A rail-mounted inspection robot with infrared temperature measurement function

Abstract

The present invention discloses a rail-mounted inspection robot with an infrared temperature measurement function, and relates to the technical field of inspection robots. The present invention comprises an analysis unit, a motion unit, an infrared temperature measurement module, a plurality of auxiliary temperature measurement modules and a dual-axis pan-tilt module, wherein the analysis unit respectively establishes data communication with the motion unit and the dual-axis pan-tilt module, the analysis unit presets a moving speed v of the inspection robot, the analysis unit transmits the moving speed v to the motion unit, the motion unit drives the inspection robot to move on the hanging rail at the top of the mine, the motion unit has a built-in displacement encoder, the displacement encoder obtains the displacement information d of the inspection robot and transmits it to the analysis unit, the present invention realizes rapid locking and comprehensive temperature measurement of temperature targets through the cooperation between the infrared temperature measurement module and the auxiliary temperature measurement module, and can realize adaptive collection and path planning of multiple temperature targets by dynamically adjusting the moving speed and collection interval time of the inspection robot.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a rail-mounted inspection robot with an infrared temperature measurement function. Background Art

[0002] The mine track robot is an intelligent device used in the mine environment. It can perform inspection and monitoring work along the preset track. It has multiple functions and characteristics and can effectively improve the safety and efficiency of mine production. The track robot is usually composed of a track module, a robot body, a communication module and a power supply module. The track module provides a stable operating carrier for the robot. The robot body is equipped with a variety of sensors to collect images, sounds, infrared thermal images and temperature data of the inspection equipment and the environment, smoke, various gas concentrations and other parameter information in real time to realize the environmental perception function. The communication module uploads the inspection data to the ground monitoring center, which is convenient for operation and maintenance personnel to monitor in real time or perform data analysis.

[0003] The infrared temperature measurement function of the existing rail-mounted inspection robot is mainly divided into two technical routes. One is to adopt the collection method of four-sided thermal imagers to realize temperature monitoring by real-time feedback of multi-channel thermal imaging information. This technical solution needs to process a large amount of thermal imaging information, the equipment has a large computing pressure, the communication equipment has a large data throughput, and the cost is also higher. The other is to use spherical and densely distributed infrared sensors to realize temperature detection. This technical solution has a small amount of temperature data and low cost, but the detection accuracy is poor. The accuracy of the temperature detection results in the complex environment of the mine is not high, and it cannot meet the monitoring needs of the existing inspection robots. Therefore, how to balance the cost and temperature detection accuracy of the mine inspection robot is a technical problem that technical personnel in this field need to solve. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a rail-mounted inspection robot with an infrared temperature measurement function, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a rail-mounted inspection robot with infrared temperature measurement function, including an analysis unit, a motion unit, an infrared temperature measurement module, a plurality of auxiliary temperature measurement modules and a dual-axis pan-tilt module, wherein the analysis unit establishes data communication with the motion unit and the dual-axis pan-tilt module respectively, and the analysis unit presets the moving speed v of the inspection robot, and the value of the speed v is 0.5 , the analysis unit transmits the moving speed v to the motion unit, and the motion unit drives the inspection robot to move on the hanging rail at the top of the mine according to the moving speed v. The motion unit has a built-in displacement encoder, and the displacement encoder obtains the displacement information d of the inspection robot and transmits it to the analysis unit. Any encoder on the market that meets the requirements of distance information collection can be used, and the displacement encoder is not limited to a specific model here. The dual-axis pan-tilt module is fixedly installed at the bottom of the inspection robot. The dual-axis pan-tilt module is driven by two axis motors, one of which is an x-axis motor, which is used to drive the end of the dual-axis pan-tilt module to rotate horizontally, and the other axis motor is a y-axis motor, which is used to drive the end of the dual-axis pan-tilt module to rotate vertically. The infrared temperature measurement module and several auxiliary temperature measurement modules are all installed and fixed at the end of the dual-axis pan-tilt module. The end of the dual-axis pan-tilt module is a spherical structure, and the x-axis motor and the y-axis motor are both HO4307 model hollow torque servo motors;

[0006] The auxiliary temperature measurement modules are evenly distributed around the end of the pan-tilt module in three C-shaped structures, upper, middle and lower. Each auxiliary temperature measurement module has an independent number and the direction of the temperature measurement end is opposite to the fixed direction. Each auxiliary temperature measurement module obtains the temperature information t1 of the temperature measurement end and transmits the temperature information t1 and the number to the analysis unit. The infrared temperature measurement module is located at the notch of the C-shaped structure in the middle of the auxiliary temperature measurement modules. The direction of the temperature measurement end of the infrared temperature measurement module is opposite to the fixed direction. The infrared temperature measurement module obtains the temperature information t2 of the temperature measurement end and transmits the temperature information t2 to the analysis unit. The analysis unit is every unit time. Collect temperature information t1 and temperature information t2 once;

[0007] The specific model of the infrared temperature measurement module is TB-4117-3 / s, which has the function of planar infrared imaging. The characteristic of the infrared temperature measurement module is that the amount of calculation is much greater than that of the auxiliary temperature measurement module. At the same time, the cost of the infrared temperature measurement module is also higher. The specific model of the auxiliary temperature measurement module is MLX90614. Its temperature detection is characterized by simple functions and low cost. Its function is to conduct preliminary screening of the temperature environment around the inspection robot. After determining the direction of the temperature target, the dual-axis gimbal module drives the infrared temperature measurement module to perform further temperature detection on the temperature target. The infrared temperature measurement module and the auxiliary temperature measurement module cooperate with each other to achieve automatic locking and comprehensive temperature measurement of the temperature target with low cost investment;

[0008] The x-axis motor is internally provided with an x-axis rotary encoder, and the x-axis rotary encoder collects the horizontal rotation angle of the end of the dual-axis gimbal module and transmits it to the analysis unit. The y-axis motor is internally provided with a y-axis rotary encoder, and the y-axis rotary encoder collects the vertical rotation angle of the end of the dual-axis gimbal module and transmits it to the analysis unit. Any encoder on the market that can meet the requirements of angle information collection can be used, and the x-axis rotary encoder and the y-axis rotary encoder are not limited to specific models here;

[0009] The analysis unit establishes an absolute coordinate system and a relative coordinate system. The absolute coordinate system is composed of axis, Axis and Axis composition, absolute coordinate system Axis is the coordinate range of the inspection robot's moving trajectory on the hanging rail. The axis is the horizontal rotation angle range of the infrared temperature measurement module. The axis is the vertical rotation angle range of the infrared temperature measurement module, and the relative coordinate system is Axis and The origin of the relative coordinate system is the center of the end sphere of the dual-axis gimbal module. The axis is the horizontal rotation angle range of the auxiliary temperature measurement module. The axis is the vertical rotation angle range of the auxiliary temperature measurement module.

[0010] Furthermore, the analysis unit converts each unit time The connecting time points are marked as acquisition frames and the acquisition frames are sorted in chronological order. The moving speed v of the inspection robot driven by the motion unit remains unchanged.

[0011] When the time is in the first acquisition frame, the analysis unit executes the target locking program. When the target locking program is executed, the analysis unit converts the unit time All temperature information within t2 is added and the average value is calculated The analysis unit calculates the temperature information t2 of each auxiliary temperature measurement module and the average value The difference The analysis unit calculates the difference corresponding to each number The difference with the adjacent auxiliary temperature measurement module When the difference ratio of all adjacent auxiliary temperature measurement modules is greater than the recognition threshold 1.5, the analysis unit records the corresponding Axis coordinates , Axis angle and Axis angle The object in the direction of the temperature measuring end of the auxiliary temperature measuring module is marked as the temperature target. At this time, the temperature measuring end of the infrared temperature measuring module is in the same direction as the movement direction of the inspection robot, and the target locking program is terminated. The direction of the temperature target in the first acquisition frame can be decomposed into Axis and The two components of the axis, the angle for The horizontal angle between the axis component and the moving direction of the inspection robot, angle for The vertical angle between the axis component and the moving direction of the inspection robot;

[0012] When the time is in the second acquisition frame, the analysis unit sends a control instruction to the dual-axis pan-tilt module. The output shaft of the x-axis motor in the dual-axis pan-tilt module rotates to drive the infrared temperature measurement module to rotate horizontally, and the output shaft of the y-axis motor rotates to drive the infrared temperature measurement module to rotate vertically, so that the temperature measurement end of the infrared temperature measurement module rotates toward the direction close to the temperature target. The second acquisition frame unit time At the end, the analysis unit executes the target locking program again to obtain the temperature target. The temperature target at this time is in the new direction of the temperature measuring end of the auxiliary temperature measuring module after the inspection robot moves and the x-axis motor and the y-axis motor rotate. The analysis unit records the corresponding Axis coordinates , Axis angle , Axis angle , Axis angle and Axis angle , the direction of the temperature target in the second acquisition frame can be decomposed into Axis and The two components of the axis, the angle for The horizontal angle between the axis component and the moving direction of the inspection robot, angle for The vertical angle between the axis component and the moving direction of the inspection robot;

[0013] When the time is in the third acquisition frame, the analysis unit uses the formula Calculate the vertical distance between the temperature target and the hanging rail , the analysis module is based on the formula The angle ratio g is calculated;

[0014] From the fourth acquisition frame to the g-1th acquisition frame, the control and calculation method of the analysis unit is consistent with that of the second acquisition frame;

[0015] When the time is in the g-th acquisition frame, the temperature measuring end of the infrared temperature measuring module is aligned with the direction of the temperature target. The infrared temperature measuring module obtains the temperature information t2 of the temperature target and transmits it to the analysis unit. The analysis unit records the temperature information t2 and the corresponding coordinates of the absolute coordinate system. The coordinates of the absolute coordinate system include the temperature information t2 and the coordinates of the absolute coordinate system at the g-th acquisition frame. Axis coordinates , when the gth acquisition frame Axis angle and the g-th acquisition frame Axis angle , the temperature information t2 here is the temperature information obtained when the temperature measuring end of the infrared temperature measuring module coincides with the direction of the temperature target. It is the temperature of the temperature target that needs to be obtained by the infrared temperature monitoring of the inspection robot. The corresponding coordinates of the absolute coordinate system can realize the rapid positioning of the temperature target in the mine;

[0016] Axis angle , Axis angle , Axis angle and Axis angle All are obtained through the x-axis rotary encoder. Axis angle , Axis angle , Axis angle and Axis angle All are obtained through the y-axis rotary encoder. Axis coordinates , and All are obtained through displacement encoders.

[0017] Furthermore, when the time is in the first acquisition frame, the analysis unit is in the unit time The target locking program is executed to obtain multiple temperature targets. The analysis unit executes the path planning program. When the path planning program is executed, the analysis unit counts the number of temperature targets in the absolute coordinate system as n. The analysis unit obtains the horizontal angle of each temperature target through the x-axis rotary encoder. The analysis unit obtains the vertical angle of each temperature target through the y-axis rotary encoder The analysis unit obtains the temperature of each target through the displacement encoder. Axis coordinates , the analysis unit establishes a set of temperature targets , the analysis unit converts the coordinates of all temperature targets Arrange them in order from large to small to get the first sequence. Based on the sorting of the first sequence, the analysis unit calculates the horizontal angles of all temperature targets. Arrange them in order from large to small to obtain a second sequence. Based on the order of the second sequence, the analysis unit calculates the vertical angles of all temperature targets. Arrange the sequence from large to small to obtain a third sequence, and the analysis unit inputs the third sequence into the set of temperature targets ,get ;

[0018] The analysis unit will collect All temperature targets in the third sequence are connected end to end to generate a temperature measurement path. The analysis unit controls the dual-axis gimbal module to start, and the rotation speed of the x-axis motor is preset to , The initial speed is 6 , The initial speed is 4 , the preset rotation speed of the y-axis motor is , record the gth acquisition frame of each temperature target in sequence from the first acquisition frame to the gth acquisition frame Axis coordinates , when the gth acquisition frame Axis angle and the g-th acquisition frame Axis angle ,When all temperature targets in the temperature measurement path are recorded, the path planning procedure terminates;

[0019] If the collection middle When the analysis unit interrupts the path planning program, the analysis unit uses the formula Change the inspection robot's moving speed v to And accumulate the number of changes k, the analysis unit sends the moving speed To the motion unit, the motion unit moves according to the speed Drive the inspection robot to move, and the analysis unit counts the temperature targets that are not recorded in the temperature measurement path based on the moving speed Re-execute the path planning procedure.

[0020] Furthermore, when the cumulative number of changes When the analysis unit takes the set of temperature targets In the figure, d1 is the base point, and the retraction command is sent to the motion unit, which drives the inspection robot to retract to the absolute coordinate system. The coordinate of the axis d1;

[0021] The analysis unit is based on the formula The unit time Change to , the analysis unit is based on the unit time Re-execute the target locking procedure to obtain the temperature target;

[0022] Analysis unit calculation set All The sum of , according to the formula Calculate the first speed index w1 and calculate the set All The sum of , according to the formula Calculate the second speed index w2;

[0023] The analysis unit changes the speed of the x-axis motor Multiply by the first speed index w1 to get , set the speed of the y-axis motor Multiply by the second speed index w2 to get The analysis unit calculates the speed of the x-axis motor and the speed of the y-axis motor Input dual-axis gimbal module, the x-axis motor in the dual-axis gimbal module rotates at a speed of Run, the y-axis motor rotates at a speed of run.

[0024] The present invention has the following beneficial effects:

[0025] 1. Through the cooperation between the infrared temperature measurement module and the auxiliary temperature measurement module, the temperature target can be quickly locked and fully measured with low cost investment, which improves the temperature detection ability of the inspection robot in the mine.

[0026] 2. By dynamically adjusting the inspection robot's moving speed, collection interval time and the rotation speed of the dual-axis gimbal module, adaptive collection and path planning of multiple temperature targets can be achieved, broadening the scope of application of the inspection robot.

[0027] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1The present invention is a flowchart of a rail-mounted inspection robot with an infrared temperature measurement function. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 The present invention provides a technical solution: a rail-mounted inspection robot with an infrared temperature measurement function, comprising an analysis unit, a motion unit, an infrared temperature measurement module, a plurality of auxiliary temperature measurement modules and a dual-axis pan-tilt module. The analysis unit establishes data communication with the motion unit and the dual-axis pan-tilt module respectively. The analysis unit presets a moving speed v of the inspection robot, and the value of the speed v is 0.5. The analysis unit transmits the moving speed v to the motion unit. The motion unit drives the inspection robot to move on the hanging rail at the top of the mine according to the moving speed v. The motion unit has a built-in displacement encoder. The displacement encoder obtains the displacement information d of the inspection robot and transmits it to the analysis unit. The dual-axis pan-tilt module is fixedly installed at the bottom of the inspection robot. The dual-axis pan-tilt module is driven by two axis motors, one of which is an x-axis motor. The x-axis motor is used to drive the end of the dual-axis pan-tilt module to rotate horizontally. The other axis motor is a y-axis motor. The y-axis motor is used to drive the end of the dual-axis pan-tilt module to rotate vertically. The infrared temperature measurement module and several auxiliary temperature measurement modules are all installed and fixed at the end of the dual-axis pan-tilt module. The end of the dual-axis pan-tilt module is a spherical structure.

[0032] A number of auxiliary temperature measurement modules are evenly distributed around the end of the pan-tilt module in three C-shaped structures, upper, middle and lower. Each auxiliary temperature measurement module has an independent number and the direction of the temperature measurement end is opposite to the fixed direction. Each auxiliary temperature measurement module obtains the temperature information t1 of the temperature measurement end and transmits the temperature information t1 and the number to the analysis unit. The infrared temperature measurement module is located at the notch of the C-shaped structure in the middle of the auxiliary temperature measurement modules. The direction of the temperature measurement end of the infrared temperature measurement module is opposite to the fixed direction. The infrared temperature measurement module obtains the temperature information t2 of the temperature measurement end and transmits the temperature information t2 to the analysis unit. The analysis unit is every unit time. Collect temperature information t1 and temperature information t2 once;

[0033] The infrared temperature measurement module has a planar infrared imaging function. The characteristic of the infrared temperature measurement module is that the amount of calculation is much greater than that of the auxiliary temperature measurement module. At the same time, the cost of the infrared temperature measurement module is also higher. The temperature detection of the auxiliary temperature measurement module is simple and low-cost. Its function is to conduct a preliminary screening of the temperature environment around the inspection robot. After determining the direction of the temperature target, the dual-axis gimbal module drives the infrared temperature measurement module to perform further temperature detection on the temperature target. The infrared temperature measurement module and the auxiliary temperature measurement module cooperate with each other to achieve automatic locking and comprehensive temperature measurement of the temperature target with low cost investment;

[0034] An x-axis rotary encoder is provided inside the x-axis motor, and the x-axis rotary encoder collects the horizontal rotation angle of the end of the dual-axis pan-tilt module and transmits it to the analysis unit. A y-axis rotary encoder is provided inside the y-axis motor, and the y-axis rotary encoder collects the vertical rotation angle of the end of the dual-axis pan-tilt module and transmits it to the analysis unit.

[0035] The analysis unit establishes an absolute coordinate system and a relative coordinate system. The absolute coordinate system is composed of axis, Axis and Axis composition, absolute coordinate system Axis is the coordinate range of the inspection robot's moving trajectory on the hanging rail. The axis is the horizontal rotation angle range of the infrared temperature measurement module. The axis is the vertical rotation angle range of the infrared temperature measurement module, and the relative coordinate system is Axis and The origin of the relative coordinate system is the center of the end sphere of the dual-axis gimbal module. The axis is the horizontal rotation angle range of the auxiliary temperature measurement module. The axis is the vertical rotation angle range of the auxiliary temperature measurement module.

[0036] The analysis unit takes each unit time The connecting time points are marked as acquisition frames and the acquisition frames are sorted in chronological order. The moving speed v of the inspection robot driven by the motion unit remains unchanged.

[0037] When the time is in the first acquisition frame, the analysis unit executes the target locking program. When the target locking program is executed, the analysis unit converts the unit time All temperature information within t2 is added and the average value is calculated The analysis unit calculates the temperature information t2 of each auxiliary temperature measurement module and the average value The difference , the analysis unit will be each number corresponding to the difference The difference with the adjacent auxiliary temperature measurement module When the difference ratio of all adjacent auxiliary temperature measurement modules is greater than the recognition threshold 1.5, the analysis unit records the corresponding Axis coordinates , Axis angle and Axis angle The object in the direction of the temperature measuring end of the auxiliary temperature measuring module is marked as the temperature target. At this time, the temperature measuring end of the infrared temperature measuring module is in the same direction as the movement direction of the inspection robot, and the target locking program is terminated. The direction of the temperature target in the first acquisition frame can be decomposed into Axis and The two components of the axis, the angle for The horizontal angle between the axis component and the moving direction of the inspection robot, angle for The vertical angle between the axis component and the moving direction of the inspection robot;

[0038] When the time is in the second acquisition frame, the analysis unit sends a control command to the dual-axis pan-tilt module. The output shaft of the x-axis motor in the dual-axis pan-tilt module rotates to drive the infrared temperature measurement module to rotate horizontally, and the output shaft of the y-axis motor rotates to drive the infrared temperature measurement module to rotate vertically, so that the temperature measurement end of the infrared temperature measurement module rotates toward the direction close to the temperature target. The second acquisition frame unit time At the end, the analysis unit executes the target locking program again to obtain the temperature target. At this time, the temperature target is in the new direction of the temperature measuring end of the auxiliary temperature measuring module after the inspection robot moves and the x-axis motor and the y-axis motor rotate. The analysis unit records the corresponding Axis coordinates , Axis angle , Axis angle , Axis angle and Axis angle , the direction of the temperature target in the second acquisition frame can be decomposed into Axis and The two components of the axis, the angle for The horizontal angle between the axis component and the moving direction of the inspection robot, angle for The vertical angle between the axis component and the moving direction of the inspection robot;

[0039] When the time is in the third acquisition frame, the analysis unit uses the formula Calculate the vertical distance between the temperature target and the hanging rail , the analysis module is based on the formula The angle ratio g is calculated;

[0040] From the fourth acquisition frame to the g-1th acquisition frame, the control and calculation method of the analysis unit is consistent with that of the second acquisition frame;

[0041] When the time is in the g-th acquisition frame, the temperature measuring end of the infrared temperature measuring module is aligned with the direction of the temperature target. The infrared temperature measuring module obtains the temperature information t2 of the temperature target and transmits it to the analysis unit. The analysis unit records the temperature information t2 and the corresponding coordinates of the absolute coordinate system. The coordinates of the absolute coordinate system include the temperature information t2 and the coordinates of the absolute coordinate system at the g-th acquisition frame. Axis coordinates , when the gth acquisition frame Axis angle and the g-th acquisition frame Axis angle ;

[0042] Axis angle , Axis angle , Axis angle and Axis angle All are obtained through the x-axis rotary encoder. Axis angle , Axis angle , Axis angle and Axis angle All are obtained through the y-axis rotary encoder. Axis coordinates , and All are obtained through displacement encoders.

[0043] Among them, when the time is in the first acquisition frame, the analysis unit is in unit time By executing the target locking program, multiple temperature targets are obtained. The analysis unit executes the path planning program. When the path planning program is executed, the analysis unit counts the number of temperature targets as n in the absolute coordinate system. The analysis unit obtains the horizontal angle of each temperature target through the x-axis rotary encoder. The analysis unit obtains the vertical angle of each temperature target through the y-axis rotary encoder The analysis unit obtains the temperature of each target through the displacement encoder. Axis coordinates , the analysis unit establishes a set of temperature targets , the analysis unit converts the coordinates of all temperature targets Arrange them in order from large to small to get the first sequence. Based on the sorting of the first sequence, the analysis unit calculates the horizontal angles of all temperature targets. Arrange them in order from large to small to obtain a second sequence. Based on the order of the second sequence, the analysis unit calculates the vertical angles of all temperature targets. Arrange the sequence from large to small to obtain a third sequence, and the analysis unit inputs the third sequence into the set of temperature targets ,get ;

[0044] The analysis unit will collect All temperature targets in the third sequence are connected end to end to generate a temperature measurement path. The analysis unit controls the dual-axis gimbal module to start, and the rotation speed of the x-axis motor is preset to , The initial speed is 6 , The initial speed is 4 , the preset rotation speed of the y-axis motor is , record the gth acquisition frame of each temperature target in sequence from the first acquisition frame to the gth acquisition frame Axis coordinates , when the gth acquisition frame Axis angle and the g-th acquisition frame Axis angle ,When all temperature targets in the temperature measurement path are recorded, the path planning procedure terminates;

[0045] If the collection middle When the analysis unit interrupts the path planning program, the analysis unit uses the formula Change the inspection robot's moving speed v to And accumulate the number of changes k, the analysis unit sends the moving speed To the motion unit, the motion unit moves according to the speed Drive the inspection robot to move, and the analysis unit counts the temperature targets that are not recorded in the temperature measurement path based on the moving speed Re-execute the path planning procedure.

[0046] Among them, when the cumulative number of changes When the analysis unit is a set of temperature targets In the figure, d1 is the base point, and the retraction command is sent to the motion unit, which drives the inspection robot to retract to the absolute coordinate system. The coordinate of the axis d1;

[0047] The analysis unit is based on the formula The unit time Change to , the analysis unit is based on the unit time Re-execute the target locking procedure to obtain the temperature target;

[0048] Analysis unit calculation set All The sum of , according to the formula Calculate the first speed index w1 and calculate the set All The sum of , according to the formula Calculate the second speed index w2;

[0049] The analysis unit changes the speed of the x-axis motor Multiply by the first speed index w1 to get , set the speed of the y-axis motor Multiply by the second speed index w2 to get The analysis unit calculates the speed of the x-axis motor and the speed of the y-axis motor Input dual-axis gimbal module, the x-axis motor in the dual-axis gimbal module rotates at a speed of Run, the y-axis motor rotates at a speed of run;

[0050] By dynamically adjusting the inspection robot's moving speed, collection interval time, and the rotation speed of the dual-axis pan-tilt module, adaptive collection and path planning of multiple temperature targets can be achieved, broadening the application scope of the inspection robot.

[0051] 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 rail-mounted inspection robot with infrared temperature measurement function, comprising an analysis unit, a motion unit, an infrared temperature measurement module, several auxiliary temperature measurement modules and a dual-axis pan-tilt module; characterized in that: The analysis unit presets the moving speed v of the inspection robot, and the analysis unit transmits the moving speed v to the motion unit. The motion unit drives the inspection robot to move on the hanging rail at the top of the mine. The motion unit has a built-in displacement encoder, and the displacement encoder obtains the displacement information d of the inspection robot and transmits it to the analysis unit. The dual-axis pan-tilt module is fixedly installed at the bottom of the inspection robot. The dual-axis pan-tilt module is driven by two axis motors. The infrared temperature measurement module and several auxiliary temperature measurement modules are all installed and fixed at the end of the dual-axis pan-tilt module. The end of the dual-axis pan-tilt module is a spherical structure; one of the axis motors is an x-axis motor, and the other axis motor is a y-axis motor; The x-axis motor is provided with an x-axis rotary encoder inside, and the x-axis rotary encoder collects the horizontal rotation angle of the end of the dual-axis gimbal module and transmits it to the analysis unit; the y-axis motor is provided with a y-axis rotary encoder inside, and the y-axis rotary encoder collects the vertical rotation angle of the end of the dual-axis gimbal module and transmits it to the analysis unit; the analysis unit establishes an absolute coordinate system and a relative coordinate system; The infrared temperature measurement module has a planar infrared imaging function, and the temperature detection function of the auxiliary temperature measurement module is simple. The auxiliary temperature measurement module performs a preliminary screening of the temperature environment around the inspection robot. After determining the direction of the temperature target, the dual-axis gimbal module drives the infrared temperature measurement module to perform further temperature detection on the temperature target. The infrared temperature measurement module and the auxiliary temperature measurement module cooperate with each other to achieve automatic locking and comprehensive temperature measurement of the temperature target.

2. The rail-mounted inspection robot with infrared temperature measurement function according to claim 1 is characterized in that: The auxiliary temperature measurement modules are evenly distributed around the end of the pan-tilt module in the form of three C-shaped structures, upper, middle and lower. Each auxiliary temperature measurement module has an independent number and the direction of the temperature measurement end is opposite to the fixed direction. Each auxiliary temperature measurement module obtains the temperature information t1 of the temperature measurement end and transmits the temperature information t1 and the number to the analysis unit. The infrared temperature measurement module is located at the notch of the C-shaped structure in the middle of the auxiliary temperature measurement modules. The direction of the temperature measurement end of the infrared temperature measurement module is opposite to the fixed direction. The temperature information t2 of the temperature measurement end is obtained and transmitted to the analysis unit. The analysis unit is every unit time. The temperature information t1 and the temperature information t2 are collected once.

3. The rail-mounted inspection robot with infrared temperature measurement function according to claim 2 is characterized in that: The x-axis motor is used to drive the end of the dual-axis gimbal module to rotate horizontally, and the y-axis motor is used to drive the end of the dual-axis gimbal module to rotate vertically; the absolute coordinate system is composed of axis, Axis and Axis composition, absolute coordinate system Axis is the coordinate range of the inspection robot's moving trajectory on the hanging rail. The axis is the horizontal rotation angle range of the infrared temperature measurement module. The axis is the vertical rotation angle range of the infrared temperature measurement module, and the relative coordinate system is Axis and The origin of the relative coordinate system is the center of the end sphere of the dual-axis gimbal module. The axis is the horizontal rotation angle range of the auxiliary temperature measurement module. The axis is the vertical rotation angle range of the auxiliary temperature measurement module.

4. The rail-mounted inspection robot with infrared temperature measurement function according to claim 3 is characterized in that: The analysis unit is also used to convert each unit time The connecting time points are marked as acquisition frames and the acquisition frames are sorted in chronological order. The moving speed v of the inspection robot driven by the motion unit remains unchanged. When the time is in the first acquisition frame, the analysis unit executes the target locking program. When the target locking program is executed, the unit time All temperature information within t2 is added and the average value is calculated The analysis unit calculates the temperature information t2 of each auxiliary temperature measurement module and the average value The difference The analysis unit calculates the difference corresponding to each number The difference with the adjacent auxiliary temperature measurement module When the difference ratios of all adjacent auxiliary temperature measurement modules are greater than the recognition threshold, the analysis unit records the corresponding Axis coordinates , Axis angle and Axis angle The object in the direction of the temperature measuring end of the auxiliary temperature measuring module is marked as a temperature target. The direction of the temperature measuring end of the infrared temperature measuring module is consistent with the movement direction of the inspection robot, and the target locking program is terminated; When the time is in the second acquisition frame, the analysis unit sends a control instruction to the dual-axis pan-tilt module. The x-axis motor in the dual-axis pan-tilt module rotates to drive the infrared temperature measurement module to rotate horizontally, and the y-axis motor rotates to drive the infrared temperature measurement module to rotate vertically, so that the temperature measurement end of the infrared temperature measurement module rotates toward the direction close to the temperature target. The second acquisition frame unit time At the end, the target locking program is executed again to obtain the temperature target. At this time, the temperature target is in the new direction of the temperature measuring end of the auxiliary temperature measuring module after the inspection robot moves and the x-axis motor and the y-axis motor rotate. The analysis unit records the corresponding Axis coordinates , Axis angle , Axis angle , Axis angle and Axis angle ; When the time is in the third acquisition frame, the analysis unit uses the formula Calculate the vertical distance between the temperature target and the hanging rail , the analysis module is based on the formula The angle ratio g is calculated; From the fourth acquisition frame to the g-1th acquisition frame, the control and calculation method of the analysis unit is consistent with that of the second acquisition frame; When the time is in the g-th acquisition frame, the temperature measuring end of the infrared temperature measuring module is aligned with the direction of the temperature target. The infrared temperature measuring module obtains the temperature information t2 of the temperature target and transmits it to the analysis unit. The analysis unit records the temperature information t2 and the corresponding coordinates of the absolute coordinate system. The coordinates of the absolute coordinate system include the temperature information t2 and the coordinates of the absolute coordinate system at the g-th acquisition frame. Axis coordinates , Axis angle and Axis angle ; Axis angle , Axis angle , Axis angle and Axis angle All are obtained through the x-axis rotary encoder. Axis angle , Axis angle , Axis angle and Axis angle All are obtained through the y-axis rotary encoder. Axis coordinates , and All are obtained through displacement encoders.

5. The rail-mounted inspection robot with infrared temperature measurement function according to claim 4 is characterized in that: When the time is in the first acquisition frame, the analysis unit is in unit time The target locking program is executed to obtain multiple temperature targets. The analysis unit executes the path planning program. When the path planning program is executed, the analysis unit counts the number of temperature targets in the absolute coordinate system as n. The analysis unit obtains the horizontal angle of each temperature target through the x-axis rotary encoder. , the vertical angle of each temperature target is obtained through the y-axis rotary encoder , obtain each temperature target through the displacement encoder Axis coordinates , establish a set of temperature targets , the analysis unit converts the coordinates of all temperature targets Arrange them in order from large to small to get the first sequence. Based on the sorting of the first sequence, the analysis unit calculates the horizontal angles of all temperature targets. Arrange them in order from large to small to obtain a second sequence. Based on the order of the second sequence, the analysis unit calculates the vertical angles of all temperature targets. Arrange the sequence from large to small to obtain a third sequence, and the analysis unit inputs the third sequence into the set of temperature targets ,get ; The analysis unit will collect All temperature targets in the third sequence are connected end to end to generate a temperature measurement path. The analysis unit controls the dual-axis gimbal module to start, and the rotation speed of the x-axis motor is preset to , the preset rotation speed of the y-axis motor is , record the gth acquisition frame of each temperature target in sequence from the first acquisition frame to the gth acquisition frame Axis coordinates , Axis angle and Axis angle ,When all temperature targets in the temperature measurement path are recorded, the path planning procedure terminates; If the collection middle When the analysis unit interrupts the path planning program, the analysis unit uses the formula Change the inspection robot's moving speed v to And accumulate the number of changes k, the analysis unit sends the moving speed To the motion unit, the motion unit moves according to the speed Drive the inspection robot to move, and the analysis unit counts the temperature targets that are not recorded in the temperature measurement path based on the moving speed Re-execute the path planning procedure.

6. The rail-mounted inspection robot with infrared temperature measurement function according to claim 5, characterized in that: When the cumulative number of changes When the analysis unit takes the set of temperature targets In the figure, d1 is the base point, and the retraction command is sent to the motion unit, which drives the inspection robot to retract to the absolute coordinate system. The coordinate of the axis d1; The analysis unit is based on the formula The unit time Change to , the analysis unit is based on the unit time Re-execute the target locking procedure to obtain the temperature target; Analysis unit calculation set All The sum of , according to the formula Calculate the first speed index w1 and calculate the set All The sum of , according to the formula Calculate the second speed index w2; The analysis unit changes the speed of the x-axis motor Multiply by the first speed index w1 to get , set the speed of the y-axis motor Multiply by the second speed index w2 to get The analysis unit calculates the speed of the x-axis motor and the speed of the y-axis motor Input dual-axis gimbal module, the x-axis motor in the dual-axis gimbal module rotates at a speed of Run, the y-axis motor rotates at a speed of run.

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