Coal conveying trestle inspection equipment

Abstract

The invention relates to the technical field of industrial robots, in particular to coal conveying trestle inspection equipment which comprises a robot body, at least four supporting leg assemblies are installed at the bottom of the robot body, a telescopic installation frame is installed on the robot body, and a four-dimensional light field holographic camera is installed on the telescopic installation frame. The four-dimensional light field holographic camera is used for collecting field images of the coal conveying trestle in real time; and the pair of auxiliary cameras is arranged, the auxiliary cameras are installed on the two sides of the advancing direction of the robot body correspondingly, the auxiliary cameras are used for recognizing road surface features in real time, and the auxiliary cameras are electrically connected with the supporting leg assemblies. The robot body and the four-dimensional light field holographic camera are driven to move in the gallery through the supporting leg assembly, the auxiliary camera recognizes road surface features in real time and guides the supporting leg assembly to avoid road surface obstacles, and the four-dimensional light field holographic camera captures three-dimensional information of a trestle. The coal transporting trestle inspection equipment does not need to be provided with a running track and is not limited by a narrow space, and the installation difficulty and the installation cost of the equipment are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to a coal conveying trestle inspection device. Background Art

[0002] The inspection of the coal handling trestle of a thermal power plant is a key link in ensuring the safe and efficient operation of the power plant. The inspection work aims to comprehensively check the structural safety, equipment operation status and environmental safety of the trestle, and promptly discover and eliminate potential safety hazards. The inspection cycle needs to be flexibly set according to the actual situation of the power plant, and combined with daily and special inspections to ensure that the trestle is always in good condition. During the inspection process, professionals need to record the inspection situation in detail and take prompt measures to deal with the problems found.

[0003] In the prior art, the inspection of the coal conveyor trestles in thermal power plants is carried out manually or with mobile cameras on suspended rails. Since this inspection method can only shoot from top to bottom and uses conventional optical imaging, once there is a lot of dust or water mist, it is impossible to identify the real-time status of the belt and to implement bottom inspection of the coal conveyor belt. Manual inspection is still required. At the same time, due to the narrow space and messy traffic lines on the coal conveyor trestles in thermal power plants, the installation of suspended rails has high requirements for the space on the top of the trestles, and the installation cost is high. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of high installation requirements and installation costs of inspection cameras for coal conveyor trestle in thermal power plants in the prior art, thereby providing a coal conveyor trestle inspection device.

[0005] In order to solve the above technical problems, the present invention provides a coal handling trestle inspection device, comprising:

[0006] The robot body has at least four sets of supporting leg assemblies installed at the bottom, a telescopic mounting frame is installed on the robot body, a four-dimensional light field holographic camera is installed on the telescopic mounting frame, and the four-dimensional light field holographic camera is used to collect real-time on-site images of the coal transport trestle;

[0007] A pair of auxiliary cameras are provided. The auxiliary cameras are respectively installed on both sides of the forward direction of the robot body. The auxiliary cameras are used to identify road features in real time. The auxiliary cameras are electrically connected to the supporting leg assembly.

[0008] Optionally, the support leg assembly comprises:

[0009] The power shaft is mounted on the robot body through a bearing, and the output end of the power shaft drives the support thigh part;

[0010] The calf support is rotatably mounted on the end of the thigh support away from the power shaft.

[0011] Optionally, a supporting foot is installed at one end of the supporting calf portion away from the supporting thigh portion, and an anti-sinking portion is arranged at the bottom of the supporting foot, and the outer diameter of the anti-sinking portion is larger than the outer diameter of the supporting foot.

[0012] Optionally, an integrated sensor is also included, which is fixedly installed on the robot body. The integrated sensor is used to monitor the gas composition, temperature, humidity and sound in real time. A plurality of integrated sensors are arranged on the robot body.

[0013] Optionally, the telescopic mounting frame includes a positioning part, a folding and telescopic part and a mounting part connected in sequence, the four-dimensional light field holographic camera is fixedly mounted on the mounting part, the positioning part is fixedly mounted on the robot body, one end of the folding and telescopic part is rotatably mounted on the positioning part through a driving shaft, and the other end is rotatably connected to the mounting part through a driving shaft.

[0014] Optionally, the folding and telescopic part includes folding rods that are rotatably connected end to end in sequence, and the folding rods are mounted in cooperation with each other via a driving shaft.

[0015] Optionally, four groups of support leg assemblies are installed, and the four groups of support leg assemblies are respectively installed at the corners of the robot body.

[0016] Optionally, the robot body has a built-in power battery.

[0017] Optionally, the power battery is a rechargeable battery, and a charging port is provided at the bottom of the robot body.

[0018] Optionally, a robotic arm grabbing assembly is mounted on the telescopic mounting frame.

[0019] The technical solution of the present invention has the following advantages:

[0020] 1. The coal conveyor trestle inspection equipment provided by the present invention comprises: a robot body, at least four groups of supporting leg assemblies are installed at the bottom of which, a telescopic mounting frame is installed on the robot body, a four-dimensional light field holographic camera is installed on the telescopic mounting frame, and the four-dimensional light field holographic camera is used to collect on-site images of the coal conveyor trestle in real time; a pair of auxiliary cameras are provided, the auxiliary cameras are respectively installed on both sides of the forward direction of the robot body, the auxiliary cameras are used to identify road surface features in real time, and the auxiliary cameras are electrically connected to the supporting leg assemblies.

[0021] In the corridor of the coal conveyor trestle, the coal conveyor trestle inspection equipment drives the robot body and the four-dimensional light field holographic camera to move in the corridor through the supporting leg assembly. The auxiliary camera recognizes the road surface features in real time. The auxiliary camera and the supporting leg assembly work closely together to recognize and avoid road obstacles in real time, and pass through slippery, holes, steps and other complex roads to ensure inspection safety and move to the vicinity of the coal conveyor belt that needs to be inspected. The telescopic mounting frame adjusts the shooting position and angle of the four-dimensional light field holographic camera according to the inspection needs, fully adapting to the narrow inspection space of the coal conveyor trestle. The four-dimensional light field holographic camera captures detailed on-site images and three-dimensional spatial information of the trestle. The four-dimensional light field holographic camera generates an accurate three-dimensional model by capturing the position, direction, color and intensity of light at the same time. Because it captures the full range of light information, the reconstructed image not only has high resolution, but also has more natural light and shadow effects, close to the real world seen by the human eye. The inspection personnel can accurately judge the on-site conditions or fault points through the three-dimensional real scene constructed by the four-dimensional light field holographic camera, which can significantly improve the authenticity, accuracy and reliability of the inspection. All collected data is eventually transmitted to the remote monitoring center through an external control system for intelligent analysis and processing, providing protection for the safe operation of the coal conveyor trestle. The coal conveyor trestle inspection equipment does not need to set up running tracks and will not be restricted by the narrow space of the coal conveyor trestle. The inspection equipment can move automatically within the area of ​​the coal conveyor trestle according to demand, greatly reducing the difficulty and cost of equipment installation.

[0022] 2. The coal conveyor trestle inspection equipment provided by the present invention has a support foot installed at one end of the supporting calf away from the supporting thigh, and an anti-sinking part is provided at the bottom of the supporting foot, and the outer diameter of the anti-sinking part is larger than the outer diameter of the supporting foot. Because there is a steel grating plate in the coal conveyor trestle, by providing an anti-sinking part with a larger outer diameter at the bottom of the supporting foot, the bottom area of ​​the foot is increased through the anti-sinking part, and when the inspection equipment passes through the grating plate area, it is avoided to fall into the gap of the grating plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the structure of the coal handling trestle inspection equipment provided in an embodiment of the present invention.

[0025] Figure 2 It is a schematic structural diagram from another angle of the coal handling trestle inspection equipment provided in an embodiment of the present invention.

[0026] Figure 3It is a schematic diagram of the working status of the coal handling trestle inspection equipment provided in an embodiment of the present invention.

[0027] Figure 4 It is a schematic diagram of the structure of a robotic arm grasping assembly provided in an embodiment of the present invention.

[0028] Figure 5 It is a schematic structural diagram of a support foot provided in an embodiment of the present invention.

[0029] Figure 6 It is a structural schematic diagram of the cooperation between the coal handling trestle inspection equipment and the charging base provided in the embodiment of the present invention.

[0030] Explanation of the accompanying drawings: 1. Robot body; 2. Support leg assembly; 3. Telescopic mounting frame; 4. Four-dimensional light field holographic camera; 5. Auxiliary camera; 6. Integrated sensor; 7. Charging port; 8. Robot arm grasping assembly; 9. Power shaft; 10. Support thigh part; 11. Support calf part; 12. Support foot; 13. Anti-sinking part; 14. Positioning part; 15. Folding and telescopic part; 16. Mounting part; 17. Charging base; 18. Coal conveyor belt. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0032] Figures 1 to 6 The figure shows a coal handling trestle inspection device provided in this embodiment, which includes a robot body 1, a support leg assembly 2, a four-dimensional light field holographic camera 4 and an auxiliary camera 5.

[0033] At least four sets of supporting leg assemblies 2 are installed at the bottom of the robot body 1, and a telescopic mounting frame 3 is installed on the robot body 1. A four-dimensional light field holographic camera 4 is installed on the telescopic mounting frame 3. The four-dimensional light field holographic camera 4 is used to collect real-time images on the coal transport trestle of the thermal power plant. A pair of auxiliary cameras 5 are provided, and the auxiliary cameras 5 are respectively installed on both sides of the forward direction of the robot body 1. The auxiliary cameras 5 are used to recognize road surface features in real time, and the auxiliary cameras 5 are electrically connected to the supporting leg assembly 2.

[0034] In this embodiment, four groups of support leg assemblies 2 are installed, and the four groups of support leg assemblies 2 are respectively installed at the corners of the robot body 1. The support leg assembly 2 includes a power shaft 9, a supporting thigh part 10, a supporting calf part and a supporting foot 12. The power shaft 9 is installed on the robot body 1 through a bearing, and the output end of the power shaft 9 drives the supporting thigh part 10 to rotate around the robot body 1. The supporting calf part 11 is rotatably installed at one end of the supporting thigh part 10 away from the power shaft 9. The supporting foot 12 is rotatably installed at one end of the supporting calf part 11 away from the supporting thigh part 10, and an anti-sinking part 13 is provided at the bottom of the supporting foot 12, and the outer diameter of the anti-sinking part 13 is larger than the outer diameter of the supporting foot 12.

[0035] In this embodiment, the telescopic mounting frame 3 includes a positioning portion 14, a folding telescopic portion 15 and a mounting portion 16 connected in sequence, the four-dimensional light field holographic camera 4 is fixedly mounted on the mounting portion 16, the positioning portion 14 is fixedly mounted on the robot body 1, one end of the folding telescopic portion 15 is rotatably mounted on the positioning portion 14 through a driving shaft, and the other end is rotatably connected to the mounting portion 16 through a driving shaft. The folding telescopic portion 15 includes folding rods rotatably connected end to end in sequence, and the folding rods are mounted together through a driving shaft.

[0036] An integrated sensor 6 is also fixedly installed on the robot body 1. The integrated sensor 6 is used to monitor the gas composition, temperature, humidity, and sound in real time. A plurality of integrated sensors 6 are provided on the robot body 1. In order to facilitate the operation of the inspection equipment, a power battery is built into the robot body 1. In this embodiment, the power battery is a rechargeable battery, and a charging port 7 is provided at the bottom of the robot body 1. In order to facilitate the removal and movement of objects that hinder the movement of the support leg assembly 2, a mechanical arm grab assembly 8 is installed on the telescopic mounting frame 3.

[0037] The coal handling trestle inspection equipment for thermal power plants provided in this embodiment is configured with a four-dimensional light field four-dimensional light field holographic camera 4. On the basis of the existing four-legged robot, an intelligent inspection four-legged industrial robot for coal handling trestle inspection is designed in view of the complex inspection path and slippery ground of the coal handling system. Four groups of support leg assemblies 2 are used for the overall movement of the robot and to carry the overall load of the robot system. The end of the support leg assembly 2 is equipped with a support foot 12, and an anti-sinking part 13 is provided on the support foot 12. The upper part of the support leg assembly 2 is connected to the robot body 1, and the robot body 1 is internally installed with a power battery, a power shaft 9 for driving the movement of the support leg assembly 2, an integrated sensor 6 and a charging interface 7. A telescopic mounting frame 3 is installed on the top of the robot body 1, and a four-dimensional light field four-dimensional light field holographic camera 4 is installed at the end of the telescopic mounting frame 3. The four-dimensional light field four-dimensional light field holographic camera 4 is adjusted in height and angle with the cooperation of the telescopic mounting frame 3 to fully adapt to the narrow inspection space of the coal conveyor trestle, and can realize all-round scanning and recognition above, on the side, and below the coal conveyor belt 18. The four-dimensional light field holographic camera 4 takes a panoramic view of the coal conveyor belt 18 to promptly discover abnormal conditions such as belt tearing and deviation. The four-dimensional light field holographic camera 4 generates an accurate three-dimensional model by simultaneously capturing the position, direction, color, and intensity of light. Since the all-round information of light is captured, the reconstructed image not only has high resolution, but also has more natural light and shadow effects, which is close to the real world seen by the human eye. The inspection personnel can accurately judge the on-site conditions or fault points through the three-dimensional real scene constructed by the four-dimensional light field holographic camera, which can significantly improve the authenticity, accuracy, and reliability of the inspection. The integrated sensor 6 comprehensively identifies the gas, temperature, humidity, sound, etc. in the trestle, and will provide real-time feedback if there is any abnormality. If someone is working in the coal conveyor trestle, the unsafe behavior of the person in the coal conveyor trestle can be identified through intelligent algorithms. A charging interface 7 is installed at the bottom of the robot body 1, and a corresponding charging base 17 is set in the relevant safety area of ​​the coal conveyor trestle. When the inspection is completed or the power is insufficient, the inspection equipment can automatically search for the charging base 17. In view of the characteristics of the slippery corridor of the coal conveyor trestle and the grid plate in some sections, a support foot 12 with an anti-sinking part is designed. When walking on the normal road surface, the anti-sinking part 13 is set downward. When passing the grid plate, the support foot 12 is rotated to a horizontal level so that the anti-sinking part 13 is set forward or backward to widen the sole area of ​​the support foot. It can overcome the defects of the complex space of the coal conveyor corridor, the slippery ground, many blind spots, and more dust and water mist, adapt to the complex and changeable road surface characteristics of the coal conveyor trestle corridor with multiple steps, slippery, and multiple holes, and improve the safety and convenience of robot inspection through complex paths.

[0038] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A coal handling trestle inspection device, characterized in that: include: A robot body (1) is provided with at least four groups of supporting leg assemblies (2) at the bottom thereof, a telescopic mounting frame (3) is provided on the robot body (1), a four-dimensional light field holographic camera (4) is provided on the telescopic mounting frame (3), and the four-dimensional light field holographic camera (4) is used for collecting on-site images of the coal conveying trestle in real time; A pair of auxiliary cameras (5) are provided. The auxiliary cameras (5) are respectively installed on both sides of the forward direction of the robot body (1). The auxiliary cameras (5) are used to identify road surface features in real time. The auxiliary cameras (5) are electrically connected to the supporting leg assembly (2).

2. The coal handling trestle inspection equipment according to claim 1, characterized in that: The supporting leg assembly (2) comprises: A power shaft (9) is mounted on the robot body (1) via a bearing, and a supporting thigh portion (10) is driven and mounted on the output end of the power shaft (9); The supporting calf part (11) is rotatably mounted on an end of the supporting thigh part (10) away from the power shaft (9).

3. The coal handling trestle inspection equipment according to claim 2 is characterized in that: A supporting foot (12) is installed at one end of the supporting calf portion (11) away from the supporting thigh portion (10), and an anti-sinking portion (13) is provided at the bottom of the supporting foot (12), and the outer diameter of the anti-sinking portion (13) is larger than the outer diameter of the supporting foot (12).

4. The coal handling trestle inspection equipment according to any one of claims 1 to 3, characterized in that: It also includes an integrated sensor (6) fixedly mounted on the robot body (1), the integrated sensor (6) being used to monitor gas composition, temperature, humidity and sound in real time, and a plurality of the integrated sensors (6) are arranged on the robot body (1).

5. The coal handling trestle inspection equipment according to any one of claims 1 to 3, characterized in that: The telescopic mounting frame (3) comprises a positioning portion (14), a folding telescopic portion (15) and a mounting portion (16) which are connected in sequence; the four-dimensional light field holographic camera (4) is fixedly mounted on the mounting portion (16); the positioning portion (14) is fixedly mounted on the robot body (1); one end of the folding telescopic portion (15) is rotatably mounted on the positioning portion (14) via a driving shaft, and the other end is rotatably connected to the mounting portion (16) via a driving shaft.

6. The coal handling trestle inspection equipment according to claim 5, characterized in that: The folding and telescopic part (15) comprises folding rods which are rotatably connected end to end in sequence, and the folding rods are mounted in cooperation with each other via a driving shaft.

7. The coal handling trestle inspection equipment according to any one of claims 1 to 3, characterized in that: The support leg assemblies (2) are installed in four groups, and the four groups of support leg assemblies (2) are respectively installed at the corners of the robot body (1).

8. The coal handling trestle inspection equipment according to any one of claims 1 to 3, characterized in that: The robot body (1) has a built-in power battery.

9. The coal handling trestle inspection equipment according to claim 8, characterized in that: The power battery is a rechargeable battery, and a charging interface (7) is provided at the bottom of the robot body (1).

10. The coal handling trestle inspection equipment according to any one of claims 1 to 3, characterized in that: A mechanical arm grabbing assembly (8) is installed on the telescopic mounting frame (3).

Images