Port self-adaptive intelligent dust fall robot and dust fall method thereof

Abstract

The invention provides a port self-adaptive intelligent dust falling robot and a dust falling method thereof, and belongs to the technical field of dust treatment. The port self-adaptive intelligent dust falling robot comprises a mobile platform and a dust falling mechanism erected on the top of the mobile platform; the dust falling mechanism comprises an ultrasonic anemorumbometer used for monitoring related data of environmental wind in real time; the water supply pipe is communicated with the intelligent water pump; the water supply pipe communicates with a water source; the angle and the height of the fog gun machine are respectively adjusted through a holder and a lifting platform; the two groups of cameras are used for acquiring image information of a field working environment; and the controller is used for controlling the holder and the lifting platform to preliminarily adjust the spraying angle of the fog gun machine according to the related data of the environmental wind, analyzing and processing according to the image information, identifying the specific position where dust is generated, and compensating and adjusting the spraying angle of the fog gun machine. The robot can adapt to the environment, intelligently dispatch the dust falling device, achieve fixed-point dust falling of port coal dust, automatically adjust the dust falling direction and the spraying water pressure and dynamically compensate the influence of environmental factors.

Description

Technical Field

[0001] The present invention relates to the technical field of dust control, and in particular to a port adaptive intelligent dust reduction robot and a dust reduction method thereof. Background Art

[0002] As an important energy source, coal has long been supporting the development of my country's economy. However, the production areas of coal are scattered, and coal transportation has become a top priority for the development of the coal industry. In port operations, especially during coal loading, unloading and storage, the generation of dust is a common problem. These dusts not only pollute the environment, but also may affect the health of port workers. Long-term exposure to high concentrations of coal dust may cause respiratory diseases. Therefore, effectively controlling and reducing the concentration of coal dust in ports is of great significance to protecting the health of workers and improving the level of port safety production.

[0003] Existing dust reduction equipment usually uses fog cannons, which mainly produce fine water mist particles through a high-pressure spray system and use a fan to spray these water mist particles into the air. When the water mist particles come into contact with the dust particles in the air, a series of physical effects will occur, thereby achieving the purpose of dust reduction. Usually, staff manually adjust the position and posture of the fog cannon, and actively perform dust reduction operations at fixed points, or plan the dust reduction execution path in advance and automatically perform multi-point dust reduction. However, the port area is large, and dust generation is relatively random. It is necessary to adjust the position and posture of the fog cannon at all times. Automatic cruising cannot guarantee the dust removal effect, and manual operation consumes a lot of manpower. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a port adaptive intelligent dust reduction robot and a dust reduction method thereof. The robot can adapt to the environment, intelligently dispatch the dust reduction device, realize fixed-point dust reduction of port coal dust, and can automatically adjust the dust reduction direction and spraying water pressure to dynamically compensate for the influence of environmental factors.

[0005] The present invention provides the following technical solutions.

[0006] A port adaptive intelligent dust suppression robot, comprising:

[0007] A mobile platform and a dust reduction mechanism mounted on the top of the mobile platform; the dust reduction mechanism comprises:

[0008] Ultrasonic wind speed and direction meter, used to monitor relevant data of ambient wind in real time;

[0009] An intelligent water pump and a water supply pipe connected to the intelligent water pump; the water supply pipe is connected to a water source;

[0010] A fog cannon, the bottom of which is mounted on the top of the mobile platform through a pan platform and a lifting platform in sequence, and the angle and height are adjusted respectively through the pan platform and the lifting platform; the fog cannon is connected to the intelligent water pump through a connecting pipe;

[0011] Two groups of cameras are respectively mounted on both sides of the fog cannon to obtain image information of the on-site working environment;

[0012] The controller is electrically connected to the ultrasonic anemometer, the intelligent water pump, the pan / tilt, the lifting platform, the fog cannon and the two groups of cameras, and is used to control the pan / tilt and the lifting platform to preliminarily adjust the spray angle of the fog cannon according to the relevant data of the ambient wind, and then analyze and process the image information of the on-site working environment obtained by the camera to identify the specific location where dust is generated, compensate and adjust the spray angle of the fog cannon, and drive the fog cannon to spray and remove dust; it is also used to control the intelligent water pump to supply water to the fog cannon.

[0013] Preferably, it also includes an ultrasonic radar and an audible and visual alarm arranged on the top of the mobile platform; the ultrasonic radar and the audible and visual alarm are electrically connected to the controller respectively; the ultrasonic radar is used to continuously collect environmental information; when a person is found approaching, a signal is sent to the controller to trigger the camera to obtain image information of the on-site working environment; when a person is identified approaching through the image information, a signal is sent to the controller, and the controller drives the audible and visual alarm to start and drive away.

[0014] Preferably, it also includes:

[0015] A remote control receiving device and a wireless remote control; the remote control receiving device is arranged on the mobile platform and is electrically connected to the controller; the wireless remote control is used to receive the detection values ​​of the water pressure and water flow in the connecting pipe and perform manual intervention on the intelligent water pump; the wireless remote control is also used to perform manual intervention on the mobile platform, the pan-tilt head and the lifting platform.

[0016] Preferably, it also includes:

[0017] A water pressure sensor and a water flow sensor are arranged at the connecting pipe and electrically connected to the controller for detecting the water pressure and water flow in the connecting pipe; the controller controls the intelligent water pump to increase the pressure intelligently, and when the water volume is insufficient, an alarm is given through an audible and visual alarm, and the alarm is fed back to the wireless remote controller.

[0018] Preferably, the mobile platform comprises:

[0019] Robot chassis;

[0020] Two sets of driving wheels and steering wheels are respectively arranged at the front end and the rear end of the bottom of the robot chassis; the two sets of driving wheels are driven to rotate by driving motors; and the steering wheels are driven to steer by steering servos.

[0021] Preferably, a power supply module is provided on the top of the robot chassis; the power supply module is electrically connected to the ultrasonic anemometer, intelligent water pump, pan / tilt platform, lifting platform, fog cannon, controller and two groups of cameras for power supply.

[0022] Preferably, a control cabinet is provided on the top of the robot chassis, and the controller and the remote control receiving device are integrated in the control cabinet; the ultrasonic anemometer is fixed on the top of the control cabinet by a hollow support rod.

[0023] Preferably, the top cover of the robot chassis is provided with a waterproof shield.

[0024] Preferably, it also includes a water pipe storage cabinet; a hose reel is arranged in the water pipe storage cabinet; the water supply pipe is wound around the hose reel and is retracted and released by the hose reel; pressure-sensitive elements are arranged at both ends of the pipe axis of the hose reel, and when the detected pressure exceeds a preset threshold, winding jam occurs, and a signal is sent to the controller, and the controller controls the sound and light alarm to alarm, and at the same time feedback is given through a wireless remote control.

[0025] A dust reduction method using the port adaptive intelligent dust reduction robot comprises the following steps:

[0026] Connect the water supply pipe to the water source, and control the intelligent water pump through the controller to supply water to the fog cannon;

[0027] The ultrasonic wind speed and direction meter is used to monitor the relevant data of the ambient wind in real time, and the spray angle of the fog cannon is preliminarily adjusted through the controller;

[0028] The camera captures image information of the on-site working environment, and the controller analyzes and processes the image to identify the specific location where dust is generated, compensate and adjust the spray angle of the fog cannon, and control the fog cannon to perform dust reduction operations on specific areas.

[0029] Beneficial effects of the present invention:

[0030] The present invention proposes a port adaptive intelligent dust reduction robot and a dust reduction method thereof. The robot controls the pan and tilt table to preliminarily adjust the spray angle of the fog cannon according to the relevant data of the environmental wind, and then analyzes and processes the image information of the on-site working environment obtained by the camera, identifies the specific location where the dust is generated, compensates and adjusts the spray angle of the fog cannon, drives the fog cannon to spray and remove dust, and uses deep learning algorithms and image processing technology to self-perceive environmental coal dust, intelligently dispatch dust reduction devices, and achieve fixed-point dust reduction for port coal dust, thereby achieving the adjustment of environmental coal dust concentration. In order to avoid the influence of environmental wind, spray water pressure and flow on the dust reduction effect, the port adaptive intelligent dust reduction robot can adapt to the environment, autonomously adjust the dust reduction direction and spray water pressure, and dynamically compensate for the influence of environmental factors. At the same time, in order to reduce human resource consumption, the robot adopts remote control to realize intelligent dispatching, water pipe collection and other automated functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 2 is a schematic diagram of the front view structure of the port adaptive intelligent dust suppression robot according to an embodiment of the present invention;

[0032] Figure 2 2 is a schematic cross-sectional structural diagram of a port adaptive intelligent dust suppression robot according to an embodiment of the present invention;

[0033] Figure 3 This is a working principle diagram of the port adaptive intelligent dust suppression robot according to an embodiment of the present invention;

[0034] Figure 4 It is a working schematic diagram of a port working environment according to an embodiment of the present invention.

[0035] Among them, 1. Camera; 2. Sound and light alarm; 3. Control cabinet; 4. Drive motor; 5. Power supply module; 6. Steering servo; 7. Ultrasonic radar; 8. Intelligent water pump; 9. Water flow sensor; 10. Water pressure sensor; 11. Hose reel; 12. Water supply interface; 13. Lifting platform; 14. Pan-tilt head; 15. Mist cannon; 16. Ultrasonic wind speed and direction instrument; 17. Hollow support rod; 18. Lighting; 19. Robot chassis; 20. Drive wheel; 21. Waterproof shield; 22. Dust suppression robot; 23. Coal pile; 24. Water source; 25. Water supply pipe; 26. Water pipe storage cabinet; 27. Steering wheel. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0039] Example

[0040] Existing dust reduction equipment usually uses fog cannons, which mainly generate fine water mist particles through a high-pressure spray system, and use fans to spray these water mist particles into the air. When the water mist particles come into contact with the dust particles in the air, a series of physical effects will occur, thereby achieving the purpose of dust reduction. Usually, the staff manually adjusts the position and posture of the fog cannon, and actively performs dust reduction operations at a fixed point, or plans the dust reduction execution path in advance and automatically performs multi-point dust reduction. However, the port area is large, and the dust is generated relatively randomly. It is necessary to adjust the position and posture of the fog cannon from time to time. Automatic cruising cannot guarantee the dust removal effect, and manual operation consumes a lot of manpower. To this end, this embodiment proposes a port adaptive intelligent dust reduction robot and a dust reduction method thereof. The specific structure is as follows Figure 1As shown, a mobile platform and a dust reduction mechanism mounted on the top of the mobile platform; the dust reduction mechanism includes: an ultrasonic anemometer 16, a fog cannon 15, an intelligent water pump 8, a controller, a water supply pipe 25 and two groups of cameras 1. The ultrasonic wind speed and direction meter 16 is used to monitor the relevant data of the ambient wind in real time; the intelligent water pump 8 is connected to the water supply pipe 25; the water supply pipe 25 is connected to the water source 24; the bottom of the fog cannon 15 is successively set up on the top of the mobile platform through the pan head 14 and the lifting platform 13, and the angle and height are adjusted respectively through the pan head 14 and the lifting platform 13; the fog cannon 15 is connected to the intelligent water pump 8 through a connecting pipe; two groups of cameras 1 are respectively set up on both sides of the fog cannon 15 to obtain image information of the on-site working environment; the controller is electrically connected to the ultrasonic wind speed and direction meter 16, the intelligent water pump 8, the pan head 14, the lifting platform 13, the fog cannon 15 and the two groups of cameras 1, respectively, and is used to control the pan head 14 and the lifting platform 13 to preliminarily adjust the spray angle of the fog cannon 15 according to the relevant data of the ambient wind, and then analyze and process the image information of the on-site working environment obtained by the camera 1, identify the specific location where dust is generated, compensate and adjust the spray angle of the fog cannon 15, and drive the fog cannon 15 to spray and remove dust; it is also used to control the intelligent water pump 8 to supply water to the fog cannon 15.

[0041] Furthermore, in order to ensure that the robot can operate safely and effectively in the port area, it is used to detect the surrounding environment and obstacles in real time, and also includes an ultrasonic radar 7 and an audible and visual alarm 2 arranged on the top of the mobile platform; the ultrasonic radar 7 and the audible and visual alarm 2 are electrically connected to the controller respectively; the ultrasonic radar 7 is used to continuously collect environmental information, and when a person is found approaching, it sends a signal to the controller, triggering the camera 1 to obtain image information of the on-site working environment; when a person is identified as approaching through the image information, a signal is sent to the controller, and the controller drives the audible and visual alarm 2 to start and drive away.

[0042] In order to further ensure that the fog cannon 15 can receive a continuous water supply, the robot is also equipped with a water pressure sensor 10 and a water flow sensor 9 at the connecting pipe, and is electrically connected to the controller to detect the water pressure and water flow in the connecting pipe, and feed back to the controller and the wireless remote control; the controller controls the intelligent water pump 8 to increase the pressure intelligently, and when the water volume is insufficient, an alarm is given through the sound and light alarm 2 or the wireless remote control.

[0043] In addition, the robot can be remotely controlled when receiving abnormal data. Furthermore, the robot also includes a remote control receiving device and a wireless remote controller; the remote control receiving device is arranged on the mobile platform and is electrically connected to the controller; the wireless remote controller is used to receive the detection values ​​of the water pressure and water flow in the connecting pipe, and perform manual intervention on the intelligent water pump 8; the wireless remote controller is also used to perform manual intervention on the fog cannon 15, the mobile platform, the pan-tilt platform 14 and the lifting platform 13.

[0044] The mobile platform includes a robot chassis 19, two sets of driving wheels 20 and a steering wheel 27. The robot chassis 19; the two sets of driving wheels 20 and the steering wheel 27 are respectively arranged at the front end and the rear end of the bottom of the robot chassis 19; the two sets of driving wheels 20 are driven to rotate by the driving motor 4; the steering wheel 27 is driven to turn by the steering servo 6. The mobile platform is controlled by the controller to drive the fog cannon 15 to move to the dust removal area.

[0045] Furthermore, a power supply module 5 is provided on the top of the robot chassis 19; the power supply module 5 is electrically connected to the ultrasonic anemometer, the intelligent water pump 8, the pan / tilt 14, the lifting platform 13, the fog cannon 15, the controller and the two sets of cameras 1 for power supply. In addition, in order to protect the internal machinery and circuits from the influence of bad weather and the water mist generated by itself, a waterproof shield 21 is installed on the top of the chassis. A control cabinet 3 is provided on the top of the robot chassis 19, and the controller and the remote control receiving device are integrated in the control cabinet 3; the ultrasonic anemometer 16 is fixed on the top of the control cabinet 3 by a hollow support rod 17. In order to facilitate the collection and release of water pipes, a water pipe storage cabinet 26 is also included; a hose reel 11 is provided in the water pipe storage cabinet 26; the water supply pipe 25 is wound on the hose reel 11 and is collected and released by the hose reel 11. Pressure-sensitive elements are provided at both ends of the tube shaft of the hose reel 11. When the detected pressure exceeds a preset threshold, winding jam occurs and a signal is sent to the controller. The controller controls the sound and light alarm 2 to alarm and feedback is given through a wireless remote controller.

[0046] like Figure 2 and Figure 3 As shown, the port dust reduction method implemented as above may include the following steps:

[0047] a. Before the operation begins, the staff uses a wireless controller to remotely control the port adaptive intelligent dust suppression robot to reach the designated work area and connect the water supply pipe to the water source to ensure that the robot can receive a continuous water supply;

[0048] b. The image information of the on-site working environment is captured by the on-board camera 1, and then transmitted to the controller. The controller analyzes and processes the image, identifies the specific location where the dust is generated, and controls the fog cannon 15 to perform precise dust reduction operations on the specific area.

[0049] Specifically, when performing dust removal position positioning, images of the working environment are continuously captured, and preprocessing operations such as denoising and contrast enhancement are performed on the received images to improve image quality. Denoising refers to the interference of various noises on the image during transmission or capture, such as Gaussian noise, salt and pepper noise, etc. The purpose of denoising is to reduce the impact of these noises on image quality. Commonly used denoising methods include median filtering, Gaussian filtering, bilateral filtering, etc. Contrast is a measure of the difference between light and dark areas in an image. By enhancing the contrast, the details in the image can be made clearer, especially for those areas with similar grayscale values ​​but belonging to different objects. Contrast enhancement methods include histogram equalization, gamma correction, etc.

[0050] Next, the dust features in the image are extracted using an image processing algorithm, including the following steps: S1: Remove noise from the image by filtering to improve the image quality. Adjust the image contrast, brightness, etc. to make the dust features more obvious, and complete the preprocessing. S2: According to the characteristics of the dust features, select the Sobel operator for edge detection to extract the edge information in the image. Then refine the extracted edges to obtain a more accurate edge contour. S3: Convert the edge-processed image from the RGB color space to a color space more suitable for color segmentation, and set a suitable color threshold in the HSV color space according to the color characteristics of the dust. Then, according to the set color threshold, separate the dust area in the image from other areas. S4: According to the texture characteristics of the dust, select the gray level co-occurrence matrix (GLCM) as the texture analysis algorithm, and apply the selected texture analysis algorithm to the dust area after color segmentation to extract the texture characteristics of the dust. Quantify the extracted texture features to obtain texture feature values ​​that can be used for subsequent analysis. S5: Filter the extracted texture feature values ​​to remove redundant or irrelevant features.

[0051] Furthermore, the extracted features are analyzed by a pre-trained convolutional neural network (CNN) to identify the specific location where the dust is generated. Specifically, the extracted features are analyzed using a pre-trained convolutional neural network (CNN). These models have learned the feature representation of dust areas and are able to match new image features with known features to identify dust areas. Once the dust areas are identified, it is necessary to mark the boundaries of these areas in the image, which is usually achieved by generating a mask image of the same size as the original image, in which the dust areas are marked with specific colors or values. Then, the coordinate positions of these areas (such as center points, bounding boxes, etc.) can be calculated, and based on this information, the angle and position of the fog cannon that needs to be adjusted can be determined.

[0052] Finally, based on the coordinate position of the dust area, the angle and position that the fog cannon needs to adjust can be calculated. This usually involves converting the image coordinate system into the physical coordinate system of the fog cannon, and taking into account factors such as the spray range and angle limit of the fog cannon. Then, the corresponding control instructions are generated and sent to the fog cannon to perform dust reduction operations.

[0053] c. The ultrasonic wind speed and direction meter 16 monitors the ambient wind conditions in real time and sends the relevant data to the controller and the wireless remote control. Based on this information, the controller makes a preliminary adjustment to the spray angle of the fog cannon 15. In addition, combined with the image data provided by the two cameras 1, the controller can make a more precise compensation adjustment to the spray angle of the fog cannon to adapt to the complex on-site environment.

[0054] d. During the dust reduction operation, if the staff observes that the dust reduction level needs to be adjusted, or finds that the current dust reduction effect does not meet the expected requirements, they can intervene through the wireless remote control to make real-time adjustments to parameters such as the dust reduction position, water mist concentration, and spraying distance to achieve the best dust reduction effect.

[0055] e. During the operation of the entire robot, the camera 1, the water pressure sensor 10 and the water flow sensor 9 will continue to collect working data and transmit this information to the wireless remote control in real time. Once the data abnormality is detected, the robot will automatically activate the alarm system and promptly notify the staff to take appropriate measures. Specifically, the water pressure sensor 10 is used to monitor the water pressure in the pipeline in real time, which is crucial to ensure that the system will not be damaged due to excessive pressure or insufficient flow due to too low pressure. When the water pressure exceeds the preset safety threshold, the controller receives feedback information and controls the intelligent water pump 8 to adjust the pump pressure to prevent pipeline rupture or other potential dangers. The water pressure sensor 10 usually uses the piezoresistive effect, piezoelectric effect or strain gauge principle to measure pressure. When the water pressure in the pipeline acts on the sensor, the components inside the sensor will deform, thereby generating an electrical signal. After amplification and processing, this electrical signal can be converted into a readable pressure value. The water flow sensor 9 is used for the water flow sensor to accurately measure the liquid flow through the pipeline. By monitoring the flow change, pipeline blockage, leakage or other faults can be detected in time, so that measures can be taken quickly to repair them. The working principles of water flow sensors are varied, and the common ones are turbine type, electromagnetic type, ultrasonic type, etc. Taking the turbine type as an example, when the fluid flows through the sensor, it drives the internal turbine to rotate, and the speed of the turbine is proportional to the flow rate of the fluid. The sensor can calculate the flow rate of the fluid by measuring the speed of the turbine. According to the data fed back by the water pressure sensor 10 and the water flow sensor 9, the robot can automatically control the intelligent water pump 8 to adjust the pump pressure, and can generate an alarm synchronously through the sound and light alarm 2 and the remote control. In addition, the data collected by the sensor can be recorded for subsequent analysis and optimization. These data can help engineers understand the operating status of the system, find potential problems, and propose improvement plans.

[0056] At the same time, the ultrasonic radar 7 will also continue to collect environmental information, assist the camera 1 in determining whether there are people approaching, and when a person is found approaching, the sound and light alarm 2 will be activated to drive away, so as to ensure the safety and efficiency of the dust reduction operation. In this embodiment, the ultrasonic radar 7, the camera 1 and the sound and light alarm 2 together constitute an intelligent monitoring system, which is intended to improve the safety of the area and prevent unauthorized persons from approaching the equipment. Specifically, when performing dust removal operations, the ultrasonic radar 7 continuously emits ultrasonic pulses to the surrounding environment and receives the signals reflected by these pulses by objects. By analyzing the time difference and intensity of the reflected signal, the distance, speed and direction of the object can be calculated. The measurement method of the ultrasonic radar 7 is non-contact measurement, so it will not cause damage to the measured object, and it is suitable for working under various environmental conditions. The ultrasonic radar is very sensitive to the detection of moving objects, and even small-scale movements can be quickly captured, with the characteristics of ultra-high sensitivity. The camera 1 provides intuitive visual information of the monitoring area by capturing real-time video images. Combined with image processing technology and artificial intelligence algorithms, the camera 1 can perform intelligent analysis of video images and identify specific objects in the image (such as faces, human body contours, etc.).

[0057] In this embodiment, the camera 1 mainly assists the ultrasonic radar 7 in making a judgment. When the ultrasonic radar 7 detects that an object is approaching, the camera will immediately capture the image of the area and perform intelligent analysis to confirm whether there is a person approaching. If it is confirmed that there is a person, the subsequent action will be further triggered. The specific execution steps are as follows: First, the ultrasonic radar 7 continuously monitors the surroundings, continuously emits ultrasonic pulses to the surrounding environment, and receives reflected signals to calculate the distance and speed of the object; when the ultrasonic radar detects that an object is approaching, it will issue a preliminary warning signal (although it may not directly trigger an alarm in this scenario, it will serve as a trigger condition for the camera to start); the camera 1 detects the dust reduction working area, captures the image of the area, and performs intelligent analysis to confirm whether there is a person approaching; if the camera 1 confirms that there is a person approaching, the sound and light alarm 2 will be immediately activated to send out a strong sound and light signal to drive away. In this way, the ultrasonic radar 7, the camera 1 and the sound and light alarm 2 together constitute an efficient and intelligent monitoring system, which effectively improves the safety and management efficiency of the robot.

[0058] The following is an illustration of the application scenario of the present invention, an open-air port working surface. Figure 4As shown, the working scene is a port working surface: the port adaptive intelligent dust reduction robot 22 is arranged on the side of the coal pile 23, and the water source 24 is connected to the port adaptive intelligent dust reduction robot 22 through a water supply hose 25. During the loading and unloading of coal, coal dust will be generated at the loading and unloading position of the coal pile 23. The camera 1 on the robot will accurately identify the specific location where the coal dust is generated and transmit the location information to the control cabinet 3. The controller generates a dust reduction strategy and controls the fog cannon 15 to perform fixed-point dust reduction measures by controlling the pan / tilt 14 and the lifting platform 13. When the coal dust position exceeds the dust reduction range, the robot can adjust the working range by controlling the mobile chassis 19 to perform fine dust reduction on the port coal dust.

[0059] In this embodiment, the robot controls the pan / tilt 14 and the lifting platform 13 to preliminarily adjust the spray angle of the fog cannon 15 according to the relevant data of the ambient wind, and then analyzes and processes the image information of the on-site working environment obtained by the camera 1, identifies the specific location where the dust is generated, compensates and adjusts the spray angle of the fog cannon 15, drives the fog cannon 15 to spray and remove dust, and through deep learning algorithms and image processing technology, self-perceives the environmental coal dust, intelligently dispatches the dust reduction device, and implements fixed-point dust reduction for the port coal dust, thereby achieving the adjustment of the environmental coal dust concentration. In order to avoid the influence of environmental wind, spray water pressure and flow on the dust reduction effect, the port adaptive intelligent dust reduction robot can adapt to the environment, autonomously adjust the dust reduction direction and spray water pressure, and dynamically compensate for the influence of environmental factors. At the same time, in order to reduce the consumption of human resources, the robot adopts remote control to realize intelligent scheduling, water pipe collection and other automated functions.

[0060] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A port adaptive intelligent dust suppression robot, characterized in that: include: A mobile platform and a dust reduction mechanism mounted on the top of the mobile platform; the dust reduction mechanism comprises: An ultrasonic wind speed and direction meter (16) is used to monitor relevant data of ambient wind in real time; An intelligent water pump (8) and a water supply pipe (25) connected to the intelligent water pump; the water supply pipe (25) is connected to a water source (24); A fog cannon (15), the bottom of which is successively mounted on the top of the mobile platform through a pan head (14) and a lifting platform (13), and the angle and height are respectively adjusted through the pan head (14) and the lifting platform (13); the fog cannon (15) is connected to the intelligent water pump (8) through a connecting pipe; Two groups of cameras (1) are respectively mounted on both sides of the fog cannon (15) and are used to obtain image information of the on-site working environment; The controller is electrically connected to the ultrasonic anemometer, the intelligent water pump (8), the pan / tilt platform (14), the lifting platform (13), the fog cannon (15) and the two groups of cameras (1) respectively, and is used to control the pan / tilt platform (14) and the lifting platform (13) to preliminarily adjust the spray angle of the fog cannon (15) according to the relevant data of the ambient wind, and then analyze and process the image information of the on-site working environment obtained by the camera (1), identify the specific location where dust is generated, compensate and adjust the spray angle of the fog cannon (15), and drive the fog cannon (15) to spray and remove dust; and is also used to control the intelligent water pump (8) to supply water to the fog cannon (15).

2. The port adaptive intelligent dust suppression robot according to claim 1 is characterized in that: The invention also comprises an ultrasonic radar (7) and an acoustic and optical alarm (2) arranged on the top of the mobile platform; the ultrasonic radar (7) and the acoustic and optical alarm (2) are respectively electrically connected to the controller; the ultrasonic radar (7) is used to continuously collect environmental information, and when a person is found approaching, sends a signal to the controller, triggering the camera (1) to obtain image information of the on-site working environment; when a person is identified approaching through the image information, a signal is sent to the controller, and the controller drives the acoustic and optical alarm (2) to start and drive the person away.

3. The port adaptive intelligent dust suppression robot according to claim 2 is characterized in that: Also includes: Remote control receiving device and wireless remote control; The remote control receiving device is arranged on the mobile platform and is electrically connected to the controller; the wireless remote control is used to receive the detection values ​​of the water pressure and water flow in the connecting pipe and perform manual intervention on the intelligent water pump (8); the wireless remote control is also used to perform manual intervention on the mobile platform, the pan / tilt platform (14) and the lifting platform (13).

4. The port adaptive intelligent dust suppression robot according to claim 3 is characterized in that: Also includes: A water pressure sensor (10) and a water flow sensor (9) are arranged at the connecting pipe and are electrically connected to the controller for detecting the water pressure and water flow in the connecting pipe; the controller controls the intelligent water pump (8) to increase the pressure intelligently, and when the water volume is insufficient, an alarm is sounded through the sound and light alarm (2), and the alarm is fed back to the wireless remote controller.

5. The port adaptive intelligent dust suppression robot according to claim 1, characterized in that: The mobile platform comprises: Robot chassis (19); Two sets of driving wheels (20) and steering wheels (27) are respectively arranged at the front end and the rear end of the bottom of the robot chassis (19); the two sets of driving wheels (20) are driven to rotate by a driving motor (4); and the steering wheel (27) is driven to steer by a steering servo (6).

6. The port adaptive intelligent dust suppression robot according to claim 5, characterized in that: A power supply module (5) is arranged on the top of the robot chassis (19); the power supply module (5) is electrically connected to the ultrasonic anemometer, the intelligent water pump (8), the pan / tilt platform (14), the lifting platform (13), the fog cannon (15), the controller and the two groups of cameras (1) for power supply.

7. The port adaptive intelligent dust suppression robot according to claim 5, characterized in that: A control cabinet (3) is arranged on the top of the robot chassis (19), and the controller and the remote control receiving device are integrated in the control cabinet (3); the ultrasonic anemometer (16) is fixed on the top of the control cabinet (3) by a hollow support rod (17).

8. The port adaptive intelligent dust suppression robot according to claim 5, characterized in that: The top cover of the robot chassis (19) is provided with a waterproof protective cover (21).

9. The port adaptive intelligent dust suppression robot according to claim 4, characterized in that: It also includes a water pipe storage cabinet (26); a hose reel (11) is arranged in the water pipe storage cabinet (26); the water supply pipe (25) is wound around the hose reel (11) and is retracted and released by the hose reel (11); pressure-sensitive elements are arranged at both ends of the pipe shaft of the hose reel (11); when the detected pressure exceeds a preset threshold, winding jam occurs, a signal is sent to the controller, and the controller controls the sound and light alarm (2) to alarm, and feedback is provided through a wireless remote controller at the same time.

10. A dust suppression method using the port adaptive intelligent dust suppression robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Connecting the water supply pipe (25) to the water source (24), and controlling the intelligent water pump (8) through the controller to supply water to the fog cannon (15); The relevant data of the ambient wind are monitored in real time by an ultrasonic wind speed and direction meter (16), and the spray angle of the fog cannon (15) is preliminarily adjusted by a controller; Image information of the on-site working environment is captured by a camera (1), and the image is analyzed and processed by a controller to identify the specific location where dust is generated, to compensate and adjust the spray angle of the fog cannon (15), and to control the fog cannon (15) to perform dust reduction operations on a specific area.

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