CN219666703U - Robot supervision system for coal conveying plant - Google Patents
Robot supervision system for coal conveying plant Download PDFInfo
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- CN219666703U CN219666703U CN202320050502.XU CN202320050502U CN219666703U CN 219666703 U CN219666703 U CN 219666703U CN 202320050502 U CN202320050502 U CN 202320050502U CN 219666703 U CN219666703 U CN 219666703U
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- 239000003245 coal Substances 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 claims abstract description 73
- 238000004891 communication Methods 0.000 claims abstract description 14
- 239000000428 dust Substances 0.000 claims abstract description 13
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a robot supervision system for a coal conveying plant, which comprises a remote control end and a plurality of inspection robots, wherein a main controller and an operation display screen are arranged in the remote control end; a main control module is arranged in the inspection robot, and the remote control end and the main control module of the inspection robot conduct information interaction through wireless communication; the intelligent cradle head is arranged at the top of the inspection robot, a camera and an infrared thermal imager are arranged on the intelligent cradle head, and the main controller can control the intelligent cradle head to work through a main control module. The remote control end can monitor the detection states of a plurality of inspection robots, acquire image data, infrared images, temperature information, dust concentration information, various gas concentration information and the like measured by the inspection robots, and acquire the conditions in a coal conveying plant in real time; the remote control end can preset the moving route of the inspection robot, can control the inspection robot to change the inspection direction in real time, and is more flexible in inspection.
Description
Technical Field
The utility model relates to the technical field of robot supervision, in particular to a robot supervision system for a coal conveying plant.
Background
The existing coal conveying plants mostly adopt intelligent robots to replace manual inspection to monitor coal conveying conditions and gallery equipment, and the existing monitoring mostly adopts cameras to collect images and then analyzes the collected image data to judge whether the equipment works normally. However, the image shot by the camera can have dead angles due to angle problems and distance problems, and still has working dead areas, so that some defects and faults can not be found in time.
Disclosure of Invention
In order to solve the problems, the utility model provides a robot supervision system for a coal conveying plant, which can remotely control a patrol robot to carry out omnibearing detection and avoid working blind areas.
For this purpose, the technical scheme of the utility model is as follows: the robot supervision system for the coal conveying plant comprises a remote control end and a plurality of inspection robots, wherein a main controller and an operation display screen are arranged in the remote control end; a main control module is arranged in the inspection robot, and the remote control end and the main control module of the inspection robot conduct information interaction through wireless communication;
4 rollers are arranged below the inspection robot, each roller is provided with a driving steering mechanism, and the main controller can control the driving steering mechanisms to work; the top of the inspection robot is provided with an electric lifting rod and an intelligent cradle head, the intelligent cradle head is arranged on the electric lifting rod, a camera and a thermal infrared imager are arranged on the intelligent cradle head, and the intelligent cradle head can rotate by 360 degrees horizontally and 180 degrees vertically;
the camera is used for shooting image information and sending the image information to the main control module;
the thermal infrared imager is used for shooting infrared images, acquiring the temperature of each device, sending the temperature to the main control module, and sending the shot infrared images to the main controller by the main control module and displaying the shot infrared images on the operation display screen;
the main controller can control the electric lifting rod and the intelligent cradle head to work through the main control module.
Preferably, a frame is arranged at the bottom of the inspection robot, the driving steering mechanism comprises a rotary bracket, a rotary motor and a driving motor, the rotary motor is vertically arranged on the frame, and the rotary bracket is fixed on a motor shaft of the rotary motor; the driving motor is fixed below the rotating bracket, and the idler wheels are fixedly arranged on a motor shaft of the driving motor; the main control module controls the driving motor and the rotating motor to work.
Preferably, the intelligent cradle head is further provided with a gas detector, a temperature sensor and a dust concentration sensor, wherein the gas detector is used for detecting the gas concentration in the environment, the dust concentration sensor is used for detecting the dust concentration in the environment, and the temperature sensor is used for detecting the ambient temperature.
Preferably, the inspection robot is provided with a rechargeable battery and a battery management module, the battery management module is used for monitoring the battery electric quantity in real time and sending the battery electric quantity to the main controller, and the residual electric quantity of each inspection robot can be displayed on the operation display screen, and the main controller controls the driving steering mechanism of the inspection robot to work. The remote control end can display the residual electric quantity of each inspection robot in real time, determine the residual driving mileage of the inspection robot, conduct battery charging management, monitor the electric quantity condition of the battery, and judge whether the charging place is required to be charged according to the residual electric quantity of the battery.
Preferably, a first wireless communication module is arranged in the remote control end, a second wireless communication module is arranged in the inspection robot, and information interaction is carried out between the first wireless communication module and the second wireless communication module.
Compared with the prior art, the utility model has the beneficial effects that:
1. the remote control end can monitor the detection states of a plurality of inspection robots, acquire image data, infrared images, temperature information, dust concentration information, various gas concentration information and the like measured by the inspection robots, acquire the conditions in a coal conveying factory in real time, and display the image data, electric quantity information, moving routes and the like of the inspection robots on an operation display screen; the remote control end can preset the moving route of the inspection robot, can control the inspection robot to change the inspection direction in real time, and is more flexible in inspection.
2. Be provided with electric lifting rod and intelligent cloud platform on the robot patrols and examines, electric lifting rod can raise intelligent cloud platform for camera, thermal infrared imager etc. on the intelligent cloud platform shoot wider visual angle, adjust the shooting scope in a plurality of dimensions, avoid appearing shooting the dead angle, guarantee the job quality of patrolling and examining.
3. The inspection robot adopts a four-wheel independent steering mode, and each roller can independently steer and move and can turn in situ by 360 degrees. The rotating motor can drive the idler wheels and the driving motor to horizontally rotate through the rotating support, the advancing direction of the inspection robot is changed, the driving motor drives the idler wheels to vertically rotate, and the inspection robot starts to walk.
Drawings
The following is a further detailed description of embodiments of the utility model with reference to the drawings
FIG. 1 is a block diagram of the structure of the present utility model;
FIG. 2 is a schematic structural view of the inspection robot of the present utility model;
FIG. 3 is a side view of the structure of the inspection robot of the present utility model;
fig. 4 is a schematic structural view of the driving steering mechanism of the present utility model.
Marked in the figure as: the inspection robot 1, a frame 11, rollers 12, a rotating bracket 13, a rotating motor 14, a driving motor 15, an electric lifting rod 2, an intelligent cradle head 3, a camera 31 and a thermal infrared imager 32.
Detailed Description
In the description of the present utility model, it should be noted that, for the azimuth words such as the terms "center", "transverse (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, only for convenience of describing the present utility model and simplifying the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and should not be construed as limiting the specific protection scope of the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first", "a second" feature may explicitly or implicitly include one or more of such feature, and in the description of the present utility model, the meaning of "a number", "a number" is two or more, unless otherwise specifically defined.
See the drawings. The robot supervision system for the coal conveying plant comprises a remote control end and a plurality of inspection robots 1, wherein a main controller and an operation display screen are arranged in the remote control end; the remote control end is internally provided with a first wireless communication module, the inspection robot is internally provided with a main control module and a second wireless communication module, and the remote control end and the inspection robot perform information interaction through wireless communication.
The operation display screen is divided into a display interface and an operation interface, wherein the display interface can display the operation parameters of the inspection robot, and the operation interface can be used for receiving operation instructions. The remote control end can preset the moving route of the inspection robot, can control the inspection robot to change the inspection direction in real time, and is more flexible in inspection.
The inspection robot 1 top is equipped with electric lift pole 2 and intelligent cloud platform 3, and intelligent cloud platform 3 installs on electric lift pole 2, and main control unit steerable electric lift pole 2, intelligent cloud platform 3 work, and intelligent cloud platform can be raised to electric lift pole for camera, thermal infrared imager etc. on the intelligent cloud platform shoot wider visual angle, adjust shooting range in a plurality of dimensionalities, avoid appearing shooting the dead angle, guarantee the job quality of inspection.
Be equipped with camera 31, thermal infrared imager 32, gas detection appearance, temperature sensor and dust concentration sensor on the intelligent cloud platform 3, intelligent cloud platform can carry out 360 rotations of level, vertical 180. The camera is used for shooting image information and sending the image information to the main control module; the thermal infrared imager is used for shooting infrared images, acquiring the temperature of each device, and sending the temperature to the main controller through the main control module, wherein the shot infrared images can be displayed on the operation display screen; the gas detector is used for detecting the gas concentration in the environment, the dust concentration sensor is used for detecting the dust concentration in the environment, and the temperature sensor is used for detecting the ambient temperature. The intelligent cradle head can carry out omnibearing detection on the environment of a coal conveying factory.
The inspection robot is provided with a rechargeable battery and a battery management module, the battery management module is used for monitoring the battery electric quantity in real time, sending the battery electric quantity to the main control module, then sending the battery electric quantity to the main control module, displaying the residual electric quantity of each inspection robot on the operation display screen, and controlling the driving steering mechanism of the inspection robot to work by the main control module. The remote control end can display the residual electric quantity of each inspection robot in real time, determine the residual driving mileage of the inspection robot, conduct battery charging management, monitor the electric quantity condition of the battery, and judge whether the charging place is required to be charged according to the residual electric quantity of the battery.
The bottom of the inspection robot 1 is provided with a frame 11, 4 rollers 12 are arranged below the frame, each roller 12 is provided with a driving steering mechanism, and a main controller can control the driving steering mechanism to work; the driving steering mechanism comprises a rotary bracket 13, a rotary motor 14 and a driving motor 15, wherein the rotary motor 14 is vertically arranged on the frame 11, and the rotary bracket 13 is fixed on a motor shaft of the rotary motor 14; the driving motor 15 is fixed below the rotary bracket 13, and the idler wheel 12 is fixedly arranged on a motor shaft of the driving motor 15; the main control module can receive the instruction of the main controller and control the driving motor and the rotating motor to work. Each roller can independently turn and move and can turn in situ by 360 degrees. The rotating motor 14 can drive the roller 12 and the driving motor 15 to horizontally rotate through the rotating bracket 13, the advancing direction of the inspection robot is changed, the driving motor 15 drives the roller 12 to vertically rotate, and the inspection robot starts to walk.
When in operation, the device comprises:
1) A worker starts the inspection robot at a remote control end to start inspection work, and the inspection robot inspects according to a preset route;
2) In the inspection process, an electric lifting rod and an intelligent cradle head on the inspection robot work according to a preset program, images are shot at all positions of a coal conveying plant in real time, and the images are transmitted to a remote control end to carry out identification processing on image information; shooting an infrared image by using a thermal infrared imager, acquiring the temperature value of each device, and eliminating the fault factor of the high-temperature operation of the device; the gas concentration in the coal conveying plant is detected by using a gas detector, so that the harmful gas is prevented from exceeding the standard; the temperature sensor and the dust concentration sensor are used for detecting the temperature and dust conditions in the coal conveying plant, so that potential safety hazards are avoided;
3) In the inspection process, if abnormality is found, the remote control end can give out alarm sound, and a worker can control the inspection robot to deviate from a preset inspection path, get close to an abnormal sending point, shoot more detailed image information, further confirm abnormal conditions, facilitate maintenance personnel to know conditions and accelerate rejection operation.
The above description is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited to the above examples, and all technical solutions belonging to the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that modifications and adaptations to the present utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.
Claims (5)
1. The utility model provides a coal factory uses robot supervisory systems which characterized in that: the inspection robot comprises a remote control end and a plurality of inspection robots, wherein a main controller and an operation display screen are arranged in the remote control end; a main control module is arranged in the inspection robot, and the remote control end and the main control module of the inspection robot conduct information interaction through wireless communication;
4 rollers are arranged below the inspection robot, each roller is provided with a driving steering mechanism, and the main controller can control the driving steering mechanisms to work; the top of the inspection robot is provided with an electric lifting rod and an intelligent cradle head, the intelligent cradle head is arranged on the electric lifting rod, a camera and a thermal infrared imager are arranged on the intelligent cradle head, and the intelligent cradle head can rotate by 360 degrees horizontally and 180 degrees vertically;
the camera is used for shooting image information and sending the image information to the main control module;
the thermal infrared imager is used for shooting infrared images, acquiring the temperature of each device, sending the temperature to the main control module, and sending the shot infrared images to the main controller by the main control module and displaying the shot infrared images on the operation display screen;
the main controller can control the electric lifting rod and the intelligent cradle head to work through the main control module.
2. A robot supervisory system for coal handling plants as set forth in claim 1, wherein: the bottom of the inspection robot is provided with a frame, the driving steering mechanism comprises a rotating bracket, a rotating motor and a driving motor, the rotating motor is vertically arranged on the frame, and the rotating bracket is fixed on a motor shaft of the rotating motor; the driving motor is fixed below the rotating bracket, and the idler wheels are fixedly arranged on a motor shaft of the driving motor; the main control module controls the driving motor and the rotating motor to work.
3. A robot supervisory system for coal handling plants as set forth in claim 1, wherein: the intelligent cradle head is characterized in that a gas detector, a temperature sensor and a dust concentration sensor are further arranged on the intelligent cradle head, the gas detector is used for detecting the gas concentration in the environment, the dust concentration sensor is used for detecting the dust concentration in the environment, and the temperature sensor is used for detecting the ambient temperature.
4. A robot supervisory system for coal handling plants as set forth in claim 1, wherein: the inspection robot is provided with a rechargeable battery and a battery management module, the battery management module is used for monitoring the battery electric quantity in real time and sending the battery electric quantity to the main controller, and the residual electric quantity of each inspection robot can be displayed on the operation display screen, and the main controller controls the driving steering mechanism of the inspection robot to work.
5. A robot supervisory system for coal handling plants as set forth in claim 1, wherein: the remote control end is internally provided with a first wireless communication module, the inspection robot is internally provided with a second wireless communication module, and the first wireless communication module and the second wireless communication module are in information interaction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320050502.XU CN219666703U (en) | 2023-01-09 | 2023-01-09 | Robot supervision system for coal conveying plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320050502.XU CN219666703U (en) | 2023-01-09 | 2023-01-09 | Robot supervision system for coal conveying plant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219666703U true CN219666703U (en) | 2023-09-12 |
Family
ID=87922928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320050502.XU Active CN219666703U (en) | 2023-01-09 | 2023-01-09 | Robot supervision system for coal conveying plant |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219666703U (en) |
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2023
- 2023-01-09 CN CN202320050502.XU patent/CN219666703U/en active Active
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