A horizontal self-adjusting coal slime cross-section identification device for a coal mine water tank cleaning robot

Abstract

The present invention provides a horizontal self-adjusting coal slime cross section recognition device for a coal mine water tank cleaning robot, comprising the following components: a dual-line cross laser radar (1), a visual sensor (2), a horizontal sensor (3), a rotating unit, a lifting unit, a tilt compensation unit, an information processor (19), a chassis (20), a protective shell (22), and a ball sleeve groove (24). In terms of structure, the upper sensor of the device can always remain horizontal and the dual-line cross laser radar (1) can rotate. In terms of coal slime interface recognition, the dual-line cross laser radar (1) and the visual sensor (2) are integrated to realize the recognition of the coal slime interface in the water tank. The present invention is designed to make up for the shortcomings of the prior art and improve the efficiency of coal slime detection. It is a horizontal self-adjusting coal slime cross section recognition device for a coal mine water tank cleaning robot with a compact structure and strong practicality.

Description

Technical Field

[0001] The invention belongs to the field of intelligent mining machinery, and in particular relates to a coal slime cross-section identification device. Background Art

[0002] Coal slime identification is a key technology in underground coal slime clearing robots. There are two common identification methods in industrial applications:

[0003] The first is the manual identification method, which is to identify the coal slime by people and operate the robot to clean the coal slime.

[0004] The second is the visual sensor method. This method uses a visual sensor fixed on the robot for identification, which is greatly affected by the robot's posture and lighting. Therefore, efficient and stable identification of coal slime is particularly important.

[0005] At present, the detection status of coal slime identification in my country's industrial production is as follows:

[0006] The detection method is usually manual detection.

[0007] The visual sensor method is greatly affected by the robot's posture and lighting, and is prone to large errors.

[0008] Among them, the first manual recognition method is affected by factors such as workers' operating experience, mental state, and physical discomfort, which greatly increases the instability of recognition and has an adverse effect on the detection results. The second visual sensor method is greatly affected by the change of the robot's posture because the visual sensor is fixed on the robot; and the recognition sensor is a visual sensor, which is greatly affected by lighting conditions and has a large detection error.

[0009] Therefore, improving the accuracy of detection and identification, thereby reducing the error rate of coal slime identification, improving production efficiency, and achieving efficient and accurate detection and identification, that is, efficient identification of coal slime, is of great significance to the development of industrial production. However, in actual industrial production, especially in large-scale mineral development, there has been no breakthrough in the detection method of coal slime detection and identification, which has greatly increased the cost of industrial production. Summary of the invention

[0010] The present invention is designed to make up for the shortcomings of the prior art and improve the efficiency of coal slime detection. It is a horizontally self-adjusting coal slime section identification device for a coal mine water tank cleaning robot with a compact structure and strong practicality.

[0011] A horizontal self-adjusting coal slime cross-section identification device for a coal mine water tank cleaning robot comprises the following components:

[0012] A two-line cross laser radar (1), a visual sensor (2), a horizontal sensor (3), a rotation unit, a lifting unit, a tilt compensation unit, an information processor (19), a chassis (20), a protective shell (22), and a ball sleeve groove (24).

[0013] in,

[0014] The rotating unit is composed of a rotating motor (5) and a rotating platform (6), and the rotating motor (5) is placed in a circular groove on the upper side of the compensation disc (4);

[0015] The rotating motor (5) is connected to the rotating platform (6);

[0016] A dual-line cross laser radar (1) and a visual sensor (2) are installed at the front of the upper side of the compensation disk (4), and a level sensor (3) is installed at the rear of the upper side thereof;

[0017] When working, the rotating platform (6) drives the dual-line cross laser radar (1) to rotate intermittently to scan the water tank.

[0018] in,

[0019] The lifting unit is composed of four connecting rods (15), four lifting connection frames (16), four lifting connection pins (17), four lifting electric push rods (18) and a lifting disc (14), wherein the lower side of the lifting disc (14) is provided with four ears with central openings distributed along a radial angle of 90°;

[0020] One end of the connecting rod (15) is hinged to the bottom end of the lifting connecting frame (16), and the other end is hinged to the hinge block at the top end of the lifting electric push rod (18);

[0021] The top end of the lifting connection frame (16) is connected to the ear on the lifting disc (14) through the lifting connection pin (17);

[0022] Four lifting electric push rods (18) are distributed on the chassis along a radial angle of 90 degrees and are respectively located on the same vertical plane as the ears of the lifting disc (14);

[0023] During operation, the extension amount of the lifting electric push rod (18) increases, and the connecting rod (15) pushes the lifting disc (14) to rise.

[0024] in,

[0025] The tilt compensation unit is composed of a compensation disc (4), a connecting rod (13), a compensation ball (11), a compensation ball sleeve (12), a compensation electric push rod (10), a fixing screw (23), a compensation connecting frame (7), a compensation hinge block (8) and a compensation connecting pin (9);

[0026] The compensation connecting frame (7) is hinged to the upper end of the compensation hinge block (8) through a compensation connecting pin (9), the lower end of the compensation hinge block (8) is connected to the upper end of the compensation electric push rod (10), the top end of the compensation connecting frame (7) is connected to the lifting disc (14), and the compensation connecting frame (7) can swing;

[0027] Two compensation electric push rods (10) are placed on the lifting disc (14) and are distributed at 90 degrees in the radial direction; the compensation ball (11) is installed at the center of the upper side of the lifting disc (14) through a connecting rod (13);

[0028] The compensation ball sleeve (12) is installed at the center point of the lower side of the compensation disc (4), and the two parts of the compensation ball sleeve (12) are fixed by fixing screws, and the compensation ball (11) is placed in the compensation ball sleeve (12);

[0029] The upper end of the compensation ball sleeve (12) is placed in the ball sleeve groove (24), and the ball sleeve groove (24) is a circular groove opened at the center point of the lower side of the compensation disc (4);

[0030] When working, the tilt compensation unit corrects the tilt by extending and retracting the compensation electric push rod (10) on the lifting disc (14); when tilt occurs, the horizontal sensor (3) inputs the detected tilt signal into the information processor (19), and the information processor (19) controls the tilt compensation electric push rod (10) to correct the tilt of the compensation disc (4) by analyzing and processing the tilt signal, that is, corrects the tilt of the dual-line cross laser radar (1) and the visual sensor (2).

[0031] in,

[0032] The information processor (19) and the compensation electric push rod (10) are symmetrically mounted on the upper side of the lifting disc (14).

[0033] in,

[0034] The chassis (20) is connected to the fixed end of the protective shell (22), and four lifting electric push rods (18) are distributed radially at 90 degrees on the upper side of the chassis. An anti-dead point boss (21) is installed at the center position of the upper side of the chassis to prevent the mechanism from being in a dead point position at a certain moment during lifting.

[0035] in,

[0036] The fixed end of the protective shell (22) is connected to the chassis (20), and the movable end is connected to the lifting disc (14), so that vertical telescopic movement can be achieved; the protective shell (22) has a circular hole in the center and equidistant steps extending inward in the hole, which are used to keep the interior of the protection device clean and dust-free, and reduce malfunctions caused by pollutants.

[0037] A horizontal self-adjusting coal slime section identification device for a coal mine water tank cleaning robot is installed on the cleaning robot for coal slime detection and identification. Its working process is as follows:

[0038] When starting to work, the level sensor (3) detects whether the compensation disc (4) is level;

[0039] If the compensation disk (4) is not horizontal, the horizontal sensor (3) inputs a compensation signal into the information processor (19), and the information processor (19) controls the tilt compensation unit to perform compensation until it is horizontal;

[0040] If the compensation disk (4) is horizontal, the lifting unit will lift the upper part of the device, the two-line cross laser radar (1) will scan the water tank to obtain the position information of the water tank point in the world coordinate system, and the visual sensor (2) will obtain image information, and both will input this information into the information processor (19);

[0041] The information processor (19) extracts features from the image, processes edge features of the image acquired by the visual sensor (2), and simultaneously converts the position information of the water tank point acquired by the dual-line cross laser radar (1) in the world coordinate system into the pixel coordinate system through the camera coordinate system and the image coordinate system. At this time, the pixel points of the image acquired by the visual sensor carry depth information, which is projected onto the image and filtered, so as to obtain the cross section of the coal slime through joint identification.

[0042] in,

[0043] The position information of the water tank point acquired by the dual-line cross laser radar (1) in the world coordinate system is converted into the pixel coordinate system through the camera coordinate system and the image coordinate system. The specific process is as follows:

[0044] The position of point p obtained by laser radar scanning in the world coordinate system is (X L ,Y L ,Z L ), then the point p(X L ,Y L ,Z L ) and the camera coordinate system point p(X C ,Y C ,Z C ) is as follows:

[0045]

[0046] R is the rotation matrix, T is the translation matrix;

[0047] In the camera coordinate system, p(X C ,Y C ,Z C) and the transformation relationship between p(x, y) in the image coordinate system:

[0048]

[0049] The final conversion relationship is:

[0050]

[0051] f is the focal length of the visual sensor;

[0052] Conversion between image coordinate system p(x, y) and pixel coordinate system p(u, v):

[0053] The translation transformation relationship between the image coordinate system and the pixel coordinate system:

[0054]

[0055] The position of the far point O in the image coordinate system in the pixel coordinate system is (u0, v0), dx and dy are the length and width of the unit pixel on the image plane respectively;

[0056] Finally, the coordinate transformation relationship between the dual-line cross laser radar (1) and the visual sensor (2) is:

[0057]

[0058] in,

[0059] The depth information is filtered, and when the device is used for slime identification in different environments, it is only necessary to change the depth filtering value.

[0060] Technical effects of the present invention:

[0061] 1. The present invention adopts the method of horizontal maintenance and multi-sensor fusion to identify the coal slime interface in the coal-water bunker, which has the characteristics of high measurement accuracy and good stability, and designs a tilt compensation mechanism to ensure the accuracy of coal slime identification when the device tilts due to external factors.

[0062] 2. In order to solve the problem of low measurement accuracy and low detection efficiency of existing detection methods in coal slime identification, the present invention adopts the design concepts of "multi-sensor fusion" and "tilt compensation unit". The horizontal signal of the horizontal sensor detection device is input into the information processing unit, and the information processing unit controls the tilt compensation unit to compensate for the inclination of the disc, so that the disc always remains horizontal. In terms of coal slime identification, multi-sensor fusion is adopted. Through the fusion of laser radar and visual sensor, the recognition efficiency and accuracy of coal slime are greatly improved, and the problem that traditional visual sensors are greatly affected by light is reduced.

[0063] 3. The present invention is easy to use, highly practical, and very suitable for use in coal mine underground water tank cleaning robots for coal slime identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the embodiments of the invention. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0065] Figure 1 The structural schematic diagram of the present invention is shown;

[0066] Figure 2 A schematic diagram showing the connection between the compensation ball (11) and the compensation ball sleeve (12) of the present invention is shown;

[0067] Figure 3 A schematic diagram showing the connection between the lifting connection frame (16) of the present invention and the connecting rod (15) and the ear is shown;

[0068] Figure 4 A schematic diagram showing the connection between the lifting disc (14) and the protective shell (22) of the present invention is shown;

[0069] Figure 5 A schematic diagram showing the connection between the compensation electric push rod (10) and the compensation connecting frame (7) of the present invention is shown;

[0070] Figure 6 The working schematic diagram of the present invention is shown.

[0071] Description of reference numerals:

[0072] 1. Dual-line cross laser radar, 2. Visual sensor, 3. Level sensor, 4. Compensation disc, 5. Rotating motor, 6. Rotating platform, 7. Compensation connecting frame, 8. Compensation hinge block, 9. Compensation connecting pin, 10. Compensation electric push rod, 11. Compensation ball, 12. Compensation ball sleeve, 13. Connecting rod, 14. Lifting disc, 15. Connecting rod, 16. Lifting connecting frame, 17. Lifting connecting pin, 18. Lifting electric push rod, 19. Information processor, 20. Chassis, 21. Anti-dead point boss, 22. Protective shell, 23. Fixing screw, 24. Ball sleeve groove. DETAILED DESCRIPTION

[0073] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0074] The present invention provides a horizontal self-adjusting coal slime cross-section identification device for a coal mine water tank cleaning robot. The structure can ensure that the upper sensor of the device always remains horizontal and the dual-line cross laser radar 1 can rotate.

[0075] When working, the lifting unit raises the upper part; when the device tilts, the horizontal sensor 3 detects the tilt signal and corrects the tilt of the compensation disc 4 by controlling the extension and contraction amount of the compensation electric push rod 10 to ensure that the sensor on the compensation disc 4 always remains horizontal.

[0076] In terms of coal slime interface recognition, the coal slime interface in the water bin is recognized by integrating the dual-line cross laser radar 1 and the visual sensor 2; when working, the dual-line cross laser radar 1 emits a cross laser beam, and the radar receiving device analyzes the reflected laser to obtain the position information of each point on the cross trace of the cross laser beam in the world coordinate system.

[0077] The two-line cross laser radar 1 can continuously obtain position information through the intermittent rotation of the rotating unit and input the position information of these points into the information processor 19; while the two-line cross laser radar 1 emits laser, the visual sensor 2 obtains the water tank image, and sends the obtained image to the information processor 19, and performs feature extraction on the image to obtain the edge features of the water tank and its interior.

[0078] At the same time, after the two-line cross laser radar 1 and the visual sensor 2 are jointly calibrated, the position information of the point in the world coordinate system can be converted to the pixel coordinate system through the camera coordinate system and the image coordinate system through the conversion between the coordinate systems. At this time, the pixel points of the image acquired by the visual sensor 2 will have depth information.

[0079] By filtering the depth information on the image and combining it with the edge features of the coal slime cross section extracted by the information processor, the cross section of the coal slime can be determined, that is, the coal slime can be identified.

[0080] See also Figure 1-Figure 6 .

[0081] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A horizontal self-adjusting coal slime cross-section identification device for a coal mine water tank cleaning robot, characterized in that: It includes the following components: Two-line cross laser radar (1), visual sensor (2), level sensor (3), rotation unit, lifting unit, tilt compensation unit, information processor (19), chassis (20), protective shell (22), ball sleeve groove (24); The rotating unit is composed of a rotating motor (5) and a rotating platform (6), and the rotating motor (5) is placed in a circular groove on the upper side of the compensation disc (4); The rotating motor (5) is connected to the rotating platform (6); A dual-line cross laser radar (1) and a visual sensor (2) are installed at the front of the upper side of the compensation disk (4), and a level sensor (3) is installed at the rear of the upper side thereof; When working, the rotating platform (6) drives the dual-line cross laser radar (1) to rotate intermittently to scan the water tank; The lifting unit is composed of four connecting rods (15), four lifting connection frames (16), four lifting connection pins (17), four lifting electric push rods (18) and a lifting disc (14), wherein the lower side of the lifting disc (14) is provided with four ears with central openings distributed along a radial angle of 90°; One end of the connecting rod (15) is hinged to the bottom end of the lifting connecting frame (16), and the other end is hinged to the hinge block at the top end of the lifting electric push rod (18); The top end of the lifting connection frame (16) is connected to the ear on the lifting disc (14) through the lifting connection pin (17); Four lifting electric push rods (18) are distributed on the chassis along a radial angle of 90 degrees and are respectively located on the same vertical plane as the ears of the lifting disc (14); When working, the extension amount of the lifting electric push rod (18) increases, and the connecting rod (15) pushes the lifting disc (14) to rise; The tilt compensation unit is composed of a compensation disc (4), a connecting rod (13), a compensation ball (11), a compensation ball sleeve (12), a compensation electric push rod (10), a fixing screw (23), a compensation connecting frame (7), a compensation hinge block (8) and a compensation connecting pin (9); The compensation connecting frame (7) is hinged to the upper end of the compensation hinge block (8) through a compensation connecting pin (9), the lower end of the compensation hinge block (8) is connected to the upper end of the compensation electric push rod (10), the top end of the compensation connecting frame (7) is connected to the lifting disc (14), and the compensation connecting frame (7) can swing; Two compensation electric push rods (10) are placed on the lifting disc (14) and are distributed at 90 degrees in the radial direction; the compensation ball (11) is installed at the center of the upper side of the lifting disc (14) through a connecting rod (13); The compensation ball sleeve (12) is installed at the center point of the lower side of the compensation disc (4), and the two parts of the compensation ball sleeve (12) are fixed by fixing screws, and the compensation ball (11) is placed in the compensation ball sleeve (12); The upper end of the compensation ball sleeve (12) is placed in the ball sleeve groove (24), and the ball sleeve groove (24) is a circular groove opened at the center point of the lower side of the compensation disc (4); When working, the tilt compensation unit corrects the tilt by the extension and contraction amount of the compensation electric push rod (10) on the lifting disc (14); when tilt occurs, the horizontal sensor (3) inputs the detected tilt signal into the information processor (19), and the information processor (19) controls the tilt compensation electric push rod (10) to correct the tilt of the compensation disc (4) by analyzing and processing the tilt signal, that is, corrects the tilt of the double-line cross laser radar (1) and the visual sensor (2); The information processor (19) and the compensation electric push rod (10) are symmetrically mounted on the upper side of the lifting disc (14); The chassis (20) is connected to the fixed end of the protective shell (22), and four lifting electric push rods (18) are distributed at 90 degrees in the radial direction on the upper side of the chassis. An anti-dead point boss (21) is installed at the center position of the upper side of the chassis to prevent the mechanism from being in a dead point position at a certain moment during lifting; The fixed end of the protective shell (22) is connected to the chassis (20), and the movable end is connected to the lifting disc (14), so that vertical telescopic movement can be achieved; the protective shell (22) has a circular hole in the center and equidistant steps extending inward in the hole, which are used to keep the interior of the protection device clean and dust-free, and reduce malfunctions caused by pollutants.

2. A method for using the horizontal self-adjusting coal slime cross-section identification device for a coal mine water tank cleaning robot as claimed in claim 1, the method of use specifically comprising: When starting to work, the level sensor (3) detects whether the compensation disc (4) is level; If the compensation disk (4) is not horizontal, the horizontal sensor (3) inputs a compensation signal into the information processor (19), and the information processor (19) controls the tilt compensation unit to perform compensation until it is horizontal; If the compensation disk (4) is horizontal, the lifting unit will lift the upper part of the device, the two-line cross laser radar (1) will scan the water tank to obtain the position information of the water tank point in the world coordinate system, and the visual sensor (2) will obtain image information, and both will input this information into the information processor (19); The information processor (19) extracts features from the image, processes edge features of the image acquired by the visual sensor (2), and simultaneously converts the position information of the water tank point acquired by the dual-line cross laser radar (1) in the world coordinate system into the pixel coordinate system through the camera coordinate system and the image coordinate system. At this time, the pixel points of the image acquired by the visual sensor carry depth information, which is projected onto the image and filtered, so as to obtain the cross section of the coal slime through joint identification.

3. The method according to claim 2, characterized in that The position information of the water tank point acquired by the dual-line cross laser radar (1) in the world coordinate system is converted into the pixel coordinate system through the camera coordinate system and the image coordinate system. The specific process is as follows: The position of point p obtained by laser radar scanning in the world coordinate system is (X L ,Y L ,Z L ), then the point p(X L ,Y L ,Z L ) and the camera coordinate system point p(X C ,Y C ,Z C ) is as follows: R is the rotation matrix, T is the translation matrix; In the camera coordinate system, p(X C ,Y C ,Z C ) and the transformation relationship between p(x, y) in the image coordinate system: The final conversion relationship is: f is the focal length of the visual sensor; Conversion between image coordinate system p(x, y) and pixel coordinate system p(u, v): The translation transformation relationship between the image coordinate system and the pixel coordinate system: The position of the far point O in the image coordinate system in the pixel coordinate system is (u0, v0), dx and dy are the length and width of the unit pixel on the image plane respectively; Finally, the coordinate transformation relationship between the dual-line cross laser radar (1) and the visual sensor (2) is:

4. The method according to claim 2, characterized in that: The depth information is filtered, and when the device is used for slime identification in different environments, it is only necessary to change the depth filtering value.

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