CN219335025U - A visual collection robot with environmental dust removal function - Google Patents

Abstract

The utility model belongs to the technical field of vision collection, and particularly relates to a vision collection robot with an environment dust removal function, which comprises a top plate, wherein a kk module is installed on the inner top surface of the top plate, an image collection module and a manipulator are installed on a sliding seat of the kk module, front and rear baffle plates are connected to the front and rear ends of the top plate, side plates are connected to the left and right sides of the front and rear baffle plates, a controller and a water pump are installed on the top plate, a water inlet and outlet of the water pump is respectively connected with a water inlet pipe and an electric flow regulating valve, a water outlet pipe connected with the electric flow regulating valve is connected with two water diversion pipes through a tee joint, a main water pipe connected with the water diversion pipes is installed on a support frame through a pipe clamp, the support frame is installed on the front and rear baffle plates, a plurality of spray heads are installed on the main water pipe, and a dust sensor is installed on the inner wall of the side plate. The water body sprayed out of the plurality of spray heads can form two water curtains on the upper side of the conveyor belt, and the quantity of suspended particles in the space below the top plate is effectively reduced by matching with shielding of the side plates, so that the image acquisition effect of the image acquisition module is ensured.

Description

A visual collection robot with environmental dust removal function

technical field

The utility model belongs to the technical field of visual collection, in particular to a visual collection robot with the function of dust removal in the environment.

Background technique

In the prior art, on the basis of mechanical gangue selection, the technology of coal gangue screening with image recognition has been developed. For example, a utility model patent with the authorized announcement number CN213377939U proposes a coal preparation system based on artificial intelligence image recognition. Intelligent image recognition technology recognizes gangue and coal in real time, and controls the action of the diversion and sorting mechanism set on the conveyor belt to separate gangue and coal, as well as technical defects that waste resources and energy. The structure is simpler, easier to maintain, and easier to deploy in down the well. But there is following shortcoming in above-mentioned structure:

Due to the large amount of dust in the coal mine environment, the imaging device is also affected by the suspended particles in the air while receiving the reflected light of the scene. This effect is manifested as the scattering effect of the suspended particles in the air on the light. The effect will weaken the color contrast of the original image, making the image difficult to identify; in addition, the suspended particles in the air covering the surface of the camera will also affect the effect of image recognition. Therefore, a visual acquisition robot with environmental dust removal function is proposed, which can stably perform image recognition work in a coal mine environment with a large amount of dust.

Utility model content

In view of the above problems, the purpose of this utility model is to provide a visual collection robot with environmental dust removal function to solve the problem that existing visual collection equipment is easily affected by suspended particles in the air in a coal mine environment with a large amount of dust, which in turn leads to There is a problem that the effect of image recognition decreases.

In order to achieve the above purpose, the technical solution adopted by the utility model: a visual collection robot with environmental dust removal function, including a top plate, a kk module is installed on the inner top surface of the top plate, and a kk module is installed on the sliding seat of the kk module There is an image acquisition module and a manipulator, the front and rear ends of the top plate are connected with front and rear baffle plates, the left and right sides of the top plate and the front and rear baffle plates are connected with side plates, the bottom of the side plates is connected with a bottom plate, and the top plate A controller and a water pump are installed on the top surface of the water pump, and the water inlet and outlet of the water pump are respectively connected with a water inlet pipe and an electric flow regulating valve, and one end of the electric flow regulating valve is connected with a water outlet pipe, and the water outlet pipe is connected with two A water distribution pipe, the water distribution pipe is connected to one end of the main water pipe, and the clamp installed on the outside of the main water pipe is installed on the support frame, the support frame is installed on the front and rear baffles, and the curved surface side of the main water pipe is installed There are a plurality of spray nozzles, and dust sensors are installed on the inner wall of the side plate.

The beneficial effects of the utility model are: the water sprayed by multiple nozzles can form two water curtains on the upper side of the conveyor belt, and cooperate with the shielding of the side plates to effectively reduce the number of suspended particles in the space below the top plate, ensuring that the image acquisition module The effect of image acquisition.

In order to effectively prevent the water sprayed by the nozzle from splashing on the image acquisition module;

As a further improvement of the above technical solution: the water outlet end of the spray head is arranged obliquely in a direction away from the front and rear baffles.

The beneficial effect of the improvement is that the water curtain ejected from the nozzle is inclined outward, which can effectively reduce the amount of water splashing to the bottom of the roof.

In order to effectively cooperate the water curtain sprayed by the nozzle with the side plate and reduce the number of suspended particles in the space under the top plate;

As a further improvement of the above technical solution: the linear distance between the end faces of the two ends of the side plate and the main water pipe is not less than 10 cm.

The beneficial effect of this improvement is: the side plate extending to the outside of the main water pipe can effectively cooperate with the inclined water curtain sprayed by the nozzle, and reduce the throughput of the outside air that directly enters the bottom of the top plate without being filtered by the water curtain.

To facilitate the installation of main water pipes;

As a further improvement of the above technical solution: the top surface of the side plate is provided with an installation groove adapted to install the main water pipe.

The beneficial effect of the improvement is that the main water pipe can be put into the installation groove from top to bottom, and then installed and used.

In order to effectively isolate the suspended particles in the external air;

As a further improvement of the above technical solution: the bottom surface of the front and rear baffles is 20-30 cm lower than the bottom end of the spray head, and the curved side of the main water pipe is close to the surface of the front and rear baffles.

The beneficial effect of this improvement is that the front and rear baffles can play a blocking role before the water sprayed by the nozzle forms a complete water curtain, and reduce the suspended particles in the external air from entering under the roof.

In order to ensure the stability of the main water pipe installation;

As a further improvement of the above technical solution: there are multiple support frames arranged equidistantly along the axial direction of the main water pipe.

The beneficial effect of the improvement is that the plurality of supporting frames cooperate with the pipe clamps to firmly clamp and fix the main water pipe.

In order to effectively reduce the loss of water;

As a further improvement of the above technical solution: the controller includes a PLC module, a relay and a control switch, and the controller is electrically connected to the electric flow regulating valve and the dust sensor.

The beneficial effect of the improvement is: the dust sensor monitors the dust in the air between the two water curtains, so that the bottom plate controls the flow rate of the electric flow regulating valve and reduces water loss.

The parts not involved in the device are the same as the prior art or can be realized by adopting the prior art.

Description of drawings

Fig. 1 is a structural representation one of the utility model;

Fig. 2 is the structural representation two of the utility model;

Fig. 3 is the front view of the utility model;

In the figure: 1. Top plate; 2. Front and rear baffles; 3. Side plate; 4. Water pump; 5. Water inlet pipe; 6. Electric flow regulating valve; 7. Water outlet pipe; , main water pipe; 11, pipe clamp; 12, support frame; 13, nozzle; 14, installation slot; 15, bottom plate; 16, controller; 17, kk module; 18, image acquisition module; 19, manipulator; 20, Dust sensor.

Detailed ways

In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present invention. .

Example 1:

As shown in Figure 1-3: a kind of visual collection robot with environmental dust removal function, comprises top plate 1, and the inner top surface of described top plate 1 is equipped with kk module 17, and the sliding seat of described kk module 17 is installed with Image acquisition module 18 and manipulator 19, the front and rear ends of described top plate 1 are all connected with front and rear baffle plate 2, the left and right sides of described top plate 1, front and rear baffle plate 2 are connected with side plate 3, the bottom of described side plate 3 A bottom plate 15 is connected, and a controller 16 and a water pump 4 are installed on the top surface of the top plate 1. The water inlet and outlet of the water pump 4 are respectively connected with a water inlet pipe 5 and an electric flow regulating valve 6. One end of the electric flow regulating valve 6 A water outlet pipe 7 is connected, and the water outlet pipe 7 is connected with two water distribution pipes 9 through a tee 8. The water distribution pipe 9 is connected to one end of the main water pipe 10, and the pipe clamp 11 clamped on the outside of the main water pipe 10 is installed on the support On the frame 12, the support frame 12 is installed on the front and rear baffles 2, a plurality of nozzles 13 are installed on the curved side of the main water pipe 10, a dust sensor 20 is installed on the inner wall of the side plate 3, and a plurality of nozzles The water sprayed by 13 can form two water curtains on the upper side of the conveyor belt. With the shielding of the side plate 3, the number of suspended particles in the space below the top plate 1 can be effectively reduced to ensure the image acquisition effect of the image acquisition module 18. Therefore, The water outlet end of the nozzle 13 is inclined to the direction away from the front and rear baffles 2, and the water curtain sprayed by the nozzle 13 is inclined outward, which can effectively reduce the amount of water splashing below the top plate 1. The end faces of the two ends of the side plate 3 The straight-line distance from the main water pipe 10 is not less than 10cm, and the side plate 3 extending to the outside of the main water pipe 10 can effectively cooperate with the inclined water curtain sprayed by the nozzle 13, reducing the water directly entering the bottom of the top plate 1 without being filtered by the water curtain. The passage of outside air, the top surface of the side plate 3 is provided with an installation groove 14 suitable for installing the main water pipe 10, and the main water pipe 10 can be placed in the installation groove 14 from top to bottom, and then installed and used. The bottom surface of the baffle 2 is 20-30cm lower than the bottom of the nozzle 13, and the curved side of the main water pipe 10 is close to the surface of the front and rear baffles 2, and the front and rear baffles 2 can form a complete water curtain on the water sprayed by the nozzle 13 Before, it plays the role of shielding and reduces the suspended particles in the external air from entering the bottom of the top plate 1. The number of the support frames 12 is multiple, and they are arranged equidistantly along the axial direction of the main water pipe 10. The multiple support frames 12 cooperate The pipe clamp 11 can firmly clamp and fix the main water pipe 10. The controller 16 includes a PLC module, a relay and a control switch. The controller 16 is electrically connected to the electric flow regulating valve 6 and the dust sensor 20, and the dust sensor 20 pairs two The dust in the air between the water curtains is monitored, so that the base plate 15 controls the flow rate of the electric flow regulating valve 6 to reduce water loss.

The working principle of this technical solution is: the device is placed on the upper side of the conveyor belt that transports coal gangue, so that the whole device is stably placed on the ground under the support of the bottom plate 15. At this time, the conveyor belt is located under the top plate 1. Between two side plates 3, then one end of the water inlet pipe 5 is connected to a water source such as a water tank; the image acquisition module 18 collects image information, and by using the existing image acquisition technology and robot control system, the kk module 17 and the manipulator 19 operate to The coal gangue is sorted; at the same time, the water pump 4 is energized to work, sucks the water body through the water inlet pipe 5, and transports the water body to the main water pipe 10 through the water outlet pipe 7, the tee pipe 8, and the water distribution pipe 9 in sequence, and finally passes through multiple nozzles 13 is ejected to form two water curtains at the front and back between the two side plates 3 to prevent dust from entering the bottom of the top plate 1 and to ensure that the image acquisition module 18 can effectively collect image information; The amount of dust in the air in the room is monitored, so that the controller 16 controls the flow rate of the electric flow regulating valve 6 to reduce water loss.

It should be noted that, in this document, the terms "comprising", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or apparatus.

In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above examples is only used to help understand the method and core idea of the present invention. The above is only a preferred embodiment of the present invention. It should be pointed out that due to the limitation of literal expression, there are objectively unlimited specific structures. , can also make some improvements, modifications or changes, or combine the above technical features in an appropriate way; these improvements, modifications, changes or combinations, or directly apply the concept and technical solution of the invention to other occasions without improvement , should be regarded as the protection scope of the present invention.

Claims (7)

1. a vision collection robot with environmental dust removal function, comprising top plate (1), the inner top surface of said top plate (1) is equipped with kk module (17), on the slide seat of said kk module (17) An image acquisition module (18) and a manipulator (19) are installed, and it is characterized in that: the front and rear ends of the top plate (1) are connected with front and rear baffle plates (2), the top plate (1), the front and rear baffle plates (2) ) are connected with side plates (3) on the left and right sides, the bottom of the side plates (3) is connected with a base plate (15), and the top surface of the top plate (1) is equipped with a controller (16) and a water pump (4) , the water inlet and outlet of the water pump (4) are respectively connected with a water inlet pipe (5) and an electric flow regulating valve (6), and one end of the electric flow regulating valve (6) is connected with a water outlet pipe (7), and the water outlet pipe (7) Two water distribution pipes (9) are connected through the tee (8). The water distribution pipe (9) is connected to one end of the main water pipe (10). ) is installed on the support frame (12), and the support frame (12) is installed on the front and rear baffles (2), and a plurality of nozzles (13) are installed on the curved surface side of the main water pipe (10), and the side A dust sensor (20) is installed on the inner wall of the plate (3). 2. A vision collecting robot with environmental dust removal function according to claim 1, characterized in that: the water outlet end of the nozzle (13) is inclined to the direction away from the front and rear baffles (2). 3. A visual collection robot with environmental dust removal function according to claim 1, characterized in that: the linear distance between the two ends of the side plate (3) and the main water pipe (10) is not less than 10cm. 4. A visual collection robot with environmental dust removal function according to claim 1, characterized in that: the top surface of the side plate (3) is provided with an installation groove (14) adapted to install the main water pipe (10) . 5. A kind of visual collection robot with environment dust removal function according to claim 1, is characterized in that: the bottom surface of described front and rear baffles (2) is lower than the bottom 20-30cm of nozzle (13), and described main The curved side of the water pipe (10) is close to the surface of the front and rear baffles (2). 6. A vision collecting robot with environmental dust removal function according to claim 1, characterized in that: the number of the support frame (12) is multiple, and equidistant along the axial direction of the main water pipe (10) Arrange settings. 7. A kind of visual collection robot with environmental dust removal function according to claim 1, is characterized in that: described controller (16) comprises PLC module, relay and control switch, and described controller (16) is electrically connected Electric flow regulating valve (6) and dust sensor (20).

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