Automatic inspection device for coal mine monorail crane track

Abstract

The invention provides an automatic inspection device for a coal mine monorail crane track. The automatic inspection device comprises a first case, a second case and a case mounting frame, the first case comprises a first case body, a first CCD camera, a second CCD camera and a wireless communication module, wherein the first CCD camera and the second CCD camera are arranged in the first case body. The second case comprises a second case body, a third CCD camera arranged in the second case body, a first laser range finder, a second laser range finder and an industrial personal computer for master control and image processing; the first to third CCD cameras, the first and second laser range finders and the wireless communication module are electrically connected with the industrial personal computer; during use, the first case and the second case are fixedly arranged on the two sides of the upper end of the top of a cab of the monorail crane through the case mounting frame, a monorail crane track penetrates through the first case and the second case, and the first case and the second case take electricity from the cab of the monorail crane; and the industrial personal computer is in wireless communication with a coal mine monorail crane operation monitoring background through the wireless communication module. Compared with an existing similar device, the device is simple in structure, lower in cost and higher in working reliability.

Description

Technical Field

[0001] The invention relates to the technical field of track inspection, and in particular to an automatic inspection device for a coal mine monorail hanging track. Background Art

[0002] The monorail crane auxiliary transportation system is one of the most important auxiliary transportation systems in coal mines. The track in the monorail crane system is the hanging rail. The heavy-loaded monorail crane locomotive runs on the hanging rail for a long time, which makes the monorail crane track prone to cracks, track misalignment and deformation, and track connectors loose and falling off. If these problems are not discovered in time, they will bring safety hazards and even cause safety accidents. Therefore, the monorail crane track needs to be inspected in order to discover possible problems in time. The traditional way to inspect the monorail crane track in coal mines relies on manual inspection. Manual inspection has the problems of high labor intensity of inspectors, long inspection cycle, and inspection results relying on the experience level and subjective factors of inspectors. In short, manual inspection obviously has problems such as lack of real-time performance, low inspection efficiency, and insufficient reliability of inspection results. In order to solve the above problems existing in manual inspection, the industry has paid more attention to the development of devices capable of automatically inspecting the monorail tracks of coal mines in recent years. For example, the Chinese patent document with application publication number CN114909582A discloses a monorail inspection robot, which is mainly composed of a main body bottom plate 1, a moving part 2, a guide part 3, a driving part 4, a sensor part 5 and a shell 6. The monorail inspection robot is a wheeled robot that is automatically driven on the monorail track by a battery. It can automatically inspect the monorail track and solve the problems existing in traditional manual inspection. However, the The monorail inspection robot has the following shortcomings: first, since the inspection robot conducts inspections on its own on the monorail track, it can only conduct inspections when there is no monorail locomotive running on the monorail track, which greatly affects the real-time performance of its inspections and makes it possible for safety hazards to exist when the monorail locomotive is running; second, the inspection robot relies on batteries as power, and since the monorail track lines are generally long distances, the inspection robot often needs to replace batteries during use, which is very inconvenient; third, the inspection robot has a complex structure, high cost, and low working reliability. Summary of the invention

[0003] The purpose of the present invention is to solve the problems existing in the prior art and to provide a coal mine monorail automatic inspection device which has a simple structure, low cost, and high real-time inspection and reliability during operation.

[0004] The technical solution of the present invention is: the automatic inspection device for the monorail track of the coal mine of the present invention has the following structural features: it includes a first chassis, a second chassis and a chassis mounting frame; the first chassis includes a first box body, a first CCD camera, a second CCD camera and a wireless communication module arranged in the first box body; the second chassis includes a second box body, a third CCD camera arranged in the second box body, a first and a second laser rangefinder for correspondingly sending trigger signals for the first to third CCD cameras to start and stop shooting, and a main control and image analysis and processing to determine whether the monorail track is An industrial computer that has failed; the first to third CCD cameras, the first and second laser rangefinders and the wireless communication module are electrically connected to the industrial computer respectively; when in use, the first and second chassis are fixed to both sides of the top upper end of the monorail crane cab through a chassis mounting frame and the monorail crane track passes through between the first and second chassis, and the first and third CCD cameras are arranged opposite to each other, the second CCD camera is arranged toward the front of the monorail crane locomotive, and the first and second chassis are powered by the monorail crane cab; the industrial computer communicates wirelessly with the coal mine monorail crane operation monitoring background through the wireless communication module.

[0005] A further solution is: the first box body of the above-mentioned first chassis includes a first bottom plate, a first mounting plate fixedly mounted on the above-mentioned first bottom plate, and a first cover shell which is detachably fixedly connected to the above-mentioned first bottom plate and covers the first mounting plate inside, and an observation hole is respectively opened on both sides of the upper part of the above-mentioned first cover shell; the first and second CCD cameras and the wireless communication module are respectively fixedly mounted on the first mounting plate and located in the first cover shell, and the installation positions of the first and second CCD cameras each match an observation hole of the first cover shell.

[0006] A further solution is: the above-mentioned first chassis also includes a first power supply module and a first circuit board sealing box fixed on the above-mentioned first mounting plate and located in the first cover, the first circuit board sealing box is provided with a first circuit board for controlling the opening and closing actions of the above-mentioned first and second CCD cameras, and the above-mentioned first power supply module is used to draw power from the monorail crane cab and convert it into working power required by the first chassis.

[0007] A further solution is: the second box body of the above-mentioned second chassis includes a second bottom plate, a second mounting plate fixedly arranged on the above-mentioned second bottom plate, and a second cover shell which is detachably fixedly connected to the above-mentioned second bottom plate and covers the second mounting plate inside; one side of the upper part of the above-mentioned second cover shell is respectively provided with an observation hole at the front, middle and rear; the above-mentioned third CCD camera, the first and second laser rangefinders and the industrial computer are respectively fixedly arranged on the second mounting plate and located in the second cover shell; the installation positions of the first laser rangefinder, the third CCD camera and the second laser rangefinder respectively match the front, middle and rear observation holes of the second cover shell.

[0008] A further solution is: the above-mentioned second chassis also includes a second power supply module and a second circuit board sealing box fixed on the above-mentioned second mounting plate and located in the second cover, the above-mentioned second circuit board sealing box is provided with a second circuit board for controlling the opening and closing actions of the above-mentioned third CCD camera, the first and second laser rangefinders, and the above-mentioned second power supply module is used to draw power from the monorail crane cab and convert it into working power required by the second chassis.

[0009] A further solution is: the above industrial computer is an embedded industrial computer.

[0010] A further solution is that the above-mentioned coal mine monorail crane track automatic inspection device is fixedly provided with one set on the top of the monorail crane locomotive cab respectively provided at the front and rear ends.

[0011] A further solution is: the above-mentioned coal mine monorail crane track automatic inspection device also includes a gas concentration sensor arranged on the above-mentioned first chassis, or arranged on the above-mentioned second chassis, or arranged on the above-mentioned first and second chassis respectively for real-time detection of the concentration of harmful gases in the operating environment of the monorail crane.

[0012] The present invention has positive effects: (1) The inspection device of the present invention adopts the structural design of the first and second chassis, and when in use, the first and second chassis are fixedly installed on the top of the monorail locomotive cab to follow the movement of the monorail locomotive, and the track status of the monorail locomotive is automatically detected in real time, thereby effectively solving the technical problem that the existing self-propelled inspection device can only perform inspections when there is no monorail locomotive running on the monorail track, which is caused by the lack of real-time inspection, resulting in safety hazards in the operation of the monorail locomotive. (2) The inspection device of the present invention is provided with working power by the monorail locomotive on which it is installed, and the inspection distance is almost unlimited, thereby effectively solving the technical problems of the existing self-propelled inspection device with limited inspection distance and frequent need to replace batteries, which is very inconvenient. (3) The inspection device of the present invention adopts two box structures, which can be conveniently and reliably installed on the monorail locomotive, and follows the movement of the monorail locomotive during inspection. Compared with the existing self-propelled inspection device, it has a simple structure, low cost and higher working reliability. (4) The inspection components of the inspection device of the present invention are all arranged in the box, so that it can be effectively applied to the harsh working environment of the coal mine. (5) The inspection device of the present invention can detect the concentration of harmful gases in the coal mine in real time by setting a gas sensor, which further increases its cost-effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a first chassis of the present invention; Figure 2 To remove Figure 1 A schematic diagram of the structure behind the first cover; Figure 3 For Figure 2 Schematic diagram of the structure when the observation direction is opposite; Figure 4 It is a structural schematic diagram of a second chassis of the present invention; Figure 5 To remove Figure 4 A schematic diagram of the structure behind the second cover; Figure 6 The present invention is a schematic diagram of the structure when installed above the cab of a monorail crane locomotive when in use.

[0014] The reference numerals in the above drawings are as follows: A first chassis 1, a first box body 11, a first cover 11-1, a first bottom plate 11-2, a first mounting plate 11-3, a first CCD camera 12, a second CCD camera 13, a first power module 14, a first circuit board sealing box 15, and a wireless communication module 16; A second chassis 2, a second box body 21, a second cover 21-1, a second bottom plate 21-2, a second mounting plate 21-3, a third CCD camera 22, a first laser rangefinder 23, a second laser rangefinder 24, an industrial computer 25, a second power supply module 26, a second circuit board sealing box 27, and a gas concentration sensor 28; Chassis mounting frame 3; Monorail crane track 101, track connector 102, lifting chain 103, monorail crane locomotive cab 104. DETAILED DESCRIPTION

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] (Example 1) See Figures 1 to 6 The coal mine monorail automatic inspection device of this embodiment is a track inspection device based on image detection, which is mainly composed of a first chassis 1, a second chassis 2 and two chassis mounting frames 3.

[0017] See also Figures 1 to 3 The first chassis 1 is mainly composed of a first box body 11 and a first CCD camera 12 , a second CCD camera 13 , a first power module 14 , a first circuit board sealing box 15 and a wireless communication module 16 arranged in the first box body 11 .

[0018] As a specific implementation method, the first box body 11 is mainly composed of a first cover shell 11-1, a first base plate 11-2 and a first mounting plate 11-3. The first mounting plate 11-3 is vertically fixed on the first base plate 11-2. The first cover shell 11-1 is detachably fixedly connected to the first base plate 11-2 and the first mounting plate 11-3 is covered inside; an observation hole is opened on each side of the upper part of the first cover shell 11-1.

[0019] The first CCD camera 12, the second CCD camera 13, the first power module 14, the first circuit board sealed box 15 and the wireless communication module 16 are respectively fixed on the first mounting plate 11-3 and located in the first housing 11-1, wherein the installation positions of the first CCD camera 12 and the second CCD camera 13 are respectively matched with an observation hole of the first housing 11-1. The first CCD camera 12 and the second CCD camera 13 are used for capturing images during inspection, the first power module 14 is used for converting an external power supply into the power required for the operation of the first chassis 1, and the first circuit board sealed box 15 is provided with a first circuit board (not shown in the figure) for controlling the opening and closing of the first CCD camera 12 and the second CCD camera 13. The first circuit board is installed with the first circuit board sealed box 15 to prevent the circuit and electronic components on the first circuit board from being contaminated by coal mine dust and the like and malfunctioning or being damaged, thereby increasing its working reliability. The wireless communication module 16 is used for the automatic inspection device for the monorail crane track in the coal mine of this embodiment to communicate with the monorail crane operation monitoring background provided in the coal mine during inspection to send the detection results to the monitoring background. In this embodiment, the wireless communication module 16 preferably adopts a commercially available wireless bridge. It should be noted that the first CCD camera 12 and the second CCD camera 13 are both commercially available parts, and the first power module 14 and the first circuit board disposed in the first circuit board sealing box 15 are both mature technologies, and their specific structures and working principles are not described in detail.

[0020] See also Figure 4 and Figure 5 The second chassis 2 is mainly composed of a second box body 21, a third CCD camera 22, a first laser rangefinder 23, a second laser rangefinder 24, an industrial computer 25, a second power module 26, a second circuit board sealing box 27 and a gas concentration sensor 28.

[0021] As a specific implementation method, the second box body 21 is mainly composed of a second cover shell 21-1, a second base plate 21-2 and a second mounting plate 21-3. The second mounting plate 21-3 is vertically fixed on the second base plate 21-2. The second cover shell 21-1 is detachably fixedly connected to the first base plate 21-2 and covers the second mounting plate 21-3 inside; one side of the upper part of the second cover shell 11-1 is divided into the front, middle and rear (distinguished by the forward direction when in use) and each is provided with an observation hole. Preferably, the second cover shell 11-1 is also provided with a gas sensor installation through hole.

[0022] The third CCD camera 22, the first laser rangefinder 23, the second laser rangefinder 24, the industrial computer 25, the second power supply module 26 and the second circuit board sealing box 27 are respectively fixed on the second mounting plate 21-3 and located in the second cover shell 21-1. The installation positions of the first laser rangefinder 23, the third CCD camera 22 and the second laser rangefinder 24 are respectively matched with the front, middle and rear observation holes of the second cover shell 11-1; the third CCD camera 22 is used for capturing images during inspection, the first laser rangefinder 23 and the second laser rangefinder 24 are respectively used to provide the industrial computer 25 with trigger signals for starting and stopping the capturing of each CCD camera, the industrial computer 25 is used for the main control of the device and for judging whether the track fails by image analysis and processing. In this embodiment, the industrial computer 25 preferably adopts an embedded industrial computer with the advantages of dustproof, moisture-proof, vibration-proof, strong anti-electromagnetic interference ability and wide temperature working range to adapt to the harsh working conditions in coal mines. The second power supply module 26 is used to convert the external power supply into the power required for the operation of the second chassis 2. The second circuit board sealed box 27 is provided with a second circuit board (not shown in the figure) for controlling the opening and closing of the third CCD camera 22, the first laser rangefinder 23 and the second laser rangefinder 24. Similarly, the third CCD camera 22, the first laser rangefinder 23, the second laser rangefinder 24 and the industrial computer 25 are all commercially available parts. The second power supply module 26 and the second circuit board in the second circuit board sealed box 27 are mature technologies, and their specific structures and working principles are not described in detail. The industrial computer 25 uses the images taken by each CCD camera to analyze and process to determine whether the track has a fault, which is also a mature existing technology and is not described in detail.

[0023] The gas concentration sensor 28 is preferably arranged, and is used for real-time detection of the concentration of harmful gases such as methane and carbon monoxide in the operating environment of the monorail crane; the number and type of the gas concentration sensor 28 can be set accordingly according to the need for detecting the type of harmful gas, and the gas concentration sensor 28 can be arranged on the second chassis 2, or on the first chassis 1, or respectively on the second chassis 2 and the first chassis 1.

[0024] The aforementioned first CCD camera 12 and second CCD camera 13 are electrically connected to the industrial computer 25 through the first circuit board, the third CCD camera 22, the first laser rangefinder 23 and the second laser rangefinder 24 are electrically connected to the industrial computer 25 through the second circuit board, and the wireless communication module 16 and the gas concentration sensor 28 are electrically connected to the industrial computer respectively.

[0025] The installation and working principle of the automatic inspection device for the monorail hanging track of a coal mine of this embodiment when in use are briefly described as follows: See also Figure 6 When the automatic inspection device for the coal mine monorail track of this embodiment is used, the two chassis mounting frames 3 are fixed on both sides of the top upper end of the monorail locomotive cab 104, and the first chassis 1 and the second chassis 2 are each detachably fixed on a chassis mounting frame 3, and the first CCD camera 12 of the first chassis 1 and the third CCD camera 22 of the second chassis 2 are arranged opposite to each other, the first chassis 1 and the second chassis 2 are respectively located on both sides of the monorail track 101, and the heights of the first CCD camera 12 and the third CCD camera 22 and the first laser rangefinder 23 and the second laser rangefinder 24 are matched with the height of the track connector 102; and the first power module 14 of the first chassis 1 and the second power module 26 of the second chassis 2 are electrically connected to the power supply of the monorail locomotive cab 104 so that the device can obtain power from the monorail locomotive cab 104.

[0026] When the monorail crane is running on the monorail crane track 101, the first laser rangefinder 23 and the second laser rangefinder 24 are powered on and work. When the monorail crane cab 104 drives toward the track connector 102, the laser emitted by the first laser rangefinder 23 is blocked by the track connector 102, and the signal sent by the first laser rangefinder 23 to the industrial computer 25 suddenly changes, that is, the first laser rangefinder 23 sends a trigger signal to the industrial computer 25 to start shooting. At this time, the industrial computer 25 controls the first CCD camera 12, the second CCD camera 13 and the third CCD camera 22 to start shooting, wherein the first CCD camera 12 and the third CCD camera 22 respectively shoot the two sides of the track connector 102. The captured pictures are sent to the industrial computer 25, which automatically analyzes and processes the images, and automatically identifies and determines whether the track connector 102 has any faults such as block drop, crack, track misalignment, deformation and bending, loose fasteners and falling off; at the same time, the second CCD camera 13 arranged on the front side of the first chassis 1 captures the monorail track 101, the next track connector 102 and the suspension chain 103 above it located in front of the monorail crane locomotive cab 104, and the captured pictures are sent to the industrial computer 25, which automatically analyzes and processes the images, and automatically identifies and determines whether the monorail track 101 in front has any bending or deformation, and whether the track connector 102 and the suspension chain 103 are broken. When the industrial computer 25 determines that there is a fault, the industrial computer 25 sends an alarm to the monorail crane operation monitoring background through the wireless communication module 16 and uploads the corresponding picture file. When the second laser rangefinder 24 sends a trigger signal to stop shooting to the industrial computer 25, the industrial computer 25 controls the first CCD camera 12, the second CCD camera 13 and the third CCD camera 22 to stop shooting until the monorail crane cab 104 runs to the next track connector 102 and repeats the above actions. This cycle is repeated to achieve full automatic inspection of the monorail crane track 101 on which the monorail crane runs.

[0027] During the operation of the monorail crane locomotive, the gas concentration sensor 28 detects the concentration of the corresponding harmful gases in the environment throughout the process and sends the detection signal to the industrial computer 25. When the industrial computer 25 determines that the harmful gas exceeds the standard, the industrial computer 25 alarms to the monorail crane operation monitoring background through the wireless communication module 16 and uploads the corresponding data.

[0028] Since the monorail locomotives in actual operation usually travel in both directions, the monorail locomotive is correspondingly provided with a monorail locomotive cab 104 at the front and rear ends. Therefore, as a preferred embodiment, a set of coal mine monorail track automatic inspection devices of the present embodiment is also provided on the rear monorail locomotive cab 104 of the monorail locomotive with two monorail locomotive cabs 104. On the one hand, the inspection device provided at the rear end is used to perform another inspection on the track after the monorail locomotive passes through to prevent the track from malfunctioning after the monorail locomotive passes through, thereby further improving the real-time performance of the track inspection. On the other hand, it is convenient for the monorail locomotive to inspect the track when making a return trip.

[0029] The above embodiments are descriptions of specific implementation methods of the present invention rather than limitations of the present invention. Technical personnel in the relevant technical field can make various changes and modifications to obtain corresponding equivalent technical solutions without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should be included in the patent protection scope of the present invention.

Claims

1. An automatic inspection device for a coal mine monorail crane track, characterized in that: It includes a first chassis, a second chassis and a chassis mounting frame; the first chassis includes a first box body, a first CCD camera, a second CCD camera and a wireless communication module arranged in the first box body; the second chassis includes a second box body, a third CCD camera arranged in the second box body, first and second laser rangefinders for correspondingly sending out trigger signals for the first to third CCD cameras to start and stop shooting, and an industrial computer for main control and judging whether a monorail crane track fails through image analysis and processing; The first to third CCD cameras, the first and second laser rangefinders and the wireless communication module are electrically connected to the industrial computer respectively; when in use, the first and second chassis are fixed to the top upper sides of the monorail crane cab through the chassis mounting frame and the monorail crane track passes through the first and second chassis, and the first and third CCD cameras are arranged opposite to each other, the second CCD camera is arranged toward the front of the monorail crane cab, and the first and second chassis are powered by the monorail crane cab; the industrial computer communicates wirelessly with the coal mine monorail crane operation monitoring background through the wireless communication module.

2. The automatic inspection device for coal mine monorail crane track according to claim 1 is characterized in that: The first box body of the first chassis includes a first base plate, a first mounting plate fixedly mounted on the first base plate, and a first cover shell detachably fixedly connected to the first base plate and covering the first mounting plate inside, and an observation hole is respectively opened on both sides of the upper part of the first cover shell; the first and second CCD cameras and the wireless communication module are respectively fixedly mounted on the first mounting plate and located inside the first cover shell, and the installation positions of the first and second CCD cameras each match an observation hole of the first cover shell.

3. The automatic inspection device for coal mine monorail crane track according to claim 2 is characterized in that: The first chassis also includes a first power module and a first circuit board sealing box fixed on the first mounting plate and located in the first cover. The first circuit board sealing box is provided with a first circuit board for controlling the opening and closing actions of the first and second CCD cameras. The first power module is used to draw power from the monorail crane cab and convert it into working power required by the first chassis.

4. The automatic inspection device for coal mine monorail crane track according to claim 1 is characterized in that: The second box body of the second chassis includes a second bottom plate, a second mounting plate fixedly arranged on the second bottom plate, and a second cover shell which is detachably fixedly connected to the second bottom plate and covers the second mounting plate inside. An observation hole is respectively arranged at the front, middle and rear of one side of the upper part of the second cover shell. The third CCD camera, the first and second laser rangefinders and the industrial computer are respectively fixedly arranged on the second mounting plate and are located in the second cover shell. The installation positions of the first laser rangefinder, the third CCD camera and the second laser rangefinder respectively match the front, middle and rear observation holes of the second cover shell.

5. The automatic inspection device for coal mine monorail crane track according to claim 4 is characterized in that: The second chassis also includes a second power supply module and a second circuit board sealing box fixed on the second mounting plate and located in the second cover. The second circuit board sealing box is provided with a second circuit board for controlling the opening and closing actions of the third CCD camera and the first and second laser rangefinders. The second power supply module is used to draw power from the monorail crane cab and convert it into working power required by the second chassis.

6. The automatic inspection device for coal mine monorail crane track according to claim 1 is characterized in that: The industrial computer is an embedded industrial computer.

7. The automatic inspection device for coal mine monorail crane track according to any one of claims 1 to 6, characterized in that: A set of the devices is fixedly arranged on the top of the monorail crane locomotive cab respectively arranged at the front and rear ends.

8. The automatic inspection device for coal mine monorail crane track according to any one of claims 1 to 6, characterized in that: It also includes a gas concentration sensor which is arranged on the first chassis, or on the second chassis, or on the first and second chassis respectively, and is used for real-time detection of the concentration of harmful gases in the operating environment of the monorail crane.

Images