CN218664404U

CN218664404U - Multipurpose dock obstacle clearing monitoring robot

Info

Publication number: CN218664404U
Application number: CN202223172139.3U
Authority: CN
Inventors: 姜影; 王文渊; 姜浩; 朱志博; 彭云; 郭子坚
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-03-21
Anticipated expiration: 2032-11-29

Abstract

The utility model belongs to the technical field of multifunctional robot, a multipurpose pier clearance sacrifice monitoring robot is proposed. The robot comprises a vehicle body, a compressed air tank, a high-pressure spraying device and a lifting rod, wherein various sensors are arranged on the lifting rod, and the lifting rod and a 5G communication antenna module on the vehicle body transmit data to a manual control end. The utility model discloses a multipurpose pier clearance monitoring robot can carry out remote real-time control to finish designated work, and can also automatically finish part of work under specific scenes; for example, the work of road surface cleaning, environment monitoring, local dust fall and the like can be automatically completed at a wharf with high-precision map data, trackless autonomous navigation and obstacle clearing detection can be realized, the investment of manual labor force can be greatly reduced, and the real-time situation of a harbor area can be mastered more carefully.

Description

Multipurpose dock obstacle clearing monitoring robot

Technical Field

The utility model relates to a multi-functional robot technical field especially relates to multipurpose pier clearance barrier monitoring robot.

Background

The multipurpose dock is complex in environment and generally undertakes transportation of various goods. When goods such as ore, timber, cement are transported, dirt and disintegrating slag can be left on the road surface of the wharf, and much inconvenience is brought to subsequent operation. Due to the complex operation condition of the wharf, goods or sundries can fall off frequently, the transportation of the wharf is hindered, the normal transportation of the wharf is affected, and the wharf still needs to be cleaned and cleared manually. The wharf needs to invest a large amount of manual labor force to maintain the sanitation of the wharf environment and normal traffic order, and the problems that the wharf environment condition is difficult to monitor due to wide operation area exist.

For some wharfs, such as coal port wharfs and the like, coal firstly passes through a ship unloader and then a bucket wheel machine to convey materials to a storage yard, and then the materials are circulated, due to the fact that dust pollution of different degrees is generated by fall (mainly taking and placing the materials by a grab bucket, a transfer tower conveying belt connection position and a bucket wheel position of the bucket wheel machine) and wind power factors, the situation has the advantages of being long in local dust raising, long in duration, wide in influence range and serious in dust raising. The traditional dust removal method usually adopts a fixing device spraying dust removal mode, although dust can be suppressed to a certain degree, the traditional dust removal method has great limitation, the water consumption is large, the problems of complex operation, incapability of realizing all-dimensional coverage and the like exist, a large amount of labor cost is required to be consumed, and the economic cost is increased to a certain degree.

SUMMERY OF THE UTILITY MODEL

For solving the not enough of prior art, the utility model provides a multipurpose pier clearance sacrifice monitoring robot is in order to solve above-mentioned technical problem.

The technical scheme of the utility model as follows:

a multipurpose dock obstacle clearing monitoring robot comprises a vehicle body 1, a compressed air tank 2, a high-pressure spray device 5 and a lifting rod; the two compressed air tanks 2 are respectively arranged at two sides of the top of the vehicle body 1 and are respectively communicated with an air outlet pipe 21 and an air charging pipe 24; the air outlet pipe 21 is communicated with a water tank in the vehicle body 1 and used for driving the water tank to supply water, and a pressure gauge 22 and an electromagnetic valve 23 are arranged on the air outlet pipe 21; the air charging pipe 24 is communicated with a fuel engine arranged in the vehicle body 1 through an air charging port of an air pump; the high-pressure spray device 5 comprises a base 50, an elbow 51, a horizontal rotation driving motor 52, a spray pipe 53 and a vertical rotation driving motor 54; the base 50 is arranged on the vehicle body 1, and the water spray pipe 53 is arranged on the base 50 through the elbow pipe 51; the bottom end of the elbow pipe 51 is communicated with the water tank; the horizontal rotation driving motor 52 is installed on the base 50, and an output gear thereof is engaged with a rotation structure of the base 50 and is used for driving the elbow 51 to rotate in a horizontal plane; a vertical rotation driving motor 54 is installed at one side of the top of the elbow pipe 51 and is used for driving the water spraying pipe 53 to rotate in a vertical plane; the first lifting rod 7, the second lifting rod 8 and the third lifting rod 9 are respectively arranged on the vehicle body 1; the top of the first lifting rod 7 is fixed with a holder 70; a dust monitoring sensor 80 and a noise monitoring sensor 81 are fixedly arranged on the second lifting rod 8; the third lifting rod 9 is provided with a wind speed monitoring device 90, a wind direction monitoring device 91 and a gas pressure monitoring device 92 respectively.

A high-pressure water supply pipe 12 is rotatably arranged at the bottom of the vehicle body 1, the high-pressure water supply pipe 12 is communicated with a water tank, and a plurality of fan-shaped nozzles 93 are fixedly arranged on the high-pressure water supply pipe 12; the 5G communication antenna module 10 and the pressure relief pipe 6 are arranged on the vehicle body 1; the pressure relief pipe 6 is communicated with the water tank and used for discharging the pressure in the water tank; the 5G communication antenna module 10 is connected with the holder 70, the dust monitoring sensor 80, the noise monitoring sensor 81, the wind speed monitoring device 90, the wind direction monitoring device 91 and the air pressure monitoring device 92, is used for collecting data, is wirelessly connected with the manual control end, and is used for displaying the data; one end of the vehicle body 1 is rotatably provided with a mechanical arm 3 and a binocular camera 11, and the front end of the mechanical arm 3 is movably provided with a mechanical arm 4 for removing obstacles; the other end of the vehicle body 1 is provided with an air inlet grille 45 and a rear camera 32; radars 14 are arranged at two ends of the vehicle body 1; the bottom of the other end of the vehicle body 1 is connected with a water tank water injection pipe 13 and an air outlet 43; a fuel filling port 44 and a side camera 31 are arranged on the side surface of the vehicle body 1; the intake grill 45 is used for fuel engine intake and the exhaust port 43 is used for fuel engine exhaust.

The drive assembly of the vehicle body 1 includes a steering wheel 41 and a drive wheel 42.

A check valve is arranged in the water injection pipe 13.

The beneficial effects of the utility model are that: the utility model can be remotely controlled in real time to complete designated work, and can also automatically complete partial work under specific scenes; the wharf with high-precision map data can automatically complete the work of road surface cleaning, environment monitoring, local dust fall and the like, trackless autonomous navigation and obstacle clearing detection can be realized, the investment of manual labor force can be greatly reduced, and the real-time situation of a harbor area can be mastered more carefully.

Drawings

Fig. 1 is a schematic view of a first view structure of the multipurpose dock obstacle clearing and monitoring robot of the present invention;

fig. 2 is a second view structure diagram of the multipurpose dock obstacle clearing and monitoring robot of the present invention;

fig. 3 is a schematic view of a third view structure of the multipurpose dock obstacle clearing and monitoring robot of the present invention;

fig. 4 is a fourth view structure diagram of the multipurpose dock obstacle clearing monitoring robot of the present invention.

In the figure: 1-a vehicle body; 2-a compressed gas tank; 3, a mechanical arm; 4-a manipulator; 5-high pressure spraying device; 6-a pressure relief pipe; 7-a first lifting rod; 8-a second lifting rod; 9-a third lifting rod; the 10-5G communication antenna module; 11-a binocular camera; 12-high pressure water supply pipe; 13-a water injection pipe; 14-radar; 21-an air outlet pipe; 22-pressure gauge; 23-a solenoid valve; 24-a gas-filled tube; 31-side camera; 32-rear camera; 41-a steering wheel; 42-a drive wheel; 43-an exhaust port; 44-fuel filler port; 45-an air intake grille; 50-a base; 51-a bent pipe; 52-horizontal rotation drive motor; 53-a water spray pipe; 54-vertical rotation drive motor; 70-a pan-tilt head; 80-dust monitoring sensors; 81-noise monitoring sensor; 90-wind speed monitoring devices; 91-wind direction monitoring means; 92-air pressure monitoring means; 93-fan nozzle.

Detailed Description

The invention is further described with reference to the accompanying drawings and the specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope defined in the present application.

With reference to fig. 1-4, a multipurpose dock obstacle clearing and monitoring robot comprises a vehicle body 1, a compressed air tank 2, a high-pressure spray device 5 and a lifting rod; a compressed air tank 2 is fixedly arranged on the vehicle body 1, a mechanical arm 3 is rotatably arranged at the upper front part of the vehicle body 1, and a mechanical arm 4 is movably arranged at the front end of the mechanical arm 3. The high-pressure spraying device 5 is rotatably mounted on the vehicle body 1, the pressure relief pipe 6 is fixedly arranged on the vehicle body 1, the first lifting rod 7 is fixedly mounted on the vehicle body 1, and the cloud deck 70 is fixedly mounted at the top of the first lifting rod 7; a second lifting rod 8 is fixedly arranged on the vehicle body 1, a dust monitoring sensor 80 is fixedly arranged at the upper part of the second lifting rod 8, and a noise monitoring sensor 81 is fixedly arranged at the top end of the second lifting rod 8; a third lifting rod 9 is fixedly arranged on the vehicle body 1, and a wind speed monitoring device 90, a wind direction monitoring device 91 and an air pressure monitoring device 92 are respectively arranged on the third lifting rod 9; the upper rear part of the vehicle body 1 is provided with a 5G communication antenna module 10; a binocular camera 11 is movably arranged at the front part of the vehicle body 1, a high-pressure water supply pipe 12 is rotatably arranged at the bottom part of the vehicle body 1, and a plurality of fan-shaped nozzles 93 are fixedly arranged at one side of the high-pressure water supply pipe 12; the rear part of the vehicle body 1 is provided with a water injection pipe 13, and the front part and the rear part of the vehicle body 1 are respectively and fixedly provided with a radar 14. The compressed air tank 2 stores high-pressure air, and the air outlet pipe 21 is respectively connected with the high-pressure spray device 5 and the high-pressure water supply pipe 12 in the water tank and is used for respectively driving the high-pressure spray device 5 and the high-pressure water supply pipe 12 to work; the first lifting rod 7 has lifting and steering capabilities, and the shooting angle of the holder 70 can be flexibly adjusted; the 5G communication antenna module 10 can be used for remote real-time control, and meanwhile, a manual control end is combined to have certain automatic operation capability so as to complete partial work. The pan/tilt head 70 is used for transmitting pictures to the manual control end in real time. Second lifter 8, third lifter 9 can go up and down, can adjust dust monitoring sensor 80, noise monitoring sensor 81, wind speed monitoring device 90, wind direction monitoring device 91, the height of atmospheric pressure monitoring device 92 etc, make each monitoring facilities height drop to the lowest position when this a spray inspection robot for multipurpose pier needs quick travel, guarantee equipment stability, make each monitoring facilities rise to suitable position when needs environmental monitoring accuracy and validity in order to guarantee monitoring data. The similar comparatively common excavator of 3 drive principles of arm, the 3 cooperation manipulators of arm 4 are convenient for realize snatching the object, move work such as pier article, make this a spray inspection robot for multipurpose pier can replace the manual work to accomplish more work. The pressure relief pipe 6 is used for relieving the pressure in the water tank in the vehicle body so that the water tank can be filled with water. The high-pressure water supply pipe 12 can be rotated under its internal driving device, and the fan-shaped nozzles 93 are matched to facilitate the road surface washing work of the spray inspection robot for the multipurpose wharf. The radar 14 is an ultrasonic radar and is used for assisting equipment to realize automatic driving under partial scenes.

The high-pressure spray device 5 comprises a base 50, an elbow 51, a horizontal rotation driving motor 52, a spray pipe 53 and a vertical rotation driving motor 54, wherein the elbow 51 and the horizontal rotation driving motor 52 are fixedly arranged on the base 50; the top of the elbow 51 is rotatably provided with a water spraying pipe 53 and a vertical rotation driving motor 54; under the drive regulating action of the two drive motors, the high-pressure spraying device 5 can spray water mist to a certain space above the periphery of the spraying inspection robot for the multipurpose wharf so as to perform local dust settling action.

Side cameras 31 are fixedly arranged on two sides of the vehicle body 1, and a rear camera 32 is fixedly arranged on the rear part of the vehicle body 1; the side camera 31 and the rear camera 32 are used for capturing images around the vehicle.

A steering wheel 41 is arranged at the front part of the vehicle body 1, a driving wheel 42 is arranged at the rear part of the vehicle body 1, a fuel engine and an air pump are arranged in the rear part of the vehicle body 1, an exhaust port 43 is arranged at the bottom of the rear side of the vehicle body 1, a fuel filling port 44 is arranged at one side of the vehicle body 1, an air inlet grille 45 is arranged at the rear part of the vehicle body 1, and the fuel engine drives the air pump to inflate the compressed air tank 2.

Two compressed air tanks 2 are arranged, one end of each compressed air tank 2 is provided with an air outlet pipe 21, and the air outlet pipe 21 is provided with a pressure gauge 22 and an electromagnetic valve 23; a water tank is arranged in the vehicle body 1, and an air outlet pipe 21 is communicated with the water tank. The other end of the compressed air tank 2 is provided with an inflation tube 24, and the inflation tube 24 is connected with an inflation port of an air pump; the electromagnetic valve 23 can control the discharge of gas in the compressed gas tank 2; the water tank can make this a spray inspection robot for multipurpose pier carry the water of certain capacity, is convenient for carry out the work that high altitude spraying dust fall and road surface washed.

A one-way valve is arranged in the water injection pipe 13; the check valve enables the water injection pipe 13 to add water into a water tank inside the vehicle body when connected with a water injection device, and seals the water injection pipe 13 when not connected with the water injection device to prevent water from leaking.

The utility model discloses a multipurpose pier clearance monitoring robot controls based on 5G picture data transmission remote communication, and operation center system shows on-the-spot high definition digtal camera transmission real-time picture to and data such as on-the-spot temperature, humidity, wind speed, wind direction, atmospheric pressure. Each lifting rod can carry out lifting treatment in the operation central system, and a high-pressure spraying device 5 controlled by a servo motor is also operated at the same time. On the road before the robot reaches the operation site, the proper operation point position can be selected according to the information of wind direction, wind speed, temperature and humidity monitored by the environment monitoring device. After the robot arrives at the site, when the dust concentration exceeds a threshold value, the robot receives an instruction sent by an operation center to perform spraying and dedusting operation, and the spraying direction and height can be changed according to parameters such as site wind direction and dust concentration.

When the robot is driven out of the storehouse, the environment monitoring and sensing devices for wind speed, wind direction, air pressure, temperature and humidity and the like start to work, the working point position is determined, and the robot starts to carry out autonomous positioning navigation and path planning at the multipurpose port through an RTK positioning technology and by combining with an slam path planning technology. The laser radar on the robot can continuously carry out omnibearing scanning on the surrounding terrain and the obstacles so as to construct an environment map which is consistent with the real movable space. The intelligent positioning and driving system has the functions of path planning and intelligent positioning and driving under a complex interference scene, can autonomously avoid obstacles and emergencies which occur accidentally, and replans a task route according to the feedback of the sensor so as to select the optimal path to reach a proper working point position on the downwind side.

The water supply pressure in the port is generally 0.3-0.4MPa, the dust-settling efficiency is very low, according to domestic related research, the high-pressure spraying dust-settling efficiency can reach 60% at 3MPa water pressure and 80% at 6MPa water pressure, the robot can automatically pressurize to the highest 6MPa according to the field operation water pressure, the pressure is increased along with the change of dust monitoring sensing data, the water consumption of the port is reduced, and meanwhile, the requirement of a user on the water content is met.

Claims

1. A multipurpose dock obstacle clearance monitoring robot is characterized by comprising a vehicle body (1), a compressed air tank (2), a high-pressure spraying device (5) and a lifting rod; the two compressed air tanks (2) are respectively arranged at two sides of the top of the vehicle body (1), and are respectively communicated with an air outlet pipe (21) and an air charging pipe (24); the air outlet pipe (21) is communicated with a water tank in the vehicle body (1) and is used for driving the water tank to supply water, and a pressure gauge (22) and an electromagnetic valve (23) are arranged on the air outlet pipe (21); the air charging pipe (24) is communicated with a fuel engine arranged in the vehicle body (1) through an air charging port of an air pump; the high-pressure spraying device (5) comprises a base (50), a bent pipe (51), a horizontal rotation driving motor (52), a water spraying pipe (53) and a vertical rotation driving motor (54); the base (50) is arranged on the vehicle body (1), and the water spraying pipe (53) is arranged on the base (50) through a bent pipe (51); the bottom end of the elbow (51) is communicated with the water tank; the horizontal rotation driving motor (52) is arranged on the base (50), and an output gear of the horizontal rotation driving motor is meshed with a rotating structure of the base (50) and is used for driving the elbow (51) to rotate in a horizontal plane; the vertical rotation driving motor (54) is arranged on one side of the top of the elbow pipe (51) and is used for driving the water spraying pipe (53) to rotate in a vertical plane; the first lifting rod (7), the second lifting rod (8) and the third lifting rod (9) are respectively arranged on the vehicle body (1); the top of the first lifting rod (7) is fixed with a cradle head (70); a dust monitoring sensor (80) and a noise monitoring sensor (81) are fixedly arranged on the second lifting rod (8); a wind speed monitoring device (90), a wind direction monitoring device (91) and an air pressure monitoring device (92) are respectively arranged on the third lifting rod (9);

a high-pressure water supply pipe (12) is rotatably arranged at the bottom of the vehicle body (1), the high-pressure water supply pipe (12) is communicated with the water tank, and a plurality of fan-shaped nozzles (93) are fixedly arranged on the high-pressure water supply pipe (12); the 5G communication antenna module (10) and the pressure relief pipe (6) are arranged on the vehicle body (1); the pressure relief pipe (6) is communicated with the water tank and is used for discharging the pressure in the water tank; the 5G communication antenna module (10) is connected with the holder (70), the dust monitoring sensor (80), the noise monitoring sensor (81), the wind speed monitoring device (90), the wind direction monitoring device (91) and the air pressure monitoring device (92) and is used for collecting data, wirelessly connected with the manual control end and used for displaying the data; one end of the vehicle body (1) is rotatably provided with a mechanical arm (3) and a binocular camera (11), and the front end of the mechanical arm (3) is movably provided with a mechanical arm (4) for removing obstacles; the other end of the vehicle body (1) is provided with an air inlet grille (45) and a rear camera (32); radars (14) are arranged at both ends of the vehicle body (1); the bottom of the other end of the vehicle body (1) is provided with a water tank water injection pipe (13) and an exhaust port (43); a fuel filling port (44) and a side camera (31) are arranged on the side surface of the vehicle body (1);

the air inlet grille (45) is used for air inlet of the fuel engine, and the air outlet (43) is used for air outlet of the fuel engine;

a drive unit of a vehicle body (1) includes a steering wheel (41) and a drive wheel (42).

2. The multipurpose dock clearing and monitoring robot according to claim 1, wherein a one-way valve is provided in the water injection pipe (13).