disclosure of Invention
The invention mainly aims to provide unmanned trolley automatic spraying equipment for a coal transport vehicle and a using method thereof, which are used for solving the problems of low manual operation efficiency, large workload, long working time and bad weather influence in the prior art for processing gaps between a train door and a vehicle body.
In order to achieve the above object, according to one aspect of the present invention, there is provided an automatic spraying device for an unmanned trolley for a coal transportation vehicle, comprising a vehicle body, wherein the vehicle body is provided with an unmanned system, the lower end of the vehicle body is provided with a drive-by-wire chassis, the drive-by-wire chassis comprises a domain controller, the vehicle body is provided with a coating device system, a six-axis coating robot and a robot controller, the six-axis coating robot is connected with the robot controller, the coating device system is connected with the six-axis coating robot, the vehicle body is further provided with an automatic rain-shielding light-shielding cover, the upper end of the automatic rain-shielding light-shielding cover is provided with a 3D laser radar, the front side of the automatic rain-shielding light-shielding cover is provided with an AI camera, one side of the rain-shielding cover is provided with a vision sensor, and the 3D laser radar, the AI camera, the vision sensor and the robot controller are connected with the domain controller.
Preferably, the coating equipment system comprises a distribution box and a heating discharge tank, wherein the distribution box is connected with the heating discharge tank, and the heating discharge tank is communicated with the six-axis coating robot.
Preferably, the AI camera faces the car identification number, and the AI camera recognizes the car identification number and transmits the car identification number to the domain controller.
Preferably, the domain controller is provided with 8 paths of cameras, 4 paths of millimeter wave radars, 6 paths of laser radars, a vehicle bus, a digital quantity end and an analog quantity signal end peripheral interface.
Preferably, the domain controller is internally provided with a safety monitoring MCU, an inertial navigation module and a 5G/C-2X communication module.
Preferably, the visual sensor faces the door gap to be sprayed and is used for determining the door gap coordinates to be sprayed.
Preferably, the six-axis coating robot comprises a mechanical arm, and an automatic spraying head is arranged on the mechanical arm.
Preferably, the drive-by-wire chassis of the vehicle body is provided with an automatic driving system.
Preferably, the drive-by-wire chassis is also connected with a remote controller.
According to another aspect of the invention there is provided a method of using an unmanned trolley automatic spraying apparatus for a coal transport vehicle, comprising:
step 1: powering up the vehicle and moving the train;
step 2: the AI camera recognizes the carriage identification number and provides the car door coordinates for the domain controller;
step 3: the domain controller creates a traveling map according to the vehicle door coordinates acquired by the AI camera;
step 4: the unmanned trolley moves to the train door position according to the travel map created by the control system;
step 5: visually identifying coordinates of a spraying door gap;
step 6: the painting robot performs door gap painting;
step 7: finishing spraying and visually inspecting;
step 8: if the spraying effect meets the requirement, finishing spraying, and if the spraying effect does not meet the requirement, continuing to spray the door gap by the spraying robot.
By applying the technical scheme of the invention, in the moving process of the unmanned trolley, the carriage identification number is identified by using the AI camera on the trolley, then the vehicle door coordinates are identified and provided for the unmanned trolley domain controller, the unmanned trolley is guided to travel to the train door position by combining inertial navigation and laser sensor sensing through the control system, a map is created by the control system, after the trolley travels to the train door, the door seam coordinates needing to be sprayed are determined by using the vision sensor, the spraying robot system sprays door seams according to the door seam position coordinates provided by vision, the spraying system adopts an automatic spraying mode, after the robot reaches a designated position, the spraying system starts to perform door seam spraying work, and after the spraying of the spraying robot system is completed, the vision sensor checks the train door seams. The intelligent unmanned trolley automatic spraying task is realized, the equipment replaces the traditional manual spraying mode, the limitations of working environment, weather and working time are broken through, the working efficiency is effectively improved, a large amount of manpower and material resources are saved, and the reliability of spraying work is greatly improved. The invention integrates the functions of automatic identification, automatic driving and automatic spraying, and can realize full-automatic intelligent spraying work; can replace traditional manual operation, not receive the restriction of environment, weather and operating time, the promotion work efficiency that can be very big to effective recruitment cost that reduces. The invention adopts full-automatic visual detection and automatically feeds back the spraying effect, does not need manual operation, effectively avoids accidental errors of manual detection, can effectively ensure the spraying effect and ensures the spraying reliability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 shows a schematic structural view of an unmanned cart automatic spraying apparatus for a coal transport cart in accordance with the present invention;
FIG. 2 shows a workflow diagram of the unmanned cart automatic spray apparatus for the coal carrier of FIG. 1;
FIG. 3 shows a drive-by-wire chassis view of the automated spraying apparatus of the unmanned cart for coal transport vehicles of FIG. 1;
FIG. 4 illustrates a spray system view of the unmanned cart automatic spray apparatus for the coal transport cart of FIG. 1;
fig. 5 shows a painting robot view of the unmanned cart automatic painting apparatus for the coal carrier of fig. 1.
Wherein the above figures include the following reference numerals:
a drive-by-wire chassis 1; a coating equipment system 2; a distribution box 21; heating the discharge tank 22; an automatic rain-shielding light-shielding cover 3; a domain controller 4; an AI camera 5; a coating robot system 6; a robot controller 61; a six-axis painting robot 62; an automatic spray head 63; a vision sensor 7; a 3D lidar 8; a 4G antenna 9; a GNSS antenna 10; a subframe 11.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 5, the embodiment of the invention provides an automatic spraying device for an unmanned trolley of a coal transport vehicle, which comprises a vehicle body, wherein an unmanned system is carried on the vehicle body, a drive-by-wire chassis 1 is arranged at the lower end of the vehicle body, the drive-by-wire chassis 1 comprises a domain controller 4, a coating device system 2, a six-axis coating robot 62 and a robot controller 61 are arranged on the vehicle body, the six-axis coating robot 62 is connected with the robot controller 61, the coating device system 2 is connected with the six-axis coating robot 62, an automatic rain-shielding and light-shielding cover 3 is further arranged on the vehicle body, a 3D laser radar 8 is arranged at the upper end of the automatic rain-shielding and light-shielding cover 3, an AI camera 5 is arranged at the front side of the automatic rain-shielding and light-shielding cover 3, a vision sensor 7 is arranged at one side of the rain-shielding cover, and the 3D laser radar 8, the AI camera 5, the vision sensor 7 and the robot controller 61 are connected with the domain controller 4. In order to reduce manual work as much as possible, reduce the manual labor intensity, improve the spraying efficiency and improve the productivity, the invention is based on the unmanned aerial vehicle chassis 1, adopts an AI intelligent camera to identify a carriage, and achieves the aim of intelligent unmanned aerial vehicle automatic spraying by tightly matching a domain controller 4, a combined inertial navigation device, a laser sensor and the like. The technical scheme has the following characteristics: firstly, the intelligent automatic spraying can replace manual work, and the labor cost is reduced; secondly, the spraying efficiency can be effectively improved, and the reinforcement time for finishing a whole train is within 90 minutes; thirdly, the spraying machine can continuously work for 24 hours, and can still normally perform spraying tasks in severe weather. Integrate automatic identification, autopilot and automatic spraying function, can replace manual work, reduce the recruitment cost, promote work efficiency.
In this embodiment, the vehicle body comprises a subframe 11, an unmanned system is mounted on the vehicle body, the travel of the vehicle body is controlled through the unmanned system, no person is required to drive, a special vehicle body track can be arranged, and the vehicle body runs along the special track. The painting equipment system and the painting robot system 6 are carried by the vehicle body, and the painting equipment system and the painting robot system 6 are driven to travel. Wherein the vehicle body and the unmanned system can adopt the prior art vehicle body and unmanned system. The power box is arranged on the vehicle body and is connected with each system and components.
In this embodiment, a drive-by-wire chassis 1 is provided at the lower end of the vehicle body, and the drive-by-wire chassis 1 of the vehicle body is equipped with an automatic driving system. The automatic driving system is used for getting rid of personnel control, saving manpower, and particularly comprises a drive-by-wire chassis 1, wherein the chassis is provided with a steering system and a driving system. The whole car is built by adopting an aluminum alloy section bar, the wire control chassis 1 is also connected with a remote controller, the steering system is controlled by the remote controller to adjust the steering and the power of the chassis, and meanwhile, the chassis is automatically carried with an automatic driving system to realize automatic driving.
In this embodiment, the drive-by-wire chassis 1 includes a domain controller 4, where the domain controller 4 is provided with 8 cameras, 4 millimeter wave radars, 6 laser radars, a vehicle bus, a digital end, and an analog signal end peripheral interface. The domain controller 4 is used for controlling the AI camera 5, the laser radar and the robot controller 61, and the domain controller 4 is internally provided with a safety monitoring MCU, an inertial navigation module and a 5G/C-2X communication module. Specifically, the domain controller 4 is compatible with the functions of IPC, combined inertial navigation and 5G wireless communication modules, is based on an Injean platform, integrates intensive sensor data processing and sensor fusion calculation and control strategy realization, and supports networking formation and remote background center communication, and a built-in vehicle-standard SOC processor. Domain controller 4 peripheral interface: the system supports 8 paths of cameras, 4 paths of millimeter wave radars, 6 paths of laser radars, a conventional vehicle bus, digital quantity and analog quantity signal access, an independent safety monitoring MCU is built in, an inertial navigation module is built in, and a 5G/C-2X communication module is built in. Based on unmanned drive-by-wire chassis 1, adopt AI intelligent camera discernment carriage, the required spraying gap position coordinate of vision discernment, integrated spraying equipment, laser radar, 4G antenna 9, GNSS antenna 10 and automatic spraying robot, closely cooperate with all kinds of sensors etc. through domain controller 4 to realize intelligent unmanned trolley automatic spraying's task purpose.
In this embodiment, be equipped with coating equipment system 2, six-axis coating robot 62 and robot controller 61 on the automobile body, coating equipment system 2 is used for providing the coating material for six-axis coating robot 62, six-axis coating robot 62 links to each other with robot controller 61, robot controller 61 control six-axis coating robot 62 carries out the application, coating equipment system 2 links to each other with six-axis coating robot 62, coating equipment system 2 includes block terminal 21 and heating discharge tank 22, block terminal 21 links to each other with heating discharge tank 22, block terminal 21 is used for providing the electric energy for heating storage tank, heating storage tank and six-axis coating robot 62 intercommunication, heating storage tank is used for six-axis coating. The six-axis painting robot 62 includes a robot arm provided with an automatic spray head 63. Specifically, a distribution box 21 and two 40 liter stainless steel heating storage tanks are provided, the stirring and heating functions are provided, and the automatic control spray gun can be used for carrying out inching or continuous spraying and pouring operation according to requirements after being connected with a mechanical arm. The coating robot system 6 is composed of a robot controller 61, a six-axis robot arm and an automatic spray head 63, wherein the six-axis coating robot 62 loads 12kg, and the maximum working radius is 1440mm.
In the embodiment, the vehicle body is also provided with the automatic rain-shading and light-shielding cover 3, the automatic rain-shading and light-shielding cover 3 is woven by black thickened PE plastic and is woven by black thickened PE plastic, the rain-shading and light-shielding cover adopts an automatic push rod mode, four push rods are supported, the structure is small, the load is high, the protection level is IP67M, the light-shading and light-shielding cover can effectively shade light, and strong light interference vision is prevented; can prevent water from flowing into the caulking agent to influence the caulking effect.
In the embodiment, the upper end of the automatic rain-shielding light-shielding cover 3 is provided with the 3D laser radar 8, so that avoidance or stopping when encountering an obstacle is ensured.
In this embodiment, the front side of the automatic rain-shielding light-shielding cover 3 is provided with an AI camera 5, the AI camera 5 faces the carriage identification number, and the AI camera 5 recognizes the carriage identification number and transmits the carriage identification number to the domain controller 4. Specifically, the AI camera 5 captures and positions, the AI camera 5 is a 2D camera, light can be automatically supplemented, the distance from the train door is less than 1 meter, the train door can be used for positioning and capturing, the position coordinates of the train door are provided for the unmanned trolley, the AI camera 5 can perform a day-night conversion mode, and timing switching among the daytime, the night and the automation is supported; support backlight compensation, strong light suppression, 3D digital noise reduction; the working temperature is supported to be between minus 30 ℃ and 60 ℃.
In this embodiment, a vision sensor 7 is disposed on one side of the rain cover, and the vision sensor 7 faces the door gap to be sprayed and is used for determining the coordinates of the door gap to be sprayed. The vision sensor 7 has the functions of mainly identifying the train carriage model, train doors, train gaps and the like, and has the following main functions. The train door is visually identified, coordinates can be provided for the whole set of unmanned spraying equipment, and therefore the unmanned trolley is guided to a designated working position; the train door slot is identified, so that track coordinates of required spraying can be provided for the spraying robot, and the spraying robot is guided to start spraying work from a designated position; after the spraying is finished, performing visual verification, and repeatedly spraying the position which is not sprayed in place until the task target is reached.
In the present embodiment, the 3D lidar 8, the AI camera 5, the vision sensor 7, and the robot controller 61 are connected to the domain controller 4. Adopt machine vision spraying advantage: the camera adopts an industrial camera, the pixels can adopt 500-800 ten thousand pixels, the single-door gluing time is not more than 10 seconds from the beginning of spraying to the end of spraying until the completion of detecting spraying, and no additional detecting equipment is needed. Can continuously work for 24 hours all the year round and effectively improve the working efficiency. Manual operation is not needed, accidental errors of personnel detection are greatly reduced, and the spraying reliability is ensured. The machine type automatic control system can be compatible with machine types of different models, and meanwhile, only corresponding programs are needed to be added, and a mechanical structure is not needed to be added. Safety protection: the laser radar is added in front and back of the vehicle body, so that avoidance or stopping when encountering an obstacle can be ensured; in order to ensure the safety of the spraying equipment, a protective net can be added, a light curtain is added to prevent the robot from striking the spraying equipment, and the like; the safety lamp system can be configured, the running state of the equipment is clear at a glance, and the safe running of the equipment and the safety of personnel can be ensured. The intelligent unmanned trolley spraying equipment is connected with the product quality information base, so that the follow-up product quality tracing is realized, and meanwhile, a workshop-level management system can be accessed, so that the zero-obstruction type spraying full-flow management is realized.
In another embodiment of the invention, a method for using an unmanned trolley automatic spraying device for a coal transport vehicle is provided, comprising the following steps:
step 1: the vehicle is powered on and the train moves.
Step 2: the AI camera 5 recognizes the car identification number and supplies the door coordinates to the domain controller 4.
Step 3: the domain controller 4 creates a travel map from the door coordinates acquired by the AI camera 5.
Step 4: and the unmanned trolley travels to the train door position according to the travel map created by the control system.
Step 5: and (5) visually identifying the coordinates of the spraying door gap.
Step 6: and the coating robot performs door gap spraying.
Step 7: and (5) finishing spraying and visually inspecting.
Step 8: if the spraying effect meets the requirement, finishing spraying, and if the spraying effect does not meet the requirement, continuing to spray the door gap by the spraying robot.
From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: by applying the technical scheme of the invention, in the moving process of the unmanned trolley, the carriage identification number is identified by using the on-vehicle AI camera 5, then the vehicle door coordinates are identified and provided for the unmanned trolley domain controller 4, the unmanned trolley is guided to travel to the train door position by combining inertial navigation and laser sensor perception according to the identified coordinate positions, a map is created by the control system, after the trolley travels to the train door position, the door gap coordinates required to be sprayed are determined by using the vision sensor 7, the door gap is sprayed by the coating robot system 6 according to the door gap position coordinates provided by vision, the electric signal is provided for the spraying system after the robot reaches the designated position, the door gap spraying work is started by the spraying system, and after the coating robot system 6 finishes spraying, the door gap is checked by the vision sensor 7. The intelligent unmanned trolley automatic spraying task is realized, the equipment replaces the traditional manual spraying mode, the limitations of working environment, weather and working time are broken through, the working efficiency is effectively improved, a large amount of manpower and material resources are saved, and the reliability of spraying work is greatly improved. The invention integrates the functions of automatic identification, automatic driving and automatic spraying, and can realize full-automatic intelligent spraying work; can replace traditional manual operation, not receive the restriction of environment, weather and operating time, the promotion work efficiency that can be very big to effective recruitment cost that reduces. The invention adopts full-automatic visual detection and automatically feeds back the spraying effect, does not need manual operation, effectively avoids accidental errors of manual detection, can effectively ensure the spraying effect and ensures the spraying reliability.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an unmanned dolly automatic spraying equipment for coal transport vechicle, its characterized in that, includes the automobile body, the automobile body carries on unmanned system, the automobile body lower extreme is equipped with the drive-by-wire chassis, the drive-by-wire chassis includes the domain controller, be equipped with coating equipment system, six coating robots and robot controller on the automobile body, six coating robots link to each other with the robot controller, coating equipment system links to each other with six coating robots, still be equipped with automatic rain shielding light-proof cover on the automobile body, automatic rain shielding light-proof cover upper end is equipped with 3D laser radar, automatic rain shielding light-proof cover front side is equipped with the AI camera, rain shielding cover one side is equipped with vision sensor, 3D laser radar, AI camera, vision sensor and robot controller link to each other with the domain controller.
2. The automated unmanned cart spraying apparatus for a coal conveyor of claim 1, wherein the coating apparatus system comprises a power box and a heated discharge tank, the power box being connected to the heated discharge tank, the heated discharge tank being in communication with a six-axis coating robot.
3. The automated guided vehicle spray equipment for a coal transport vehicle of claim 1, wherein the AI camera is directed toward a car identification number, the AI camera identifying the car identification number communicating the car identification number to a domain controller.
4. The automated unmanned cart spraying apparatus for a coal transportation vehicle of claim 1, wherein the domain controller is provided with 8 cameras, 4 millimeter wave radars, 6 lidars, a vehicle bus, and peripheral interfaces for digital and analog signal terminals.
5. The automated unmanned cart spraying apparatus for a coal transport vehicle of claim 1, wherein the domain controller incorporates a safety monitoring MCU, an inertial navigation module, and a 5G/C-2X communication module.
6. The automated unmanned cart spraying apparatus for a coal conveyor of claim 1, wherein the vision sensor is oriented toward a door slot to be sprayed for determining door slot coordinates to be sprayed.
7. The automated spraying apparatus of the unmanned cart for the coal transport vehicle of claim 1, wherein the six-axis coating robot comprises a robotic arm having an automated spray head disposed thereon.
8. The automated spraying apparatus of the unmanned cart for a coal transport vehicle of claim 1, wherein the drive-by-wire chassis of the vehicle body carries an autopilot system.
9. The automated spraying apparatus of the unmanned cart for a coal transport vehicle of claim 1, wherein the drive-by-wire chassis is further connected to a remote control.
10. A method of using an unmanned trolley automatic spraying device for a coal conveyor vehicle, based on the unmanned trolley automatic spraying device for a coal conveyor vehicle of any one of claims 1-9, characterized by the steps of:
step 1: powering up the vehicle and moving the train;
step 2: the AI camera recognizes the carriage identification number and provides the car door coordinates for the domain controller;
step 3: the domain controller creates a traveling map according to the vehicle door coordinates acquired by the AI camera;
step 4: the unmanned trolley moves to the train door position according to the travel map created by the control system;
step 5: visually identifying coordinates of a spraying door gap;
step 6: the painting robot performs door gap painting;
step 7: finishing spraying and visually inspecting;
step 8: if the spraying effect meets the requirement, finishing spraying, and if the spraying effect does not meet the requirement, continuing to spray the door gap by the spraying robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310068449.0A CN116237178A (en) | 2023-02-06 | 2023-02-06 | Automatic spraying equipment for unmanned trolley of coal transport vehicle and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310068449.0A CN116237178A (en) | 2023-02-06 | 2023-02-06 | Automatic spraying equipment for unmanned trolley of coal transport vehicle and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116237178A true CN116237178A (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310068449.0A Pending CN116237178A (en) | 2023-02-06 | 2023-02-06 | Automatic spraying equipment for unmanned trolley of coal transport vehicle and using method |
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| CN (1) | CN116237178A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118237200A (en) * | 2024-05-24 | 2024-06-25 | 山西喆星安全技术开发有限公司 | Mobile spraying robot and gap leakage repairing method for side door of freight train |
-
2023
- 2023-02-06 CN CN202310068449.0A patent/CN116237178A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118237200A (en) * | 2024-05-24 | 2024-06-25 | 山西喆星安全技术开发有限公司 | Mobile spraying robot and gap leakage repairing method for side door of freight train |
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