CN220660887U - Inspection robot - Google Patents

Abstract

The disclosure provides a robot of patrolling and examining relates to the equipment technical field of patrolling and examining. Wherein, the route inspection robot includes: body, controller, image acquisition device and arm. The body is provided with the movable part, and the controller sets up in the body, and the controller is used for controlling the movable part to drive the body and remove in the spinning workshop that is provided with the spinning manifold, and image acquisition device sets up on the body, and the controller is still used for when the body removes to the preset position of spinning manifold, control image acquisition device gathers the state data of spinning manifold, and the arm is connected in the body, and the controller is still used for when the state data of spinning manifold satisfies preset fault condition, control arm operation alarm device on the spinning manifold to make the spinning manifold send first alarm information. According to the scheme of the disclosure, the working state of the spinning manifold can be detected through the image acquisition device, and the mechanical arm can timely alarm the abnormal or fault condition of the spinning manifold.

Description

Inspection robot

Technical Field

The disclosure relates to the technical field of inspection equipment, in particular to an inspection robot.

Background

In the process of producing chemical fiber filaments (such as chemical fiber filaments) by a spinning manifold in the chemical fiber industry, if the working state of the spinning manifold is abnormal, the quality of the chemical fiber filaments is affected, so that the working state of the spinning manifold needs to be detected, and an alarm is given in time for the abnormal condition.

Disclosure of Invention

The present disclosure provides a patrol robot to detect faults or anomalies of a spinning beam.

According to an aspect of the present disclosure, there is provided a patrol robot including a body, a controller, an image pickup device, and a robot arm.

The body is provided with a moving part.

The controller is arranged on the body, and the controller is used for controlling the moving part to drive the body to move in a spinning workshop provided with a spinning box.

The image acquisition device is arranged on the body, and the controller is further used for controlling the image acquisition device to acquire the state data of the spinning manifold when the body moves to the preset position of the spinning manifold.

The mechanical arm is connected to the body, and the controller is further used for controlling the mechanical arm to operate an alarm device on the spinning manifold when the state data of the spinning manifold meets the preset fault condition so that the spinning manifold can send out first alarm information.

In one embodiment, the image capturing device includes a plurality of first capturing assemblies, a first capturing assembly of the plurality of first capturing assemblies being movably coupled to the body along a first direction.

The first shooting component comprises a camera and a light supplementing light source fixedly connected with the camera, the camera is used for collecting state data of the spinning manifold, and the light supplementing light source is used for providing illumination.

In one embodiment, the camera is used to collect at least one of the following status data.

A first status image of a spinneret plate in a spinning beam, a second status image of a thread in the spinning beam, a third status image of a thread guide hook in the spinning beam, and a fourth status image of a nozzle tip in the spinning beam.

In one embodiment, the controller is further configured to control the mechanical arm to erase the oil mist when the first shooting assembly is contaminated with the oil mist.

In one embodiment, the light supplementing light source is an infrared light source or a full spectrum light source.

In one embodiment, the status data includes a first status image of the spinneret in the spin beam.

And the controller is used for controlling the mechanical arm to operate the alarm device on the spinning manifold when the first state image meets the preset fault condition so that the spinning manifold sends out first alarm information for calling the plate shoveling robot to clear the spinneret plate.

In one embodiment, the status data includes a third status image of the guide wire hook in the spinning beam.

The mechanical arm comprises a clamping part, and the controller is further used for controlling the clamping part to adjust the position of the wire guide hook when the third state image meets the preset fault condition.

In one embodiment, the image acquisition device comprises a second shooting assembly rotatably connected to the body to acquire environmental data in the spinning workshop.

In one embodiment, the environmental data includes images of a human body.

The controller is also used for sending second alarm information when the human body image is unchanged within the preset time.

In one embodiment, the environmental data includes an indicator light status image of an electrical box used to power the spinning room.

The controller is also used for controlling the mechanical arm to operate the switch of the distribution box so as to cut off the power supply of the distribution box when the status image of the indicator lamp meets the preset lamp language condition.

In one embodiment, the inspection robot further comprises a temperature acquisition device:

the temperature acquisition device is arranged on the body and comprises a first temperature sensor which can be arranged in a telescopic manner relative to the body.

The controller is also used for controlling the first temperature sensor to extend into the spinning box body when the body moves to the preset position of the spinning box body so as to detect the first temperature of the silk thread in the spinning box body, and the controller is also used for sending out third alarm information when the first temperature exceeds a first temperature threshold value.

In one embodiment, the temperature acquisition device further comprises a second temperature sensor for acquiring the ambient temperature of the spinning workshop.

The controller is also used for sending out fourth alarm information when the ambient temperature exceeds the second temperature threshold value, and the fourth alarm information is used for starting the cooling device to cool the spinning workshop.

In one embodiment, when the cooling forming process of the spinning beam is a side blowing, the controller is further configured to control the mechanical arm to open the door of the spinning beam when the body moves to a preset position of the spinning beam, so that the image acquisition device can acquire state data of the spinning beam.

In one embodiment, the moving part comprises a moving wheel for walking on the floor of the spinning room.

Alternatively, the moving part includes a rolling wheel for moving on a hanger rail of the spinning plant.

According to the scheme of the disclosure, the working state of the spinning manifold can be detected through the image acquisition device, and the mechanical arm can timely alarm the abnormal or fault condition of the spinning manifold, so that the phenomenon that the quality of chemical fiber yarns is affected due to the abnormal or fault condition of the working state of the spinning manifold is avoided.

It should be understood that what is described in this summary is not intended to limit the critical or essential features of the embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, wherein like or similar reference numerals denote like or similar elements, in which:

Fig. 1 shows a schematic structural view of a inspection robot according to an embodiment of the present disclosure;

fig. 2 illustrates a schematic structural view of a patrol robot according to another embodiment of the present disclosure.

Reference numerals illustrate:

10: a body; 11: a moving part;

12: a moving wheel; 20: a controller;

30: an image acquisition device; 31: a first photographing assembly;

311: a camera; 312: a light supplementing light source;

32: a second photographing assembly; 40: a mechanical arm;

50: a spinning manifold; 51: an alarm device;

52: a spinneret plate; 53: a silk thread;

54: a guide wire hook; 55: a nipple;

60: a distribution box; 70: a temperature acquisition device;

71: a first temperature sensor; 72: and a second temperature sensor.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The embodiment of the disclosure provides a patrol robot, as shown in fig. 1, including a body 10, a controller 20, an image acquisition device 30, and a mechanical arm 40. The body 10 is provided with a moving part 11. The controller 20 is disposed on the body 10, and the controller 20 is used for controlling the moving part 11 to drive the body 10 to move in a spinning workshop provided with a spinning manifold 50. The image acquisition device 30 is disposed on the body 10, and the controller 20 is further configured to control the image acquisition device 30 to acquire status data of the spinning beam 50 when the body 10 moves to a preset position of the spinning beam 50. The mechanical arm 40 is connected to the body 10, and the controller 20 is further configured to control the mechanical arm 40 to operate the alarm device 51 on the spinning beam 50 when the status data of the spinning beam 50 meets the preset fault condition, so that the spinning beam 50 sends out the first alarm information.

According to embodiments of the present disclosure, it is to be noted that:

the body 10 is provided with a moving part 11, and the moving part 11 may be provided on the upper surface of the body 10 to hoist the body 10 under the moving part 11. As shown in fig. 1, the moving part 11 may be provided on the lower surface of the body 10, and the body 10 may be provided on the upper surface of the moving part 11. The moving part 11 may have a structure such as a driving wheel, and the moving part 11 may move in a spinning room where the spinning beam 50 is provided, so as to drive the body 10 to perform inspection in the spinning room where the spinning beam 50 is provided.

The controller 20 may be a structure capable of realizing control, which is common in the related art, such as: a single chip microcomputer, a chip, a PLC (Programmable Logic Controller, a programmable logic controller) and the like. The controller 20 is disposed on the body 10, and the moving part 11 and the controller 20 can mutually transmit data, and can control the path and speed of the moving part 11 moving in the spinning workshop provided with the spinning beam 50 by the controller 20 so as to control the path and speed of the body 10 for inspection in the spinning workshop provided with the spinning beam 50. The controller 20 can also display the path and speed of the inspection of the body 10 to the user in real time, so as to facilitate the user to adjust the path and speed of the inspection of the body 10, ensure that the body 10 is inspected at the optimal path and speed, and improve the inspection efficiency of the body 10.

The image acquisition device 30 is arranged on the body 10, the image acquisition device 30 and the controller 20 can mutually transmit data, when the body 10 moves to a preset position of the spinning manifold 50, the controller 20 can control the moving part 11 to stop moving, the body 10 stops at the preset position of the spinning manifold 50, the controller 20 can control the image acquisition device 30 to acquire state data of the spinning manifold 50, and the state data can be image data or video data of the spinning manifold 50.

The image capturing apparatus 30 may be a device capable of capturing an image or video of a device in the related art. In addition, one or more photographing components may be included in the image capturing apparatus 30, and the photographing components may be used to capture images or videos, etc. The structure and kind of each photographing assembly may be the same, or the image capturing apparatus 30 may include a plurality of structures or types of photographing assemblies.

The spinning workshop may have a plurality of spinning beams 50, and the movement of the body 10 to the preset position of the spinning beam 50 may be understood as the movement of the body 10 to the corresponding position of the spinning beam 50 where the status data is required to be collected, and in this position, the image collecting device 30 on the body 10 may be at the optimal position for collecting the status data of the spinning beam 50. Of course, for different types of image acquisition devices 30, e.g. different focal lengths, the preset position will also change accordingly. In addition, the preset position of the body 10 relative to the spinning beam 50 can be adjusted for different types of spinning beams 50 due to different structures.

The image capturing device 30 captures the status data of the spinning beam 50. It is understood that the image capturing device 30 may capture the status data of the spinning beam 50 during the operation of the spinning beam 50. For example, image capture device 30 may capture pictures of the operating conditions of various components in manifold 50, pictures of filaments 53 at various locations in manifold 50, pictures of fault and power indicators of manifold 50, and the like.

The robot arm 40 is connected to the body 10, and as shown in fig. 1, the robot arm 40 may be connected to a side of the body 10. The mechanical arm 40 and the controller 20 can mutually transmit data, the controller 20 can receive the state data of the spinning manifold 50 acquired by the image acquisition device 30 in real time, match the state data of the spinning manifold 50 acquired in real time with a preset fault condition, and if the state data of the spinning manifold 50 meets the preset fault condition, the controller 20 can control the mechanical arm 40 to press an alarm button on the spinning manifold 50 so as to enable the spinning manifold 50 to send out first alarm information. If the state data of the spinning beam 50 does not satisfy the preset fault condition, the controller 20 may control the moving part 11 to move to the preset position of the other spinning beam 50, and the image collecting device 30 may collect the state data of the other spinning beam 50. The preset fault condition may be understood as a preset fault threshold, which may be configured by a user. For example, the preset fault condition may be input through an input unit in the controller 20, such as a mouse or a keyboard, or may be from a user device connected to the controller 20. In practical applications, the controller 20 or the user device may provide a user operation page, and the user may input a preset fault condition in the user operation page. Of course, the preset fault conditions may include preset fault conditions of a plurality of parts in the spinning beam 50, preset fault conditions of the wires 53 at a plurality of positions in the spinning beam 50, preset fault conditions of the fault indication lamps and the power indication lamps of the spinning beam 50, and the like.

The robot arm 40 may be a mechanical structure capable of performing multi-degree-of-freedom motion in the related art, such as a six-degree-of-freedom robot arm. The mechanical arm 40 may have an output end, which may be a terminal end or a connection end of the mechanical arm 40, which may implement multi-degree-of-freedom movement, and the output end of the mechanical arm 40 may operate the alarm device 51 on the spinning beam 50, so that the spinning beam 50 may send out the first alarm information.

It will be appreciated that the spinning beam 50 may be provided with an alarm button (alarm device 51) which may be provided at an upper portion of the spinning beam 50, etc., and when a failure of the spinning beam 50 is detected, the mechanical arm 40 presses the alarm button to cause the spinning beam 50 to emit first alarm information. The first alarm information may be a sound of a prompt, a long-lighted fault indicator, or the like.

In one embodiment, the first warning message sent by the spinning beam 50 may be understood as that the spinning beam 50 may send the position information of the spinning beam 50, the type of the spinning beam 50, the operation state of the spinning beam 50, etc. to the monitoring device of the user. While the spinning beam 50 emits the first alarm information, the controller 20 may control the image acquisition device 30 to transmit the state data of the spinning beam 50 or the state data of the spinning beam 50 satisfying a preset fault condition to the monitoring device of the user. For example, the monitoring device of the user may be a mobile phone, a computer, a PDA (Personal Digital Assistant, palm computer) or the like.

In some examples, if the status data of the spinning beam 50 meets the preset fault condition, the controller 20 may further control the mechanical arm 40 to turn off the power key of the spinning beam 50, so that the failed spinning beam 50 stops operating, and wait for a maintenance person and/or a board shovel robot to repair the fault, so that further damage to the spinning beam 50 and waste of spinning raw materials due to continued operation of the failed spinning beam 50 can be avoided.

A plurality of spinning beams 50 may be provided in the spinning room, and a plurality of spinning beams 50 of the same type may be included in the spinning room, or a plurality of spinning beams 50 of different types may be included. Of course, different types of spin beams 50 correspond to different preset positions and different preset fault conditions.

It can be appreciated that in the related art, the spinning workshop provided with the spinning box 50 is detected by means of manual inspection, so that the detection time is long, the detection efficiency is low, and the detection result is not timely, inaccurate and easy to miss, thereby influencing the quality of the chemical fiber yarns. And the patrol personnel have a certain risk due to the higher temperature of the spinning workshop of the spinning manifold 50. According to the embodiment of the disclosure, the moving part 11 can drive the image acquisition device 30 to detect the state data of the spinning manifold 50 in real time, so that the inspection efficiency of the spinning manifold 50 in a spinning workshop is improved, and the state data of the spinning manifold 50 can be detected timely and accurately. In addition, the abnormal condition of the spinning manifold 50 can be timely alarmed through the mechanical arm 40, so that a worker can conveniently find the fault problem of the spinning manifold 50 in time and overhaul the spinning manifold, and the condition that the quality of chemical fiber yarns is influenced due to the fact that the state data of the spinning manifold 50 are abnormal is avoided.

In one embodiment, as shown in fig. 1 and 2, the image capturing apparatus 30 includes a plurality of first photographing members 31, and a first photographing member 31 of the plurality of first photographing members 31 is movably connected to the body 10 in a first direction. The first shooting component 31 comprises a camera 311 and a light supplementing light source 312 fixedly connected with the camera 311, the camera 311 is used for collecting state data of the spinning manifold 50, and the light supplementing light source 312 is used for providing illumination.

The first direction may be the up-down direction in fig. 1.

It will be appreciated that the body 10 includes a column that can extend along a first direction, the first shooting assembly 31 is provided with a sliding hole at one end facing away from the shooting end, the sliding hole is perforated by the column, so that one end of the column can pass through the sliding hole to be connected with the body 10, the first shooting assembly 31 can move up and down along the first direction in the sliding hole, the position of the first shooting assembly 31 can be changed by moving the position of the sliding hole on the column, and the first shooting assembly 31 can collect state data of a plurality of positions in the spinning manifold 50, so that the spinning manifold 50 is more comprehensively detected.

In another embodiment, a zipper may be provided on the body 10, and the zipper may be linked with the first photographing assembly 31 to pull the first photographing assembly 31 to move in the first direction with respect to the body 10.

It will be appreciated that the angles of the camera 311 and the light compensating source 312 toward the manifold 50 can be adjusted up and down in a first direction to collect status data at different locations of the manifold 50.

It will be appreciated that the camera 311 and the light compensating source 312 may move synchronously, for example, when the camera 311 moves upward along the first direction, the light compensating source 312 also moves upward along the first direction, so that the detection area of the camera 311 can be ensured to be covered by the light compensating source 312, so as to improve the accuracy of collecting the status data of the spinning manifold 50.

It is understood that the light-compensating light source 312 may be any type of light source, and may be selected and adjusted according to the thickness and color of the filament 53, so as to ensure that the detection area of the camera 311 can be covered by the light-compensating light source 312. For example, the light supplementing light source 312 may employ an LED (Light Emitting Diode ) light source.

The number of the first photographing elements 31 may be plural, and at least one first photographing element 31 of the plurality of first photographing elements 31 may be movable in the first direction with respect to the body 10. The first photographing assembly 31 may adjust the components to be collected by moving with respect to the body 10.

In addition, it can be appreciated that when collecting status data of different spinning beams 50, the first photographing assembly 31 can further fine-tune the collecting position by moving relative to the body 10 due to the influence of the position accuracy between the spinning beam 50 and the inspection robot so as to be at the optimal collecting position.

In one example, a first camera assembly 31 on the body 10 is capable of sequentially capturing status data at a plurality of locations in the collection manifold 50, movable in a first direction. For example, the first photographing assembly 31 can sequentially collect operation status pictures of a plurality of parts in the spinning beam 50, pictures of the wires 53 at a plurality of positions in the spinning beam 50, pictures of fault indication lamps and power indication lamps of the spinning beam 50, and the like, which are movable in the first direction.

In one example, a plurality of first photographing assemblies 31 on the body 10 collect state data of the spinning beam 50 at a plurality of positions, respectively. For example, one first photographing assembly 31 is used to collect pictures of the operation states of various parts in the spinning beam 50, another first photographing assembly 31 is used to collect pictures of the wires 53 at various positions in the spinning beam 50, and still another first photographing assembly 31 is used to collect pictures of fault indication lamps and power indication lamps of the spinning beam 50. Of course, in other embodiments, the operation state of each part in the spinning beam 50 may be collected corresponding to one first shooting assembly 31. According to the embodiment of the disclosure, the state data of the spinning manifold 50 is collected through the first shooting assembly 31, the state data of a plurality of positions in the spinning manifold 50 can be collected by the first shooting assembly 31, the spinning manifold 50 can be more comprehensively detected, and normal operation of the spinning manifold 50 is ensured. In addition, the light supplementing light source 312 of the first shooting assembly 31 can provide illumination for the camera 311, so as to improve the accuracy of the state data collected by the spinning beam 50.

In some embodiments, as shown in fig. 1, the camera 311 is configured to collect at least one of the following status data: a first status image of spinneret 52 in spin beam 50, a second status image of filament 53 in spin beam 50, a third status image of guide hook 54 in spin beam 50, and a fourth status image of nozzle tip 55 in spin beam 50.

It will be appreciated that the first status image of the spinneret 52 satisfies the predetermined fault condition in the event that the first status image of the spinneret 52 indicates that there is a foreign object on the spinneret 52. When the first status image meets a preset fault condition, the first alarm information may be used to notify a worker or a shovel robot to clean the spinneret plate 52.

In case that the second state image of the wire 53 shows that foreign matters (flock, oil drop, white powder, slurry drop, etc.) are present on the wire 53, the wire 53 is hung in the air (fly wire), the wire 53 is crossed (wrong wire), the wire 53 is broken, the second state image of the wire 53 satisfies a preset fault condition. When the second status image satisfies a preset fault condition, the first alarm information may be used to inform a worker to service the spinning beam 50.

In the case where the third state image of the wire guide hook 54 shows that the wire 53 is not fed into the wire guide hook 54 or the wire guide hook 54 is inclined, the third state image of the wire guide hook 54 satisfies a preset fault condition. The first alarm information may be used to inform the operator to pass the wire 53 through the wire guide hook 54 or to straighten the wire guide hook 54 when the third status image meets a preset fault condition.

In the case where the fourth state image of the nipple 55 shows that the wire 53 is not fed into the nipple 55 or the nipple 55 is inclined, the fourth state image of the nipple 55 satisfies a preset fault condition. When the fourth status image satisfies the preset fault condition, the first alarm information may be used to inform the operator to pass the wire 53 through the nipple 55 or to straighten the nipple 55.

It will be appreciated that, taking the first status image as an example, the controller 20 may also perform image recognition processing on the first status image to determine whether there is a foreign object on the spinneret plate 52. Alternatively, the controller 20 may also compare the first status image with a standard image of the spinneret 52 to determine whether a foreign object is present on the spinneret 52.

Similarly, the second state image, the third state image, and the fourth state image may also be processed by image recognition or compared with the standard image to determine whether the preset fault condition is satisfied, and the description of the embodiment of the first state image may be referred to, which is not repeated.

According to the embodiment of the disclosure, by collecting the state images of the spinneret plate 52, the thread 53, the thread guide hook 54 and the oil nozzle 55 in the spinning manifold 50, the spinning manifold 50 can be more comprehensively detected, and normal operation of the spinning manifold 50 is ensured.

In some embodiments, as shown in fig. 1, the controller 20 is further configured to control the mechanical arm 40 to erase the oil mist when the first photographing assembly 31 is contaminated with the oil mist.

The first shooting assembly 31 is polluted by oil mist, which can be understood as that the camera 311 and/or the light supplementing light source 312 in the first shooting assembly 31 are detected to be polluted by the oil mist, and the mode of detecting the oil mist of the camera 311 and/or the light supplementing light source 312 can be selected and adjusted according to the requirement. For example, a whiteboard may be disposed in front of the lens of the camera 311, and the camera 311 captures a whiteboard image, and if the whiteboard in the image becomes dirty, this indicates that the lens of the camera 311 is contaminated by oil mist. Of course, it is also possible to manually detect whether the camera 311 or the light compensating light source 312 is contaminated with oil mist, and if so, the controller 20 may be notified by a button or a control command, and the controller 20 erases the oil mist by using the robot arm 40.

The controller 20 controls the mechanical arm 40 to erase oil mist, which can be understood that when the camera 311 and/or the light supplementing light source 312 are contaminated by the oil mist, the controller 20 can control the output end of the mechanical arm 40 to be connected with the cleaning device, then the controller 20 can control the output end of the mechanical arm 40 to carry the cleaning device to move to an area where the camera 311 and/or the light supplementing light source 312 are contaminated by the oil mist, and the output end of the mechanical arm 40 starts the cleaning device to clean the area where the camera 311 and/or the light supplementing light source 312 are contaminated by the oil mist. The cleaning device can be any device capable of removing oil mist in the related art, and can be selected and adjusted according to the needs. For example, the cleaning device may employ a cleaning agent, a cleaning cloth, or the like.

In the process of collecting the state data of the spinning beam 50 by the first shooting assembly 31, since the oil nozzle 55 of the spinning beam 50 sprays oil mist to the filament 53, the excessive oil mist may pollute the first shooting assembly 31, and the definition of the image collected by the first shooting assembly 31 is reduced, so that the detection result is inaccurate. According to the embodiment of the disclosure, when the first shooting component 31 is detected to be polluted by oil mist, the mechanical arm 40 can erase the oil mist on the first shooting component 31, so that the definition of the image acquired by the first shooting component 31 is improved, and the detection result is more accurate.

In some embodiments, the light supplementing light source 312 may be an infrared light source or a full spectrum light source.

When the camera 311 collects the image of the silk thread 53 in the spinning manifold 50, as the silk thread 53 is thinner, the light supplementing by adopting the LED light source can have the light reflection condition, so that the image collection effect of the camera 311 is poor, and according to the embodiment of the present disclosure, the light supplementing light source 312 adopts the infrared light source or the full spectrum light source, so that the definition of the image of the silk thread 53 in the spinning manifold 50 collected by the camera 311 can be improved, and the image of the silk thread 53 in the spinning manifold 50 can be collected more accurately.

In some embodiments, as shown in FIG. 1, the status data includes a first status image of spinneret 52 in spin beam 50. The controller 20 is configured to control the mechanical arm 40 to operate the alarm device 51 on the spinning beam 50 when the first status image meets a preset fault condition, so that the spinning beam 50 sends a first alarm message for calling the robot of the shovel to clean the spinneret plate 52.

It can be understood that when the camera 311 collects the first status image of the spinneret plate 52 in the spinning beam 50, if the first status image of the spinneret plate 52 shows that there is a foreign object on the spinneret plate 52, the first status image of the spinneret plate 52 meets a preset fault condition, and the controller 20 controls the mechanical arm 40 to operate the alarm device 51 on the spinning beam 50, so that the spinning beam 50 sends out a first alarm message for calling the shovel robot to clean the spinneret plate 52.

In this embodiment, the first alarm message may be used to call a shoveling robot, which may be a robot in a spinning workshop that is capable of cleaning the spinneret plate 52. The first alarm information sent by the spinning beam 50 can be directly or indirectly notified to the board shovel robot through a common communication mode, and the first alarm information can comprise the number and the like of the spinning beam 50 needing to be cleaned, so that the board shovel robot can clean the spinning beam conveniently.

In some embodiments, the status data includes a third status image of the guide wire hook 54 in the manifold 50. The mechanical arm 40 includes a clamping portion, and the controller 20 is further configured to control the clamping portion to adjust the position of the wire guide hook 54 when the third status image satisfies a preset fault condition.

It will be appreciated that when the camera 311 collects the third status image of the guide hook 54 in the spinning beam 50, if the third status image of the guide hook 54 shows that the wire 53 is not fed into the guide hook 54 or the guide hook 54 is inclined, the third status image of the guide hook 54 satisfies a predetermined fault condition, the controller 20 may control the clamping portion to adjust any one of the angle of inclination of the guide hook 54, the up-down position of the guide hook 54 in the spinning beam 50, the front-back position of the guide hook 54 in the spinning beam 50, and the left-right position of the guide hook 54 in the spinning beam 50, so that the wire 53 passes through the guide hook 54 or the guide hook 54 is properly positioned.

It will be appreciated that the clamping portion of the robot arm 40 may include a plurality of clamping jaws by which the angle of inclination of the wire guide hook 54, the up-down position of the wire guide hook 54 in the spinning beam 50, the front-back position of the wire guide hook 54 in the spinning beam 50, and the left-right position of the wire guide hook 54 in the spinning beam 50 can be adjusted to properly position the wire 53 passing through the wire guide hook 54 or the wire guide hook 54.

According to the embodiment of the disclosure, the third state image of the guide wire hook 54 can be detected in real time, and when the third state image of the guide wire hook 54 meets the preset fault condition, the fault of the guide wire hook 54 can be timely regulated by the mechanical arm 40, so that the influence on the quality of the chemical fiber yarn due to the fault of the guide wire hook 54 is avoided.

In some embodiments, as shown in fig. 1 and 2, the image acquisition device 30 includes a second photographing assembly 32, the second photographing assembly 32 being rotatably connected to the body 10 to acquire environmental data within the spinning shop.

It will be appreciated that the rotatable connection of the second shooting assembly 32 to the body 10 may be such that the second shooting assembly 32 is connected to a post of the body 10 extending in the first direction, the post may be non-rotatable, and the second shooting assembly 32 may be rotatable in a circumferential direction on the post to collect environmental data in the spinning room. Alternatively, the posts may be rotatable, and the posts are rotated in a circumferential direction to drive the second camera assembly 32 to collect environmental data within the spinning room. As shown in fig. 1 and 2, the first photographing assembly 31 and the second photographing assembly 32 may be both disposed on a non-rotatable upright, but the first photographing assembly 31 and the second photographing assembly 32 may also be disposed on different uprights, respectively.

It will be appreciated that the second camera assembly 32 may also be movably coupled to the body 10 in the first direction to rotatably collect environmental data in the spinning room at different heights, with the collected environmental data in the spinning room being more comprehensive.

It will be appreciated that during the detection process, the second shooting assembly 32 may rotate one turn by 360 °, for example, when the second shooting assembly 32 is in the state shown in fig. 1, the second shooting assembly 32 may collect environmental data corresponding to the current position first, then the second shooting assembly 32 may stop rotating after rotating to a specific angle (less than 360 °), the second shooting assembly 32 may collect environmental data corresponding to the current position at this time, and so on, the second shooting assembly 32 may collect environmental data at a plurality of positions in the spinning workshop.

Of course, in other embodiments, the second shooting assembly 32 may be kept rotating at a constant speed, and the controller 20 controls the second shooting assembly 32 to perform one acquisition after a preset time interval to acquire environmental data at a plurality of positions in the spinning workshop.

In one example, the second photographing assembly 32 may collect an image of the inspection path of the body 10 in the spinning shop, and the controller 20 may control the moving part 11 to avoid an obstacle when the obstacle exists on the inspection path of the body 10 in the image. The obstacle may be a person or a device moving in the spinning room.

In one example, the second shooting assembly 32 may collect images of the camera 311 and/or the light compensating source 312 of the first shooting assembly 31, and if the images show that the camera 311 and/or the light compensating source 312 are contaminated by oil mist, the controller 20 may control the mechanical arm 40 to erase the oil mist on the camera 311 and/or the light compensating source 312.

According to the embodiment of the disclosure, the environmental data of a plurality of positions in the spinning workshop can be rotatably acquired through the second shooting component 32, so that the inspection robot is prevented from being affected by the environment of the spinning workshop, and the detection accuracy and the working efficiency of the inspection robot are improved.

In some embodiments, the environmental data includes images of a human body. The controller 20 is further configured to send a second alarm message when the human body image is unchanged for a preset time.

It will be appreciated that when the second shooting assembly 32 rotatably collects an image in the spinning workshop, if a person appears in the image, the second shooting assembly 32 can collect a human body image of a tracking person, the controller 20 can compare a plurality of human body images, and when the human body posture and/or the human body position in the human body image do not change within a preset time, the tracked person may have a condition of discomfort, and the controller 20 can send second alarm information to a related person, such as a lead or a rescue person, and the related person can rescue the uncomfortable person in time.

The second alarm information may be sound, message or mail information.

It will be appreciated that the controller 20 may determine the location of the discomfort person within the spinning room from the location of the person in the body image, and the second alarm information may include the location of the discomfort person within the spinning room, where the person concerned may arrive to rescue the discomfort person.

According to the embodiment of the disclosure, the second shooting assembly 32 can collect the human body image in the spinning workshop, and can timely find out uncomfortable personnel in the spinning workshop, so that related personnel can timely rescue the uncomfortable personnel, and the safety of the personnel in the spinning workshop is ensured.

In some embodiments, as shown in FIG. 2, the environmental data includes an indicator light status image of a power box 60 used to power the spinning plant. The controller 20 is further configured to control the mechanical arm 40 to operate the switch of the distribution box 60 to cut off the power supply of the distribution box 60 when the status image of the indicator light meets the preset whistle condition.

It will be appreciated that, when the inspection robot moves to the distribution box 60, the second shooting assembly 32 may collect a lamp image (i.e. an indicator lamp status image) of the distribution box 60 supplying power to the spinning box 50, and when the distribution box 60 is abnormal in supplying power to the spinning box 50, the indicator lamp status image meets a preset lamp condition, and the controller 20 controls the mechanical arm 40 to operate the switch of the distribution box 60 so as to cut off the power supply of the distribution box 60 to the spinning box 50.

For example, the power box 60 may be provided with an indicator light that may display different colors, such as red or green, with green indicating that the power box 60 is functioning properly and red indicating that the power box 60 is abnormal, such as voltage overload, etc. Alternatively, the distribution box 60 is provided with indicator lights of different colors, such as a green indicator light or a red indicator light. The meeting of the preset lamp language image can be that the indicator light turns red or the red indicator light is long-lighted.

For another example, the power is supplied to the spinning beams 50 by the power distribution box 60, the indicator light state image of the power distribution box 60 may include an indicator light for supplying power to the spinning beams 50 by the power distribution box 60, and when the power supply to one of the spinning beams 50 by the power distribution box 60 is abnormal, the indicator light state image of the abnormal spinning beam 50 satisfies a preset lamp condition, and the controller 20 controls the mechanical arm 40 to operate the switch of the power distribution box 60 corresponding to the abnormal spinning beam 50 so as to cut off the power supply to the abnormal spinning beam 50 by the power distribution box 60.

It will be appreciated that after the mechanical arm 40 cuts off the power to the electrical box 60, the controller 20 may send an alarm message to a maintenance person, and the maintenance person may maintain the abnormal power supply spinning box 50, so that the electrical box 60 normally supplies power to the abnormal power supply spinning box 50. Or after the mechanical arm 40 cuts off the power supply of the power distribution box 60 to the spinning box 50, the controller 20 can send an alarm message to a maintenance person, and the maintenance person can maintain the power distribution box 60 so that the power distribution box 60 can normally supply power to the spinning box 50.

According to the embodiment of the disclosure, the second shooting component 32 may collect an indicator light status image of the distribution box 60, so as to detect the power supply condition of the distribution box 60 to the spinning box 50, and may find the power supply problem of the distribution box 60 and/or the spinning box 50 in time, so as to ensure that the spinning box 50 can be normally powered on.

In some embodiments, as shown in fig. 1 and 2, the inspection robot further includes: the temperature acquisition device 70 is arranged on the body 10, and the temperature acquisition device 70 comprises a first temperature sensor 71 which can be arranged in a telescopic manner relative to the body 10. The controller 20 is further configured to control the first temperature sensor 71 to extend into the spinning beam 50 to detect a first temperature of the filaments 53 in the spinning beam 50 when the body 10 is moved to a preset position of the spinning beam 50, and the controller 20 is further configured to send out a third alarm message when the first temperature exceeds a first temperature threshold.

It will be appreciated that the sensing end of the first temperature sensor 71 may be telescopically movable relative to the body 10, for example, the first temperature sensor 71 may be telescopic by means of a screw-nut mechanism or the like. When the body 10 moves to the preset position of the spinning beam 50, the controller 20 can control the detection end of the first temperature sensor 71 to extend into the spinning beam 50, the first temperature sensor 71 can detect the first temperature of the filament 53 in the spinning beam 50, and the controller 20 is further configured to send out a third alarm message when the first temperature exceeds the first temperature threshold, so as to inform a maintenance person to maintain the spinning beam 50 with the first temperature exceeding the first temperature threshold. The third alarm information may be sound, message, etc.

It is understood that the first temperature sensor 71 may be any device having a temperature data acquisition function in the related art. For example, the first temperature sensor 71 may be an infrared temperature sensor. The first temperature sensor 71 may acquire a first temperature of the filament 53 at any location in the spin beam 50, for example, the first temperature sensor 71 may acquire a first temperature of the filament 53 at the point of spinning of the spinneret 52 in the spin beam 50.

It will be appreciated that in order to ensure the quality of the filaments 53, it is necessary to control the problems of the filaments 53 in the spinning beam 50. According to the embodiment of the disclosure, the temperature of the filament 53 in the spinning beam 50 can be detected by the first temperature sensor 71, and when the first temperature exceeds the first temperature threshold value, third alarm information can be sent out to inform maintenance personnel to alarm, confirm and maintain the spinning beam 50 with the first temperature exceeding the first temperature threshold value, so that the normal operation of the spinning beam 50 is ensured, and the quality of the filament 53 is ensured.

In some embodiments, as shown in fig. 1 and 2, the temperature acquisition device 70 further includes a second temperature sensor 72, the second temperature sensor 72 being used to acquire the ambient temperature of the spinning workshop. The controller 20 is further configured to send out fourth alarm information when the ambient temperature exceeds the second temperature threshold, where the fourth alarm information is used to enable the cooling device to cool the spinning workshop.

It will be appreciated that when the ambient temperature of the spinning room collected by the second temperature sensor 72 exceeds the second temperature threshold, the controller 20 may send a fourth alarm message to the cooling device to activate the cooling device to cool the spinning room. Alternatively, the controller 20 may send a fourth alarm message to the worker that the cooling device needs to be started, and the worker may perform start management on the cooling device. The fourth alarm information may be sound, message, etc.

It is understood that the cooling device may be any device capable of cooling the ambient temperature in the related art. For example, the cooling device may be a mist spray device.

Because of the heat dissipation or weather temperature problem in the operation process of the spinning manifold 50 in the spinning workshop, the temperature in the spinning workshop is too high, so that the normal operation of the spinning manifold 50 is affected, and the physical discomfort of personnel in the spinning workshop is avoided.

According to the embodiment of the disclosure, the second temperature sensor 72 is used for collecting the environmental temperature of the spinning workshop, and when the environmental temperature exceeds the second temperature threshold value, fourth alarm information is sent, and the cooling device can be started to cool the spinning workshop through the fourth alarm information, so that the spinning manifold 50 can be ensured to normally operate, and the phenomenon that people in the spinning workshop cause discomfort due to overhigh temperature in the spinning workshop is avoided.

In some embodiments, in the case that the cooling forming process of the spinning beam 50 is a cross-blowing, the controller 20 is further configured to control the mechanical arm 40 to open the door of the spinning beam 50 when the body 10 moves to the preset position of the spinning beam 50, so that the image acquisition device 30 can acquire the state data of the spinning beam 50.

The manifold 50 may include a side-blown manifold in which the cooling process is a side-blown air and a ring-blown manifold in which the cooling process is a ring-blown air, the components of which are different from the air-cooled process. The circular blowing spinning beam may not be provided with a gate, and the image acquisition device may directly acquire the state data of the spinning beam 50. When the spinning beam 50 is a side-blowing spinning beam, a gate is provided to the side-blowing spinning beam in order to avoid the influence of the surrounding environment on the operation of the side-blowing spinning beam. For detecting the side-blowing spinning beam, when the inspection robot is located at a preset position of the side-blowing spinning beam, the controller 20 may control the mechanical arm 40 to open a door of the side-blowing spinning beam, so that the image acquisition device 30 may acquire status data of the side-blowing spinning beam.

It will be appreciated that the door of the side-blowing spinning beam may include a door disposed on one side of the side-blowing spinning beam, or may include two doors disposed on two sides of the side-blowing spinning beam, and the mechanical arm 40 may include a clamping portion at an output end of the mechanical arm 40 for opening the door of the side-blowing spinning beam, where the clamping portion may clamp a handle of the door or an edge of the door to open the door of the side-blowing spinning beam. When two door bodies are respectively arranged on two sides of the side-blowing spinning box body, two mechanical arms 40 can be further arranged, and the two door bodies of the side-blowing spinning box body are opened, so that the efficiency of opening the door bodies by the mechanical arms 40 is improved.

According to the embodiment of the disclosure, when the spinning beam 50 is a side-blowing spinning beam, the controller 20 can control the mechanical arm 40 to open the door of the side-blowing spinning beam, so that the image acquisition device 30 can acquire the state data of the spinning beam 50, and the situation that the image acquisition device 30 acquires the image due to shielding of the door of the side-blowing spinning beam on the image acquisition device 30 is avoided, so that the accuracy of acquiring the image by the image acquisition device 30 is influenced.

In some embodiments, as shown in fig. 1 and 2, the moving part 11 includes a moving wheel 12 for walking on the floor of the spinning room, or the moving part 11 includes a rolling wheel for moving on a hanger rail of the spinning room.

It will be appreciated that one or more inspection robots may be provided in the spinning shop to inspect a plurality of spinning beams 50 in the spinning shop, and that the inspection robots may include a moving part 11 of a moving wheel 12 that travels on the floor of the spinning shop or may include a moving part 11 for moving on a hanger rail of the spinning shop in order to enable inspection of the inspection robots in the spinning shop.

When a plurality of inspection robots are provided, all inspection robots can also all use the moving wheel 12 to realize movement, or all use the rolling wheel to realize movement.

In one example, a part of the inspection robots among the plurality of inspection robots may employ a moving wheel 12, and for example, the moving part 11 of the part of the inspection robots may be an AGV (Automated Guided Vehicle, auto guided vehicle), and the moving wheel 12 is a moving wheel of an AGV dolly. The other part of the inspection robots can adopt rolling wheels, for example, the moving part 11 of the inspection robots can be a rail car capable of moving on a lifting rail of the spinning workshop, so that the inspection robots can inspect different spaces in the vertical direction in the spinning workshop, and the spinning workshop can be inspected more comprehensively.

If the second shooting assembly 32 of the inspection robot including the AGV collects that the overhead rail car interferes with the inspection robot in the inspection path, the controller 20 may control the AGV to avoid the overhead rail car to ensure that the AGV and the overhead rail car do not collide.

According to the embodiment of the present disclosure, the inspection robot may travel on the floor of the spinning room through the moving part 11 including the moving wheel 12, or may travel at the height of the spinning room through the moving part 11 including the hanger rail, so that the space within the spinning room may be reasonably utilized.

In the description of the present specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present disclosure.

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 indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the disclosure. The components and arrangements of specific examples are described above in order to simplify the disclosure of this disclosure. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (14)

1. The inspection robot is characterized by comprising:

a body provided with a moving part;

the controller is arranged on the body and is used for controlling the moving part to drive the body to move in a spinning workshop provided with a spinning box body;

The image acquisition device is arranged on the body, and the controller is also used for controlling the image acquisition device to acquire the state data of the spinning manifold when the body moves to the preset position of the spinning manifold;

the mechanical arm is connected to the body, and the controller is further used for controlling the mechanical arm to operate an alarm device on the spinning manifold when the state data of the spinning manifold meets a preset fault condition so that the spinning manifold can send out first alarm information.

2. The inspection robot of claim 1, wherein,

the image acquisition device comprises a plurality of first shooting assemblies, wherein the first shooting assemblies in the plurality of first shooting assemblies can be movably connected to the body along a first direction;

the first shooting component comprises a camera and a light supplementing light source fixedly connected with the camera, the camera is used for collecting state data of the spinning manifold, and the light supplementing light source is used for providing illumination.

3. The inspection robot of claim 2, wherein,

the camera is used for collecting at least one of the following state data:

the method comprises the steps of a first state image of a spinneret plate in a spinning manifold, a second state image of a silk thread in the spinning manifold, a third state image of a silk guide hook in the spinning manifold and a fourth state image of a nozzle tip in the spinning manifold.

4. The inspection robot of claim 2, wherein,

the controller is also used for controlling the mechanical arm to erase the oil mist when the first shooting assembly is polluted by the oil mist.

5. The inspection robot of claim 2, wherein the light supplementing light source is an infrared light source or a full spectrum light source.

6. The inspection robot of claim 1, wherein the status data includes a first status image of a spinneret in the spinning beam;

and the controller is used for controlling the mechanical arm to operate an alarm device on the spinning manifold when the first state image meets the preset fault condition, so that the spinning manifold sends out first alarm information for calling a plate shoveling robot to clean the spinneret plate.

7. The inspection robot of claim 1, wherein the status data includes a third status image of a wire guide hook in the spinning beam;

the mechanical arm comprises a clamping part, and the controller is further used for controlling the clamping part to adjust the position of the wire guide hook when the third state image meets the preset fault condition.

8. The inspection robot according to any one of claims 1-7, wherein,

the image acquisition device comprises a second shooting component which is rotatably connected with the body so as to acquire environmental data in the spinning workshop.

9. The inspection robot of claim 8, wherein the environmental data includes a human image;

the controller is also used for sending second alarm information when the human body image is unchanged in preset time.

10. The inspection robot of claim 8, wherein the environmental data includes an indicator light status image of a power distribution box for powering the spinning plant;

and the controller is also used for controlling the mechanical arm to operate the switch of the distribution box so as to cut off the power supply of the distribution box when the status image of the indicator lamp meets the preset whistle condition.

11. The inspection robot of any one of claims 1-7, further comprising:

the temperature acquisition device is arranged on the body and comprises a first temperature sensor which can be arranged in a telescopic manner relative to the body;

The controller is further used for controlling the first temperature sensor to extend into the spinning box body when the body moves to a preset position of the spinning box body so as to detect a first temperature of a silk thread in the spinning box body, and is further used for sending out third alarm information when the first temperature exceeds a first temperature threshold value.

12. The inspection robot of claim 11, wherein the temperature acquisition device further comprises a second temperature sensor for acquiring an ambient temperature of the spinning workshop;

the controller is also used for sending out fourth alarm information when the environmental temperature exceeds a second temperature threshold value, and the fourth alarm information is used for starting a cooling device to cool the spinning workshop.

13. The inspection robot according to any one of claims 1-7, wherein,

and under the condition that the cooling forming process of the spinning manifold is side blowing, the controller is further used for controlling the mechanical arm to open the door body of the spinning manifold when the body moves to the preset position of the spinning manifold, so that the image acquisition device can acquire the state data of the spinning manifold.

14. The inspection robot according to any one of claims 1-7, wherein,

the moving part comprises a moving wheel for walking on the ground of the spinning workshop;

alternatively, the moving part includes a rolling wheel for moving on a hanger rail of the spinning plant.