Coal conveying inspection robot for thermal power plant

Abstract

The invention discloses a thermal power plant coal conveying inspection robot. The thermal power plant coal conveying inspection robot comprises a machine body, an inspection track, a walking driving assembly and a cleaning module. Wherein the machine body is installed on the inspection track through the walking driving assembly so as to move in the length direction of the inspection track; the machine body is provided with a camera assembly and a detector, the camera assembly is used for shooting and collecting image information, the detector is used for detecting the smudginess degree of the camera assembly, and the detector is in communication connection with the cleaning module; the cleaning module comprises at least two cleaning assemblies, and the cleaning module is configured to control at least one cleaning assembly to clean the camera assembly according to the detection information of the detector. According to the technical scheme, the definition of the image shot by the camera assembly is guaranteed, the information quality of the image shot and collected by the camera assembly is further guaranteed, and the normal inspection operation and the use reliability of the thermal power plant coal conveying inspection robot are indirectly guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of safety inspection, and in particular to a coal handling inspection robot for a thermal power plant. Background Art

[0002] With the development of economy and the advancement of technology, in the fields of safety inspections such as power line inspections and coal transport trestle inspections, automatic inspection devices are usually introduced to ensure the normal operation of the lines and the safety of the inspectors. For example, a coal transport inspection robot is introduced into the coal transport trestle inspection.

[0003] Coal conveyor trestles are generally made of steel structures, with long lines and relatively harsh internal air environment. The coal conveyor inspection robot in thermal power plants can operate normally in sites with relatively harsh air environments. The coal conveyor inspection robot in thermal power plants can capture and collect image information through camera components, which can well replace inspection personnel.

[0004] However, the coal handling inspection robot in the thermal power plant runs in the coal handling trestle for a long time, and the air environment of the coal handling trestle usually has suspended particles such as coal powder floating in it. These suspended particles will adhere to the camera component, thereby seriously affecting the clarity of the image information captured by the camera component, etc., causing the quality of the image information captured by the camera component to be reduced, thereby seriously affecting the normal inspection operation and reliability of the coal handling inspection robot in the thermal power plant. Summary of the invention

[0005] The main purpose of this application is to provide a coal handling inspection robot for a thermal power plant, aiming to improve the problem in existing coal handling inspection robots for thermal power plants that when the machine body is operating in a site with a relatively harsh air environment, suspended particles adhere to the camera assembly, resulting in reduced quality of captured image information.

[0006] To achieve the above-mentioned purpose, the present application proposes a coal handling inspection robot for a thermal power plant, which includes a machine body, an inspection track, a walking drive assembly and a cleaning module; wherein:

[0007] The machine body is mounted on the inspection track through the travel drive assembly to move along the length direction of the inspection track;

[0008] The machine body is provided with a camera assembly and a detector, the camera assembly is used to capture and collect image information, the detector is used to detect the degree of dirtiness of the camera assembly, and the detector is communicatively connected with the cleaning module;

[0009] The cleaning module includes at least two cleaning components, and the cleaning module is configured to control at least one of the cleaning components to clean the camera component according to the detection information of the detector.

[0010] In some embodiments of the present application, the cleaning module includes a first cleaning component and a second cleaning component, the first cleaning component is mounted on the machine body, and the second cleaning component is fixedly mounted on the inspection track;

[0011] The cleaning module may control the first cleaning component or the second cleaning component to clean the camera component according to different degrees of dirtiness of the camera component detected by the detector.

[0012] In some embodiments of the present application, the first cleaning component includes a first cleaning member and a driving member, the first cleaning member is movably arranged on the peripheral side of the camera component, and the driving member is transmission-connected to the first cleaning member to drive the first cleaning member to move relative to the camera component to clean the camera component.

[0013] In some embodiments of the present application, the first cleaning component also includes a ring rail, which is slidably mounted on the machine body and is arranged around the circumference of the camera assembly. The first cleaning member is fixedly mounted on the ring rail, and the driving member is transmission-connected to the ring rail to drive the ring rail to rotate relative to the camera assembly and drive the first cleaning member to move around the camera assembly.

[0014] In some embodiments of the present application, the second cleaning component includes a cleaning box and a second cleaning piece, the cleaning box is fixedly installed on the inspection track, a cleaning chamber is provided in the cleaning box, a movable door is provided on the side of the cleaning box facing the machine body to allow the machine body to enter or exit the cleaning chamber, and the second cleaning piece is installed on the cleaning box to clean the camera assembly in the cleaning chamber.

[0015] In some embodiments of the present application, the second cleaning member further includes a water gun, which is installed on the wall of the cleaning room and disposed toward the camera assembly. The water gun cleans the camera assembly by spraying cleaning liquid onto the camera assembly.

[0016] In some embodiments of the present application, the second cleaning member includes a plurality of water guns, and the plurality of water guns are arranged at intervals on the wall of the cleaning room and are respectively arranged toward the camera assembly.

[0017] In some embodiments of the present application, the second cleaning member further includes a suction device, and a suction port of the suction device is connected to the bottom of the cleaning chamber.

[0018] In some embodiments of the present application, the second cleaning member also includes a high-pressure air gun, which is installed on the wall of the cleaning room and is arranged toward the camera assembly. The high-pressure air gun cleans the camera assembly by blowing a high-speed airflow to the camera assembly.

[0019] In some embodiments of the present application, the camera assembly includes a camera and a cover, the camera is mounted on the machine body, and the cover is covered on the camera;

[0020] The detector comprises an optical sensor, which is arranged adjacent to the camera. The optical sensor detects the degree of dirtiness of the cover body by monitoring the amount of light entering the cover body in real time.

[0021] In some embodiments of the present application, the camera assembly includes a camera and a cover, the camera is mounted on the machine body, and the cover is covered on the camera;

[0022] The detector is connected to the camera assembly for communication, and the detector detects the degree of dirtiness of the cover body by collecting image information captured by the camera assembly.

[0023] The present application adopts the above-mentioned technical scheme, and its machine body operates in a place with a relatively bad air environment. When the detector detects that the camera component is dirty, the detector can transmit the detection information to the cleaning module, and the cleaning module controls at least one cleaning component to clean the camera component according to the detection information of the detector; wherein, when the detector detects that the camera component is less dirty, the cleaning module can control a cleaning component to clean the camera component, and when the detector detects that the camera component is more dirty, the cleaning module can control another cleaning component to clean the camera component, or the cleaning module controls more than two cleaning components to clean the camera. It can be seen that in the technical scheme of the present application, the cleaning module can select different cleaning components or different cleaning methods to clean the camera according to the different degrees of dirtiness of the camera component, thereby ensuring the clarity of the image captured by the camera component, and then ensuring the quality of the image information captured and collected by the camera component, and indirectly ensuring the normal inspection operation and reliability of the use of the coal handling inspection robot in the thermal power plant. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0025] Figure 1 This is a structural schematic diagram of an embodiment of a coal handling inspection robot for a thermal power plant of the present application;

[0026] Figure 2 for Figure 1 Schematic diagram of the partial structure of the coal handling inspection robot in the China Thermal Power Plant;

[0027] Figure 3 for Figure 1 A cross-sectional view of another partial structure of the coal handling inspection robot at the China Thermal Power Plant.

[0028] Description of Figure Numbers:

[0029] 100. Coal handling inspection robot for thermal power plant; 10. Machine body; 11. Camera assembly; 20. Inspection track; 30. Travel drive assembly; 41. First cleaning assembly; 411. First cleaning member; 412. Circular rail; 42. Second cleaning assembly; 421. Cleaning box; 4211. Cleaning room; 4212. Movable door; 422. Water gun; 423. Suction device; 424. High-pressure air gun.

[0030] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0034] The present application proposes a coal handling inspection robot 100 for a thermal power plant. The coal handling inspection robot 100 for a thermal power plant is used for inspecting coal handling trestles. The coal handling inspection robot 100 for a thermal power plant can photograph the coal handling trestles through a camera component 11 to collect image information, etc.

[0035] Please refer to Figures 1 to 3 In an embodiment of the present application, a coal handling inspection robot 100 for a thermal power plant includes a machine body 10, an inspection track 20, a travel drive assembly 30, and a cleaning module; wherein the machine body 10 is installed on the inspection track 20 through the travel drive assembly 30 to move along the length direction of the inspection track 20; the machine body 10 is provided with a camera assembly 11 and a detector, the camera assembly 11 is used to capture and collect image information, the detector is used to detect the degree of dirtiness of the camera assembly 11, and the detector is communicatively connected to the cleaning module; the cleaning module includes at least two cleaning components, and the cleaning module is configured to control at least one cleaning component to clean the camera assembly 11 according to the detection information of the detector.

[0036] The travel drive assembly 30 provides a power source for the machine body 10, driving the machine body 10 to move along the length direction of the inspection track 20. It can be understood that the inspection track 20 is usually arranged side by side with the coal conveyor trestle, so that the machine body 10 can move along the line of the coal conveyor trestle when moving along the inspection track 20.

[0037] The camera assembly 11 can transmit the captured image information to the back-end pan / tilt platform, and provide data information for the back-end pan / tilt platform, so that the back-end pan / tilt platform can monitor the working status of the coal conveying trestle. The camera assembly 11 includes but is not limited to a thermal imaging dual-spectrum intelligent camera, a high-definition snapshot camera, and a high-speed camera.

[0038] There are multiple implementations of the detector for detecting the dirtiness of the camera assembly 11. In one example, the detector includes an optical sensor, which can detect the dirtiness of the cover by monitoring the amount of light entering the cover in real time. In another example, the detector includes a spectral reflectance meter, which can detect the dirtiness of the cover by monitoring the reflectivity value of the cover in real time. In yet another example, the detector is communicatively connected to the camera assembly 11, and the detector detects the dirtiness of the cover by collecting image information captured by the camera assembly 11.

[0039] The present application adopts the above technical solution, and its machine body 10 operates in a place with a relatively bad air environment. When the detector detects that the camera component 11 is dirty, the detector can transmit the detection information to the cleaning module, and the cleaning module controls at least one cleaning component to clean the camera component 11 according to the detection information of the detector; wherein, when the detector detects that the degree of dirtiness of the camera component 11 is low, the cleaning module can control a cleaning component to clean the camera component 11, and when the detector detects that the degree of dirtiness of the camera component 11 is high, the cleaning module can control another cleaning component to clean the camera component 11, or the cleaning module controls more than two cleaning components to clean the camera component 11. It can be seen that in the technical solution of the present application, the cleaning module can select different cleaning components or different cleaning methods to clean the camera component 11 according to the different degrees of dirtiness of the camera component 11, thereby ensuring the clarity of the image captured by the camera component 11, and then ensuring the quality of the image information captured and collected by the camera component 11, and indirectly ensuring the normal inspection operation and reliability of the use of the coal handling inspection robot 100 of the thermal power plant.

[0040] In some examples, such as Figures 1 to 3 As shown, the cleaning module includes a first cleaning component 41 and a second cleaning component 42. The first cleaning component 41 is installed on the machine body 10, and the second cleaning component 42 is fixedly installed on the inspection track 20. The cleaning module can control the first cleaning component 41 or the second cleaning component 42 to clean the camera component 11 according to the different degrees of dirtiness of the camera component 11 detected by the detector.

[0041] With such arrangement, when the detector detects that the camera assembly 11 has a low degree of dirtiness, the cleaning module controls the first cleaning assembly 41 to clean the camera assembly 11. Since the first cleaning assembly 41 is mounted on the main body, when the camera assembly 11 is slightly dirty, the first cleaning assembly 41 can quickly and efficiently clean the camera assembly 11. When the detector detects that the camera assembly 11 has a high degree of dirtiness, the cleaning module controls the second cleaning assembly 42 to clean the camera assembly 11. Since the second cleaning assembly 42 is fixedly mounted on the inspection track 20, the second cleaning assembly 42 can include a powerful cleaning component. When the camera assembly 11 is stubbornly dirty, the second cleaning assembly 42 can perform a powerful cleaning on the camera assembly 11.

[0042] In some examples, such as Figure 1 and Figure 2 As shown, the first cleaning component 41 includes a first cleaning member 411 and a driving member. The first cleaning member 411 is movably arranged on the peripheral side of the camera assembly 11. The driving member is transmission-connected with the first cleaning member 411 to drive the first cleaning member 411 to move relative to the camera assembly 11 to clean the camera assembly 11. There are many types of the first cleaning member 411, including but not limited to a brush, a hanging bar, a rag, etc.

[0043] In this arrangement, the driving member drives the first cleaning member 411 to move relative to the camera assembly 11, and the cleaning portion of the first cleaning member 411 contacts the camera assembly 11 to achieve cleaning of the camera assembly 11; when the coal handling inspection robot 100 of the thermal power plant is performing normal inspection, the driving member can drive the first cleaning member 411 to a position to avoid the camera assembly 11, and when the camera assembly 11 needs to be cleaned, the driving member drives the first cleaning member 411 to move relative to the camera assembly 11 to clean the camera assembly 11.

[0044] In some examples, such as Figure 1 and Figure 2 As shown, the first cleaning component 41 also includes a ring rail 412, which is slidably installed on the machine body 10 and is arranged around the circumference of the camera component 11. The first cleaning member 411 is fixedly installed on the ring rail 412, and the driving member is transmission-connected to the ring rail 412 to drive the ring rail 412 to rotate relative to the camera component 11 and drive the first cleaning member 411 to move around the camera component 11.

[0045] With such arrangement, the driving member drives the ring rail 412 to rotate, thereby driving the first cleaning member 411 to move around the camera assembly 11, thereby cleaning the camera assembly 11. At the same time, the first cleaning member 411 can also be driven to a position to avoid the camera assembly 11. This not only improves the cleaning efficiency of the first cleaning member 411, but also allows the first cleaning member 411 to quickly avoid the camera assembly 11.

[0046] In some examples, such as Figure 1 and Figure 3 As shown, the second cleaning component 42 includes a cleaning box 421 and a second cleaning piece. The cleaning box 421 is fixedly installed on the inspection track 20. A cleaning chamber 4211 is provided in the cleaning box 421. A movable door 4212 is provided on the side of the cleaning box 421 facing the machine body 10 to allow the machine body 10 to enter or exit the cleaning chamber 4211. The second cleaning piece is installed on the cleaning box 421 to clean the camera assembly 11 in the cleaning chamber 4211.

[0047] The movable door 4212 may be a rolling door, and the movable door 4212 may also include a door panel and hinges, and the door panel is rotatably mounted on the cleaning box 421 through the hinges.

[0048] With such arrangement, the second cleaning component 42 and the machine body 10 are independent of each other. When the camera assembly 11 is highly dirty, the machine body 10 can be moved to the cleaning chamber 4211 through the travel drive component 30, and the second cleaning component performs a strong cleaning treatment on the camera assembly 11 in the cleaning chamber 4211. At the same time, the cleaning chamber 4211 is a relatively independent space, which avoids interference between the cleaning operation and the outside world.

[0049] In some examples, such as Figure 1 and Figure 3 As shown, the second cleaning member also includes a water gun 422 , which is installed on the wall of the cleaning room 4211 and is arranged toward the camera assembly 11 . The water gun 422 cleans the camera assembly 11 by spraying cleaning liquid onto the camera assembly 11 .

[0050] In one example, there are multiple water guns 422, and the multiple water guns 422 are respectively directed toward different parts of the camera assembly 11; in another example, the water gun 422 is movable, and the water gun 422 can change the part facing the camera by moving relative to the camera assembly 11.

[0051] With such arrangement, the water gun 422 sprays cleaning liquid toward the camera assembly 11 to continuously flush away dirt on the camera assembly 11 , thereby performing a strong cleaning treatment on the camera assembly 11 .

[0052] Preferably, Figure 1 and Figure 3As shown, the second cleaning member includes a plurality of water guns 422, which are arranged at intervals on the wall of the cleaning room 4211 and are respectively arranged toward the camera assembly 11. Such arrangement is intended to improve the cleaning efficiency of the water guns 422 on the camera assembly 11.

[0053] In some examples, such as Figure 1 and Figure 3 As shown, the second cleaning member also includes a suction device 423, and the suction port of the suction device 423 is connected to the bottom of the cleaning chamber 4211. Such a setting is intended to timely suck the dirt generated by the camera assembly 11 by the water gun 422.

[0054] In some examples, such as Figure 1 and Figure 3 As shown, the second cleaning component also includes a high-pressure air gun 424, which is installed on the wall of the cleaning room 4211 and is set toward the camera assembly 11. The high-pressure air gun 424 cleans the camera assembly 11 by blowing high-speed airflow to the camera assembly 11.

[0055] Preferably, Figure 1 and Figure 3 As shown, there are multiple high-pressure air guns 424, and the multiple high-pressure air guns 424 are respectively directed toward different parts of the camera assembly 11; in another example, the high-pressure air gun 424 is movable, and the high-pressure air gun 424 can change the part facing the camera by moving relative to the camera assembly 11.

[0056] With such a configuration, the high-pressure air gun 424 blows high-speed airflow toward the camera assembly 11, and uses the high-speed airflow to take away dirt, thereby performing a strong cleaning treatment on the camera assembly 11. At the same time, please refer to the content of the water gun 422 above. The high-speed airflow can also take away the moisture on the camera assembly 11, so as to prevent the suspended particles from adhering to the camera assembly 11 through the moisture after the machine body 10 leaves the cleaning room 4211.

[0057] Considering that the coal conveyor trestle is usually closed, the light source in the closed space is usually constant within a certain range, so the amount of light entering the cover with a clean surface is usually also constant within a certain range.

[0058] In some examples, the camera assembly 11 includes a camera and a cover, the camera is installed on the machine body 10, and the cover covers the camera; the detector includes an optical sensor, the optical sensor is arranged adjacent to the camera, and the optical sensor detects the degree of dirtiness of the cover by monitoring the amount of light entering the cover in real time.

[0059] This arrangement is intended to utilize the optical sensor to monitor changes in the amount of light entering the cover to provide feedback on the degree of dirtiness of the cover.

[0060] In some examples, the camera assembly 11 includes a camera and a cover, the camera is installed on the machine body 10, and the cover is covered on the camera; the detector is in communication with the camera assembly 11, and the detector detects the degree of dirtiness of the cover by collecting image information captured by the camera assembly 11. In this way, the detector can feedback the degree of dirtiness of the cover by comparing with preset parameters and calculating.

[0061] The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A coal handling inspection robot for a thermal power plant, characterized in that: The coal handling inspection robot for a thermal power plant comprises a machine body, an inspection track, a walking drive component and a cleaning module; wherein, The machine body is mounted on the inspection track through the travel drive assembly to move along the length direction of the inspection track; The machine body is provided with a camera assembly and a detector, the camera assembly is used to capture and collect image information, the detector is used to detect the degree of dirtiness of the camera assembly, and the detector is communicatively connected with the cleaning module; The cleaning module includes at least two cleaning components, and the cleaning module is configured to control at least one of the cleaning components to clean the camera component according to the detection information of the detector.

2. The coal handling inspection robot for a thermal power plant according to claim 1, characterized in that: The cleaning module comprises a first cleaning component and a second cleaning component, wherein the first cleaning component is mounted on the machine body, and the second cleaning component is fixedly mounted on the inspection track; The cleaning module may control the first cleaning component or the second cleaning component to clean the camera component according to different degrees of dirtiness of the camera component detected by the detector.

3. The coal handling inspection robot for a thermal power plant according to claim 2, characterized in that: The first cleaning component includes a first cleaning member and a driving member. The first cleaning member is movably arranged on the peripheral side of the camera assembly. The driving member is transmission-connected to the first cleaning member to drive the first cleaning member to move relative to the camera assembly to clean the camera assembly.

4. The coal handling inspection robot for a thermal power plant according to claim 3, characterized in that: The first cleaning component also includes a ring rail, which is slidably mounted on the machine body and wrapped around the circumference of the camera assembly. The first cleaning member is fixedly mounted on the ring rail, and the driving member is transmission-connected to the ring rail to drive the ring rail to rotate relative to the camera assembly and drive the first cleaning member to move around the camera assembly.

5. The coal handling inspection robot for a thermal power plant according to claim 2, characterized in that: The second cleaning component includes a cleaning box and a second cleaning piece. The cleaning box is fixedly installed on the inspection track. A cleaning chamber is provided in the cleaning box. A movable door is provided on the side of the cleaning box facing the machine body to allow the machine body to enter or exit the cleaning chamber. The second cleaning piece is installed on the cleaning box to clean the camera assembly in the cleaning chamber.

6. The coal handling inspection robot for a thermal power plant according to claim 5, characterized in that: The second cleaning member also includes a water gun, which is installed on the wall of the cleaning room and is arranged toward the camera assembly. The water gun cleans the camera assembly by spraying cleaning liquid on the camera assembly.

7. The coal handling inspection robot for a thermal power plant according to claim 6, characterized in that: The second cleaning member includes a plurality of water guns, which are arranged at intervals on the wall of the cleaning room and are respectively arranged toward the camera assembly.

8. The coal handling inspection robot for a thermal power plant according to claim 6, characterized in that: The second cleaning member further comprises a suction device, and a suction port of the suction device is connected to the bottom of the cleaning chamber.

9. The coal handling inspection robot for a thermal power plant according to claim 5, characterized in that: The second cleaning member also includes a high-pressure air gun, which is installed on the wall of the cleaning room and is arranged toward the camera assembly. The high-pressure air gun cleans the camera assembly by blowing a high-speed airflow to the camera assembly.

10. The coal handling inspection robot for a thermal power plant according to any one of claims 1 to 9, characterized in that: The camera assembly comprises a camera and a cover, wherein the camera is mounted on the machine body, and the cover is disposed on the camera; The detector comprises an optical sensor, which is arranged adjacent to the camera. The optical sensor detects the degree of dirtiness of the cover body by monitoring the amount of light entering the cover body in real time.

11. The coal handling inspection robot for a thermal power plant according to any one of claims 1 to 9, characterized in that: The camera assembly comprises a camera and a cover, wherein the camera is mounted on the machine body, and the cover is disposed on the camera; The detector is connected to the camera assembly for communication, and the detector detects the degree of dirtiness of the cover body by collecting image information captured by the camera assembly.

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