Ground slag pushing robot based on SLAM navigation of laser radar

Abstract

The invention provides a ground slag pushing robot based on SLAM navigation of a laser radar, and relates to the technical field of slag pushing and cleaning. The ground slag pushing robot comprises a main body control mechanism, caterpillar band cross beams are arranged on the two sides of the lower end of the main body control mechanism correspondingly, movable caterpillar bands are arranged outside the two caterpillar band cross beams correspondingly, and a slag pushing mechanism is arranged between the opposite sides of the two caterpillar band cross beams and the front end of the main body control mechanism; the slag pushing mechanism comprises two side connecting arms, an adjusting rotary disc is fixedly arranged in the middle of the upper ends of the two side connecting arms, adjusting oil cylinders are hinged to the upper ends of the two adjusting rotary discs, and a power oil cylinder is hinged to the front end of the main body control mechanism. In the process of executing the slag pushing task, the length of the slag pushing mechanism can be adjusted to adapt to the space size of the bottom of the electrolytic aluminum tank, the slag pushing effect is remarkably improved, better adaptability is achieved, the slag pushing efficiency is improved, and the production cost is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of slag pushing and cleaning, and in particular to a ground slag pushing robot based on SLAM navigation of a laser radar. Background Art

[0002] The slag cleaning of the electrolytic aluminum cell refers to the process of cleaning the solid waste slag accumulated at the bottom of the electrolytic cell during the electrolytic aluminum production process. These waste slags are mainly generated during the electrolytic reaction, including unreacted alumina, fluoride slag, carbon slag, etc. If these waste slags are not cleaned in time, they will affect the normal operation of the electrolytic cell, reduce the electrolysis efficiency, and even cause damage to the electrolytic cell. Therefore, they need to be cleaned regularly. During the cleaning process, special equipment such as scrapers and plows are usually used to push the waste slag at the bottom to the slag outlet of the electrolytic cell, and then move it out of the electrolytic cell through lifting equipment. This process needs to be carried out while the electrolytic cell is still in operation to ensure the continuity of production. The cleaned waste slag can be further processed and recycled. For example, the alumina in the waste slag can be recycled and reused, the fluoride slag can be harmlessly treated, and the carbon slag can be used as fuel or recycled in other forms. Pushing and cleaning the slag under the electrolytic aluminum cell is an important link in the electrolytic aluminum production process. It is of great significance to ensure the stable operation of the electrolytic cell and improve the utilization of resources. Therefore, in order to achieve a more efficient and stable slag pushing process, a ground slag pushing robot with a high degree of intelligence is needed.

[0003] In the prior art, slag pushing operations on the ground usually use slag pushing robots of uniform specifications. These robots can be equipped according to different electrolytic aluminum cell specifications to adapt to cells of different sizes. However, for those companies with multiple electrolytic aluminum cells of different sizes, in order to achieve slag pushing operations, they need to configure slag pushing robots of various specifications, which will undoubtedly increase production costs. At the same time, slag pushing robots of various specifications will also cause difficulties in maintenance work. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the shortcomings of the prior art, the present invention provides a ground slag pushing robot based on SLAM navigation of laser radar, which solves the problem of increasing production costs and causing difficulties in maintenance work when configuring slag pushing robots of various specifications.

[0006] (II) Technical solution

[0007] To achieve the above purpose, the present invention is implemented by the following technical solutions: a ground slag pushing robot based on SLAM navigation of laser radar, comprising a main control mechanism, crawler beams are arranged on both sides of the lower end of the main control mechanism, movable crawlers are arranged outside the two crawler beams, and a slag pushing mechanism is arranged between the opposite side of the two crawler beams and the front end of the main control mechanism;

[0008] The slag pushing mechanism includes two side connecting arms, an adjusting dial is fixedly provided at the middle position of the upper ends of the two side connecting arms, and an adjusting cylinder is hingedly provided on the upper ends of the two adjusting dials. A power cylinder is hingedly provided at the front end of the main control mechanism, and a power connecting frame is hingedly provided at the front end of the power cylinder, a main pushing shovel is fixedly provided at the front end of the power connecting frame, and extended front shovels are slidably provided on both sides of the rear end of the main pushing shovel.

[0009] Preferably, an upper cover is fixedly provided on the upper end of the main control mechanism, and an antenna is fixedly provided on one side of the upper cover close to the rear end.

[0010] Preferably, a camera is rotatably arranged in the middle of the front upper end of the upper cover, an upper support frame is fixedly arranged in the middle of the upper end of the upper cover, and an intelligent laser radar is fixedly arranged in the middle of the upper end of the upper support frame.

[0011] Preferably, the front ends of the two side connecting arms are hingedly provided with front support blocks, the front ends of the two front support blocks are fixedly provided with electromagnets, the front ends of the two electromagnets are fixedly provided with multiple spring telescopic rods, and the front ends of the multiple spring telescopic rods are respectively fixedly provided with two front connecting sliders.

[0012] Preferably, two movable convex strips are fixedly provided at the rear ends of the two extended front shovels, and the two extended front shovels are respectively hingedly provided at the front ends of the two adjusting cylinders.

[0013] Preferably, the rear ends of the two extended front shovels are each provided with a stabilizing slide groove, and stabilizing support frames are slidably arranged inside the two stabilizing slide grooves, and the two stabilizing support frames are fixedly arranged on opposite sides of the power connecting frame respectively.

[0014] Preferably, side guard plates are fixedly provided on the two extended front shovels on the sides away from each other.

[0015] Working principle: When the slag pushing robot realizes the slag pushing work, the length of the slag pushing mechanism can be adjusted according to the size of the space under the electrolytic aluminum tank. During the adjustment process, the adjusting cylinder is first started to extend it. Since the front end of the adjusting cylinder body has an inclined angle, it can be rotated on the adjustment turntable. After extension, the extended front shovels on both sides can be driven to slide to both sides respectively. During the sliding process, the moving convex strip will slide stably at the front end of the front connecting slider, and the stable support frame will also slide on the stable slide groove until the extended front shovel moves to the most side positions. The card grooves between the extended front shovel and the main pushing shovel will dock with each other, and the extended front shovel will be pushed forward by the spring telescopic rods on both sides, so that the front end surface of the extended front shovel is flush with the front end surface of the main pushing shovel, thereby improving the slag pushing effect. When the angle of the main pushing shovel needs to be adjusted during the slag pushing process, the main pushing shovel can be driven to be lifted by controlling the length of the power cylinder;

[0016] When the slag pushing robot performs the slag pushing work, the robot interacts with the host computer using technologies such as real-time images, wireless communication, and remote control. The host computer can judge the robot's walking environment based on real-time images, issue walking instructions to the robot, and realize functions such as real-time alarm. The navigation system controls the driver to walk, and plans the operation path through laser radar mapping. The laser radar and ultrasonic obstacle avoidance sensor installed on the vehicle can realize the obstacle avoidance function on the operation path, and the IMU is used for positioning and detecting the vehicle body roll angle.

[0017] (III) Beneficial effects

[0018] The present invention provides a ground slag pushing robot based on SLAM navigation of laser radar, which has the following beneficial effects:

[0019] 1. The present invention provides a ground slag pushing robot based on SLAM navigation of laser radar. When performing the slag pushing task, the slag pushing robot can adjust the length of the slag pushing mechanism according to the spatial size of the bottom of the electrolytic aluminum tank. During the adjustment process, the adjusting oil cylinder is first activated to achieve elongation. The front end of the adjusting oil cylinder is designed with an inclination angle to allow it to rotate on the adjustment dial. After elongation, the extended front shovels on both sides will slide to both sides respectively. During the sliding process, the moving convex strip will slide stably at the front end of the front connecting slider, and the stable support frame will also move on the stable slide until the extended front shovel moves to the outermost position. At this time, the card slots between the extended front shovel and the main push shovel will dock with each other, and the extended front shovel will be pushed forward by the spring telescopic rods set on both sides, so that the front end surface of the extended front shovel and the front end surface of the main push shovel are kept on the same horizontal line, thereby improving the slag pushing effect. Finally, the slag pushing robot can adjust the size of the slag pushing mechanism according to the electrolytic aluminum tanks of different specifications to achieve better adaptability and improve the slag pushing efficiency. At the same time, the production cost is greatly reduced.

[0020] 2. The present invention provides a ground slag pushing robot based on SLAM navigation of laser radar. The robot is equipped with mobile tracks and can move to a specified position autonomously. It interacts with a host computer using real-time image processing, wireless communication and remote control technology. The host computer evaluates the robot's walking environment by analyzing real-time images, and issues corresponding walking instructions to the robot, while realizing functions such as real-time alarm. The navigation system is responsible for controlling the drive to guide the robot along the planned working path. The laser radar and ultrasonic obstacle avoidance sensor on the vehicle ensure that obstacles can be effectively avoided on the working path. The inertial measurement unit (IMU) is used to locate and monitor the tilt angle of the vehicle body. The comprehensive application of these technologies has significantly improved the intelligence level of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the axial side of the present invention;

[0022] Figure 2 It is a rear-view axle side schematic diagram of the present invention;

[0023] Figure 3 It is an axial schematic diagram of the slag pushing mechanism of the present invention;

[0024] Figure 4 This is a schematic diagram of the axial side of the slag pushing mechanism of the present invention when the side baffle is not installed;

[0025] Figure 5 It is a schematic diagram from another perspective when the slag pushing mechanism of the present invention is not equipped with a side baffle;

[0026] Figure 6 It is a schematic diagram of the SLAM system architecture of the present invention.

[0027] Among them, 1. slag pushing mechanism; 2. crawler crossbeam; 3. moving crawler; 4. antenna; 5. intelligent laser radar; 6. upper support frame; 7. camera; 8. upper cover; 9. main control mechanism; 101. side baffle; 102. extended front shovel; 103. stable slide; 104. stable support frame; 105. power connecting frame; 106. main pushing shovel; 107. power cylinder; 108. front support block; 109. adjusting cylinder; 110. adjusting turntable; 111. side connecting arm; 112. moving convex strip; 113. front connecting slider; 114. electromagnet; 115. spring telescopic rod. DETAILED DESCRIPTION

[0028] 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.

[0029] Example:

[0030] like Figure 1-2 As shown, an embodiment of the present invention provides a ground slag pushing robot based on SLAM navigation of laser radar, including a main body control mechanism 9, track beams 2 are arranged on both sides of the lower end of the main body control mechanism 9, and movable tracks 3 are arranged outside the two track beams 2, and a slag pushing mechanism 1 is arranged between the opposite side of the two track beams 2 and the front end of the main body control mechanism 9, an upper cover 8 is fixedly arranged on the upper end of the main body control mechanism 9, an antenna 4 is fixedly arranged on the rear end side of the upper cover 8, a camera 7 is rotatably arranged at the middle of the upper end of the upper cover 8, an upper support frame 6 is fixedly arranged at the middle position of the upper end of the upper cover 8, and an intelligent laser radar 5 is fixedly arranged at the middle position of the upper end of the upper support frame 6;

[0031] Specifically, in the above-mentioned specific embodiment, the slag pushing robot can move autonomously to the specified position through the mobile crawler 3 provided inside. It interacts with the host computer by using real-time image processing, wireless communication and remote control technology. The host computer evaluates the robot's walking environment by analyzing real-time images, and issues corresponding walking instructions to the robot, while realizing functions such as real-time alarm. The navigation system is responsible for controlling the drive to guide the robot along the planned working path. The laser radar and ultrasonic obstacle avoidance sensors on the vehicle ensure that obstacles can be effectively avoided on the working path;

[0032] Specifically, this robot system adopts a SLAM navigation method based on laser radar, with a positioning accuracy within ±20mm. The main functions of SLAM navigation include local SLAM construction, SLAM algorithm positioning, and path planning.

[0033] 1 Based on hierarchical SLAM algorithm positioning and system architecture Figure 6 As shown;

[0034] State perception layer: The encoder information and data information collected by the laser sensor provide support for the robot to create maps and effectively locate. Among them, the tracked intelligent robot mainly uses multi-line laser radar to measure the distance between the robot and obstacles.

[0035] Data processing layer: As an important part of the system, it is responsible for predicting and updating the robot's position and posture, integrating and processing environmental information, and can decode, extract, analyze and store the input information of the state perception layer to provide data support for SLAM. The Locat ion module converts information according to the encoder information. Here, it mainly uses the kinematics of the robot body to calculate the position, update the robot's posture in real time, and update the robot's position through iterative prediction. The specific process includes:

[0036] The goal is to extract corner points and line segments from the data obtained by the sensor;

[0037] Identify high-level features based on the characteristics of the customer site;

[0038] Effectively extract topological information and process the topological node list, create new nodes, and update existing nodes.

[0039] Environmental representation layer: The robot is described at different levels, and the global consistency representation and local detail representation of the environment are analyzed; the global map can make necessary descriptions of the complex characteristics of the environment as a whole, and the local area measurement information can be represented by the grid map of different nodes, providing accurate location and detailed mapping. The two parts complement each other to realize the map creation of the robot in different environments.

[0040] 2 Local SLAM Construction

[0041] Since the interior of the electrolytic cell bottom is mostly a typical indoor structure environment, it has certain prior knowledge and typical structural invariance characteristics, which can be used as the basis for node creation. The generation of topological mapping mainly involves the definition and identification of topological nodes. The difference between various topological modeling methods lies mainly in how to establish and distinguish nodes, and how to deal with the uncertainty problem in positioning observation. As the basic element of the topological map, node has a more important special meaning. In order to achieve model matching in unknown areas in the power scenario, we need to set up easy-to-identify feature points for the robot. Through the previous description, the power intelligent robot will ignore some precise coordinate information while effectively positioning on the topological map. The method adopted is mainly logical positioning, and only the number and category of node points in the specified area are identified. The detailed construction steps include: the acquisition of multi-dimensional laser data carried by the body and the necessary preprocessing; the extraction of features of line segments and corner points, including the location of special equipment, the identification of feature points of surrounding walls, the update of the global topological map and the necessary initialization.

[0042] Global feature extraction: The initial features of line segments and corner points of the environment constitute the basic elements of the global map. Therefore, using line segment iteration and corner point fitting methods, the corresponding line segment and corner point information are extracted from the initially obtained environmental data center to extract an intersecting line segment with the required angle.

[0043] High-level feature recognition: According to the above definition of nodes, the geometric characteristics of high-level features are combined with the distribution of main features to complete the recognition. The wall of the pump room generally refers to two straight lines with similar parallel features and abstract path features with open areas. Corner features are usually composed of intersecting and approximately perpendicular line segments, which are judged by the main features.

[0044] Global topology map construction: According to the correspondence between nodes and corresponding high-level features, the main mode of the topology map is designed, and the geometric center of the special equipment is used as an auxiliary node. By extracting features from the power robot, the topology node list is updated in real time.

[0045] like Figure 2-5 As shown, the slag pushing mechanism 1 includes two side connecting arms 111, and an adjusting dial 110 is fixedly provided at the middle position of the upper end of the two side connecting arms 111. The upper ends of the two adjusting dials 110 are both hingedly provided with an adjusting cylinder 109. The front end of the main control mechanism 9 is hingedly provided with a power cylinder 107, and the front end of the power cylinder 107 is hingedly provided with a power connecting frame 105. The front end of the power connecting frame 105 is fixedly provided with a main pushing shovel 106, and both sides of the rear end of the main pushing shovel 106 are slidably provided with an extended front shovel 102. The front ends of the two side connecting arms 111 are both hingedly provided with a front support block 108, and the front ends of the two front support blocks 108 are fixed. An electromagnet 114 is provided, and a plurality of spring telescopic rods 115 are fixedly provided at the front ends of the two electromagnets 114. Two front connecting sliders 113 are fixedly provided at the front ends of the plurality of spring telescopic rods 115. Two movable convex strips 112 are fixedly provided at the rear ends of the two extended front shovels 102. The two extended front shovels 102 are respectively hinged at the front ends of the two adjusting cylinders 109. Stable slide grooves 103 are provided at the rear ends of the two extended front shovels 102. Stable support frames 104 are slidably provided inside the two stable slide grooves 103. The opposite sides of the two stable support frames 104 are fixedly provided at the positions on both sides of the power connecting frame 105.

[0046] Specifically, in the above specific embodiment, the slag pushing robot has the flexibility according to the size of the space below the electrolytic aluminum tank, and can autonomously adjust the length of the slag pushing mechanism 1 to adapt to different working environments, thereby reducing production costs. In the process of adjusting the length, the adjusting oil cylinder 109 will be started first to gradually extend it. Since the front end of the adjusting oil cylinder 109 is designed with an inclined angle, it can not only rotate freely on the adjustment turntable, but also drive the extended front shovels 102 on both sides to slide to both sides during the extension process. In the process of sliding, the moving convex strip 112 will slide stably at the front end of the front connecting slider 113, and at the same time, the stable support frame 104 will also slide smoothly on the stable slide 103. When the extended front shovel 102 moves to the position on both sides, the card slots between the extended front shovel 102 and the main push shovel 106 will dock with each other to ensure that the two are tightly combined. In addition, the extended front shovel 102 will be pushed forward by the spring telescopic rods 115 set on both sides, so that the front end surface of the extended front shovel 102 and the front end surface of the main push shovel 106 are kept on the same horizontal plane, which significantly improves the slag pushing effect.

[0047] During the slag pushing process, if the angle of the main shovel 106 needs to be adjusted, the main shovel 106 can be lifted by controlling the length of the power cylinder 107. The two extended front shovels 102 are fixedly provided with side baffles 101 on the side away from each other. The function of these side baffles 101 is to facilitate the pushing of slag materials over a large area during the shoveling process, ensuring the efficiency and smoothness of the slag pushing operation.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A ground slag pushing robot based on SLAM navigation of laser radar, comprising a main control mechanism (9), characterized in that: Track beams (2) are arranged on both sides of the lower end of the main control mechanism (9), movable tracks (3) are arranged outside the two track beams (2), and a slag pushing mechanism (1) is arranged between the opposite side of the two track beams (2) and the front end of the main control mechanism (9); The slag pushing mechanism (1) comprises two side connecting arms (111), an adjusting dial (110) is fixedly provided at the middle position of the upper ends of the two side connecting arms (111), and an adjusting oil cylinder (109) is hingedly provided at the upper ends of the two adjusting dials (110), a power oil cylinder (107) is hingedly provided at the front end of the main control mechanism (9), and a power connecting frame (105) is hingedly provided at the front end of the power oil cylinder (107), and a main pushing shovel (106) is fixedly provided at the front end of the power connecting frame (105), and an extended front shovel (102) is slidably provided on both sides of the rear end of the main pushing shovel (106).

2. The ground slag pushing robot based on SLAM navigation of laser radar according to claim 1, characterized in that: An upper cover (8) is fixedly arranged on the upper end of the main control mechanism (9), and an antenna (4) is fixedly arranged on one side of the upper cover (8) close to the rear end.

3. The ground slag pushing robot based on SLAM navigation of laser radar according to claim 2, characterized in that: A camera (7) is rotatably arranged at the middle of the front upper end of the upper cover (8), an upper support frame (6) is fixedly arranged at the middle of the upper end of the upper cover (8), and an intelligent laser radar (5) is fixedly arranged at the middle of the upper end of the upper support frame (6).

4. The ground slag pushing robot based on SLAM navigation of laser radar according to claim 1, characterized in that: The front ends of the two side connecting arms (111) are both hingedly provided with front support blocks (108), the front ends of the two front support blocks (108) are both fixedly provided with electromagnets (114), the front ends of the two electromagnets (114) are both fixedly provided with a plurality of spring telescopic rods (115), and the front ends of the plurality of spring telescopic rods (115) are respectively fixedly provided with two front connecting sliders (113).

5. The ground slag pushing robot based on SLAM navigation of laser radar according to claim 1, characterized in that: Two movable convex strips (112) are fixedly arranged at the rear ends of the two extended front shovels (102), and the two extended front shovels (102) are respectively hingedly arranged at the front ends of the two regulating oil cylinders (109).

6. The ground slag pushing robot based on SLAM navigation of laser radar according to claim 1, characterized in that: The rear ends of the two extended front shovels (102) are each provided with a stabilizing slide groove (103), and inside the two stabilizing slide grooves (103) are both slidably provided with stabilizing support frames (104), and opposite sides of the two stabilizing support frames (104) are respectively fixedly provided at the two sides of the power connecting frame (105).

7. The ground slag pushing robot based on SLAM navigation of laser radar according to claim 1, characterized in that: A side baffle (101) is fixedly provided on the side of the two extended front shovels (102) away from each other.

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