Multi-scene adaptive rail hanging robot system and arrangement method

Abstract

The invention discloses a multi-scene adaptive hanging rail robot system and an arrangement method, and relates to the technical field of inspection robots, the system comprises a rail assembly arranged along an inspection path, the rail assembly covers multiple areas such as a viewing vestibule, a belt conveyor vestibule and a workshop, and multiple fixing modes such as expansion bolt ceiling, welding, combination of customized hanging pieces and U-shaped bolts are adopted; the rail hanging robot can move along the rail, and the height of the lowest point from the ground can be adjusted within the range of 0.7-3.3 m according to scenes; the wireless communication modules are arranged along the track at intervals, the power supply module comprises a sliding contact line and a cable, and the control module is used for coordinating operation of all the parts, so that all-region inspection coverage is realized. According to the arrangement method, through the steps of inspection area determining, track path designing, adaptive fixing mode selecting, via hole setting, base station and power supply facility arranging, robot installing and debugging and the like, it is ensured that the system stably operates in different scenes, diversified inspection requirements are met, and the inspection efficiency and adaptability are improved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to a multi-scenario adaptable rail-mounted robot system and its deployment method. Background Technology

[0002] During the mining process, equipment inspection in areas such as conveyor belt corridors, workshops, and tunnels is a key link in ensuring production safety. Traditional inspection methods rely on manual labor, which has problems such as low efficiency, high labor intensity, and difficulty in reaching dangerous areas (such as high altitudes and dusty environments).

[0003] While existing rail-mounted inspection robots can replace some manual labor, they have the following limitations: 1. Poor adaptability of track systems: Different industrial scenarios (such as indoor corridors, outdoor belt conveyors, and workshop platforms) have large structural differences, and existing tracks are mostly fixed designs, making it difficult to adapt to diverse installation needs; 2. Limited coverage: In complex areas (such as transfer stations and power distribution rooms), structural obstructions make it difficult to continuously lay tracks, resulting in blind spots for inspection; 3. Insufficient coordination of supporting equipment: Unstable wireless communication signals and poor compatibility between the power supply system and the track affect the continuous operation of the robot; 4. Complex installation and maintenance: The track fixing method is limited, and repeated adjustments are required when installing on different substrates such as brick-concrete and steel structures, resulting in low construction efficiency.

[0004] Therefore, the present invention provides a rail-mounted robot system and deployment method that can adapt to multiple scenarios, provide comprehensive coverage, and is easy to install. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-scenario adaptable rail-mounted robot system and its deployment method.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-scenario adaptable rail-mounted robot system, comprising: The track assembly is arranged along the inspection path, covering the viewing corridor, belt conveyor corridor, workshop, outdoor corridor and transfer station area. The track assembly is fixed by means of expansion bolt ceiling installation, welding fixation, and combination fixation of customized hangers and U-bolts. A track-mounted robot, which can move along the track assembly, and the lowest point of the robot can be adjusted from 0.7 to 3.3 meters above the ground depending on the scenario; The wireless communication module includes multiple wireless base stations, which are spaced apart along the track assembly to cover all inspection areas; The power supply module includes a sliding contact line and cables. The sliding contact line is laid in a designated area, and the cables are laid through cable trays or galvanized pipes. The control module is used to coordinate the operation of the rail-mounted robot, the wireless communication module, and the power supply module.

[0007] Preferably, the track assembly has a single track length of 6 meters, a hanging point spacing of 3 meters, and the wall area through which the track assembly passes is provided with a through hole.

[0008] Preferably, the track assembly is fixed in the conveyor corridor area as follows: the south track is fixed to the corridor beam by a custom hanger and U-bolts, the north track is welded to the corridor cylindrical column, and the lowest point of the robot is 1.2-2.3 meters above the ground.

[0009] Preferably, in the wireless communication module, three wireless base stations are arranged in the K3 conveyor belt corridor, located at 0 meters, 200 meters, and 400 meters away from the K3 machine head, respectively; two wireless base stations are arranged in the K2 conveyor belt corridor, located at 0 meters and 150 meters away from the K2 machine head, respectively; and two wireless base stations are arranged in the K1 conveyor belt, located at 0 meters and 200 meters away from the K1 machine head, respectively.

[0010] A method for deploying a rail-mounted robot system adaptable to multiple scenarios, characterized by the following steps: Step 1: Determine the inspection area, including the viewing corridor, the K1-K3 belt conveyor corridor, the No. 4 inclined shaft to the No. 12 belt conveyor in the ore bin, the fine cleaning workshop to the K3 belt conveyor, the high-pressure roller mill area and the filling station; Step 2: Design a track path based on the structural characteristics of each area, the track path covering all equipment and areas to be inspected; Step 3: Select the track fixing method for different areas: use expansion bolts to fix the track in brick-concrete structure areas, use welding to fix the track in steel structure areas, and use a combination of custom hangers and U-bolts to fix the track in the conveyor belt corridor. Step 4: Set up track vias: Create vias in the wall areas through which the track passes; Step 5: Deploy wireless base stations to ensure that there are no blind spots in the signal coverage of adjacent base stations; Step 6: Lay power supply cables and sliding contact lines. Lay 1100 meters of sliding contact lines in area K3 and 660 meters in area K2. Use galvanized pipes to protect the cables in outdoor areas. Step 7: Install the rail-mounted robot and adjust its height off the ground to 0.7-3.3 meters to ensure that its observation range covers the target detection point.

[0011] Preferably, in step 3, the track of the viewing corridor A￫B section is installed using expansion bolts suspended from the ceiling, with the lowest point of the track 3.3 meters above the ground and 0.6 meters away from the north-side column; the track of the wellhead office B￫C section is fixed to the heating water pipe by #4 angle steel liner, with the lowest point of the track 3.2 meters above the ground and the lowest point of the robot 2.9 meters above the ground.

[0012] Preferably, in step 3, the K1 conveyor track is welded below the longitudinal beam of the conveyor, the lowest point of the robot is 700mm from the pedestrian walkway floor, and the pedestrian passage space is not less than 600mm.

[0013] Preferably, in step 4, the track opening for transfer station #3 is located in the K3 corridor and the wall of transfer station #3; the opening for transfer station #2 is located in the iron door or window on the first floor.

[0014] Preferably, in step 7, the track height in the high-pressure roller mill workshop is 7.3 meters, and it descends 3.5 meters before entering the power distribution room; the track height in the filling station is 7-8 meters, and the track height in the pump room is 4 meters.

[0015] Preferably, the rail-mounted robot can observe 4 points and the material status of the conveyor belt inside the K2 and K3 corridors, 6 points at the K1 conveyor belt, 5 points at the No. 4, No. 5, and No. 11 conveyor belts, and 6 points at the No. 12 conveyor belt.

[0016] Compared with the prior art, the present invention provides a multi-scenario adaptable rail-mounted robot system and deployment method, which has the following beneficial effects: 1. High adaptability, covering multiple scenarios: The track components adopt various methods such as ceiling installation with expansion bolts, welding fixation, and combination fixation with customized hangers and U-bolts. It can adapt to different scenarios such as brick-concrete structure of viewing corridor, steel structure of belt conveyor corridor, complex layout of workshop and open-air environment of outdoor corridor, solving the problem of single adaptability of traditional track hanging system.

[0017] 2. Comprehensive inspection range, eliminating blind spots: The track components are continuously arranged along the inspection path. By opening through holes (such as the 500x500mm through hole of #3 transfer station and the 620mmx570mm through hole of the wellhead office) and designing climbing tracks, it covers complex areas such as transfer stations, power distribution rooms and workshop platforms. Combined with the robot's adjustable height above the ground (0.7-3.3 meters), it ensures comprehensive observation of each inspection point.

[0018] 3. Stable and reliable operation, ensuring continuous inspection: Wireless base stations are arranged at reasonable intervals (e.g., one each at 0 meters, 200 meters, and 400 meters along the K3 conveyor belt) to ensure full signal coverage; The power supply module is combined with galvanized pipe-protected cables via sliding contact lines (approximately 1100 meters for K3 and approximately 660 meters for K2) to adapt to different indoor and outdoor power supply needs and avoid inspections being affected by communication or power outages.

[0019] 4. Efficient installation and maintenance, reducing construction costs: The track adopts a standardized design (6 meters long per track, 3-meter spacing between hanging points), and adopts corresponding fixing methods for different substrates (brick-concrete, steel structure, etc.), reducing installation and adjustment time; the equipment layout (such as wireless base stations, network boxes) is designed in coordination with the track, which facilitates later maintenance and repair.

[0020] 5. Precise observation improves inspection quality: The robot's height above the ground is matched with the inspection requirements of each area (e.g., K2 and K3 corridors observe 4 points and materials, K1 belt conveyor observes 6 points), ensuring accurate collection of key information such as equipment status and material conditions, providing reliable data support for production safety.

[0021] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 Inspection route map for the viewing corridor; Figure 2 This is a schematic diagram of the rail transfer line on the north side of transfer station #3; Figure 3 This is a schematic diagram of the rail transfer line on the south side of transfer station #3; Figure 4 This is a schematic diagram of the rail transfer line on the south side of Transfer Station #2; Figure 5 This is a schematic diagram of the rail transfer line on the north side of Transfer Station #2; Figure 6 Views of the K2 and K3 conveyor belt corridors; Figure 7 This is a view of the tail section of the K2 belt conveyor. Figure 8 This is a view of the K1 belt conveyor. Figure 9 Layout diagram of the area from No. 4 inclined shaft to No. 12 conveyor belt in the mining compartment; Figure 10 This is a view of belt conveyor No. 4. Figure 11 This is a view of belt conveyor No. 5. Figure 12 This is a view of belt conveyor No. 11. Figure 13 This is a view of belt conveyor No. 12. Figure 14 A detailed route map of the track from the selected workshop to the K3 conveyor belt section; Figure 15 Layout diagram of the high-pressure roller mill inspection area; Figure 16This is a view of belt conveyor No. 4. Figure 17 This is a view of belt conveyor No. 6. Figure 18 This is an east view of the high-pressure roller mill; Figure 19 This is a north-side view of the high-pressure roller mill. Figure 20 This is a south side view of the high-pressure roller mill; Figure 21 This is a view of belt conveyor No. 6. Figure 22 This is a track route map for the filling station. Detailed Implementation

[0023] I. System Composition and Overall Deployment The multi-scenario adaptable rail-mounted robot system described in this invention includes a rail assembly, a rail-mounted robot, a wireless communication module, a power supply module, and a control module. It covers various industrial scenarios, including the viewing corridor, the K1-K3 belt conveyor corridor, the No. 4 inclined shaft to the No. 12 belt conveyor in the ore bin, the fine processing workshop to the K3 belt conveyor, the high-pressure roller mill area, and the filling station. The total inspection length is approximately 4,700 meters (the sum of the lengths of all areas).

[0024] II. Specific Implementation Details for Each Inspection Area (I) Inspection area of ​​the viewing corridor (first phase of implementation, approximately 300 meters in length) Track component layout: Section A￫B (Dispatch Center): The track is installed using expansion bolts suspended from the ceiling. Each track is 6 meters long and the spacing between hanging points is 3 meters. The lowest point of the track is 3.3 meters above the ground, and the lowest point of the track-mounted robot is 3.3 meters above the ground, 0.6 meters away from the north pillar. A through hole with dimensions of 470mm (width) × 550mm (height) is opened on the west wall for the track to pass through.

[0025] Section B￫C (Wellhead Office): The track support is fixed to the heating pipe on the east side by a #4 angle steel liner (the opening size of the plasterboard on the outside of the heating pipe is 1.1m × 0.5m); the lowest point of the track is 3.2m above the ground, and the lowest point of the robot is 2.9m above the ground; a 620mm (width) × 570mm (height) through hole is opened on the south wall, 2.8m above the ground and 280mm from the side.

[0026] Section C￫D (Wellhead Office): The track support is fixed on the water pipe on the north side (welded with #4 angle steel liner). The track goes up two slopes (from 2.1 meters → 2.7 meters → 3.2 meters), and the robot's height above the ground increases synchronously from 1.8 meters → 2.4 meters → 2.9 meters. The length of a single track is 6 meters, and the spacing between hanging points is 3 meters.

[0027] Sections D￫F and G￫H (viewing corridor): The track gantry is fixed to the corridor ceiling with expansion bolts. The minimum distance between the robot and the wall is 170mm, the height above the ground is 1.9 meters, and the lowest point of the track is 2.2 meters above the ground.

[0028] Wireless communication module: A total of 4 wireless base stations are deployed: 1 at point D (covering the D￫E segment), 2 at point F (covering the F￫E segment and the F￫G segment respectively), and 1 at point H (covering the H￫I segment).

[0029] Power supply module: The network aggregation box is deployed at point F, and the power supply (220V) is led out from the leakage protection switch of the monitoring box at point F; network boxes are set at points D and H (the power supply is connected to the aggregation box); network cable is laid from point D to the dispatch center along the outdoor cable tray (connected to the monitoring switch), and one optical cable and one electrical cable are laid in the D￫F section.

[0030] (ii) K1-K3 conveyor belt corridor area (implemented in the second phase, with a total length of approximately 2370 meters) Track component layout: K2 and K3 corridors: The south side track is fixed to the corridor beam by custom hangers and U-bolts, while the north side track is welded to the corridor's round tube column; each track is 6 meters long and the hanging point spacing is 3 meters; the lowest point of the robot on the south side is 2.3 meters above the ground, and on the north side it is 1.2 meters above the ground.

[0031] K2 Tail (70-meter brick-concrete corridor): The south side track of the corridor is arranged under the cable tray (robot 1.1 meters off the ground), and the north side track is suspended from the top (robot 1.6 meters off the ground), with a pedestrian passage space of 0.6 meters; all installation points are fixed with expansion bolts, each track is 6 meters long, and the hanging point spacing is 3 meters.

[0032] K1 Belt Conveyor (Open Area): The track is welded below the #8 angle steel longitudinal beam (it cannot be clamped due to the dust cover above), the lowest point of the robot is 700mm off the ground, and the pedestrian passage space is 600mm; the length of a single track is 6 meters, and the spacing between hanging points is 3 meters.

[0033] #3 Transfer Station (North / South): The track enters the transfer station via a ramp. Two through holes (500mm×500mm) are opened in the K3 corridor and the wall of the transfer station. The AB and DE sections of the track are suspended on the corridor beams, and the BC section is supported by welded columns (fixed to the C-shaped steel beams).

[0034] #2 Transfer Station (South / North): The south track passes through the iron gate on the first floor (500mm×500mm through hole), and the north track passes through the window on the first floor (500mm×500mm through hole); the climbing section (BC) has an additional through hole (400mm×600mm) in the pedestrian walkway and is equipped with a protective fence, with the columns welded to the K1 belt conveyor frame.

[0035] Wireless communication module: K3 belt conveyor is equipped with 3 wireless base stations (0 meters, 200 meters and 400 meters away from the machine head), K2 belt conveyor is equipped with 2 units (0 meters and 150 meters away from the machine head), and K1 belt conveyor is equipped with 2 units (0 meters and 200 meters away from the machine head). The base station brackets are welded to the longitudinal beams of the belt conveyors.

[0036] Power supply module: K3 has 1100 meters of sliding contact line laid, K2 has 660 meters laid (K1 is an outdoor area and no sliding contact line is laid); K3 and K2 cables are laid along the cable tray (in some areas galvanized pipe), and K1 cable is laid through the galvanized pipe reserved in the bracket.

[0037] Robot observation range: 4 points and conveyor belt materials are observed inside the K2 and K3 corridors; 5 points and conveyor belt materials are observed at the tail of the K2 conveyor; 6 points are observed on the K1 conveyor belt (materials above the conveyor belt cannot be observed).

[0038] (III) The area from No. 4 inclined shaft to No. 12 conveyor belt in the mining compartment (approximately 485 meters in length) Track component layout: Belts No. 4 and No. 5: The track support is fixed to the east wall of the corridor with expansion bolts. The support is 1.3 meters off the ground, the track is 1.1 meters off the ground, and the lowest point of the robot is 0.8 meters off the ground. The single track is 6 meters long and the hanging point spacing is 3 meters.

[0039] Belt No. 11: The track is turned out from the opening on the west wall of the screening workshop, and the hanging support round pipe is welded to the corridor column; the support is 1.35 meters above the ground, the track is 1.15 meters above the ground, and the lowest point of the robot is 0.85 meters above the ground.

[0040] Belt No. 12: The track is arranged along both sides of the belt, 3.3 meters above the ground on the north side and 1.2 meters above the ground on the south side (fixed with a 350mm straight frame); each track is 6 meters long and the spacing between hanging points is 3 meters.

[0041] Robot observation range: 5 points for each of belts 4, 5, and 11; 6 points for belt 12.

[0042] (iv) From the selection workshop to the K3 belt conveyor area (approximately 910 meters in length) Track component layout: Selected workshop three platforms: Platform 1: The original column spacing is 6 meters. A 50502.5 square tube + diagonal brace combination beam (single length 6 meters) is added. The track is suspended by round tubes welded to the square tubes. The track is 3850mm off the ground (300mm from the square tubes). Second platform: The track is suspended on the top structural beam (welded and fixed), 2.2 meters above the ground (for inspecting the ball mill); Three platforms: The track suspension assembly is installed on the side of the trolley support beam (welded and fixed), and inspects the accident pool direction.

[0043] Distribution room: The track runs around the room (fixed to the ceiling wall with expansion bolts), 2.5 meters above the ground (passing over the distribution cabinet).

[0044] Fine powder silo: The track runs around the inner frame of the wall (welded to the inherent angle steel structure), forming a complete circle of coverage.

[0045] Energy Center Boiler Room: The track is welded to the steel structure. After entering from the west, it turns north, circles the inner frame of the boiler room, and then goes to the laboratory along the landscaped corridor.

[0046] Laboratory (brick-concrete structure): The track enters from the second floor on the west side, runs along the top of the corridor to the east side, and descends through the south window to the first floor (ceiling-mounted and fixed with expansion bolts), 2.5 meters above the ground; the track on the first floor is arranged in parallel and turns out from the west and south windows.

[0047] Power supply module: Only the pump room has a 35-meter sliding contact line, and the cables in other areas are laid along the cable tray or galvanized pipe.

[0048] (v) High-pressure roller mill area (approximately 675 meters in length) Track component layout: Belt No. 4: The track is installed above the cable tray (east side), and the hanging support round pipe is welded to the corridor column; the track is 2.2 meters above the ground, and the lowest point of the robot is 1.9 meters above the ground (only points A and B are observed).

[0049] Belt No. 6: The track is divided into east and west sides. The east side is 2.25 meters above the ground (1.95 meters for the robot), and the west side is 1.3 meters above the ground (1 meter for the robot, observing 6 points). The tail of the machine detours to the west side to enter the roof of the high-pressure roller mill workshop.

[0050] High-pressure roller mill workshop: The track enters the room from the roof via two 30° descending tracks (total descent of 18 meters). The indoor track is 7.3 meters above the ground and descends 3.5 meters before entering the power distribution room. The No. 8 belt track is on the west side of the corridor (welded and fixed) 1.3 meters above the ground. The lowest point of the robot is 1 meter above the ground (fixed by a 350mm bracket).

[0051] Robot observation range: 5 points observed on belt No. 8.

[0052] (vi) Filling station area Track component layout: Slope protection location: Set a 400mm×400mm cement foundation (500mm deep, 3-meter interval), insert square tubes (round pipes welded on both sides), and fix the track with custom hangers and U-bolts (2 meters off the ground); each track is 6 meters long and the hanging point spacing is 3 meters.

[0053] Inside the filling station: The track enters from the north side, passes through the middle area, and then turns along the inner side of the wall. The fixed bracket is welded to the inherent steel structure, 7-8 meters above the ground.

[0054] Central control room and power distribution room (brick-concrete structure): mounted on the top of the track (fixed with expansion bolts), 2.5-3.6 meters above the ground.

[0055] Pump room: The track is arranged in a U-shape (welded to the top steel structure), 4 meters above the ground, connecting the power distribution room and the return track of the slope.

[0056] III. System Collaborative Operation: The control module coordinates the movement of the track-mounted robot along the track components, transmits data in real time through the wireless communication module (without blind spot coverage), and the power supply module (sliding contact line + galvanized pipe protection cable) ensures continuous power supply. The robot adjusts its height above the ground (0.7-3.3 meters) according to different scenarios to ensure full coverage of observation points and realize automated inspection in multiple scenarios.

[0057] This invention achieves full coverage of complex environments in industrial settings, such as brick-concrete, steel structures, indoor and outdoor environments, through regional adaptive design. It solves the problems of poor adaptability and insufficient coverage of traditional rail-mounted systems, and significantly improves inspection efficiency and safety.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A multi-scenario adaptable rail-mounted robot system, characterized in that, include: The track assembly is arranged along the inspection path, covering the viewing corridor, belt conveyor corridor, workshop, outdoor corridor and transfer station area. The track assembly is fixed by means of expansion bolt ceiling installation, welding fixation, and combination fixation of customized hangers and U-bolts. A track-mounted robot, which can move along the track assembly, and the lowest point of the robot can be adjusted from 0.7 to 3.3 meters above the ground depending on the scenario; The wireless communication module includes multiple wireless base stations, which are spaced apart along the track assembly to cover all inspection areas; The power supply module includes a sliding contact line and cables. The sliding contact line is laid in a designated area, and the cables are laid through cable trays or galvanized pipes. The control module is used to coordinate the operation of the rail-mounted robot, the wireless communication module, and the power supply module.

2. The multi-scenario adaptable rail-mounted robot system according to claim 1, characterized in that: The track assembly has a single track length of 6 meters and a hanging point spacing of 3 meters. The wall area through which the track assembly passes is provided with through holes.

3. The multi-scenario adaptable rail-mounted robot system according to claim 1, characterized in that: The track assembly is fixed in the conveyor corridor area as follows: the south track is fixed to the corridor beam by custom hangers and U-bolts, and the north track is welded to the corridor cylindrical column. The lowest point of the robot is 1.2-2.3 meters above the ground.

4. The multi-scenario adaptable rail-mounted robot system according to claim 1, characterized in that: In the wireless communication module, three wireless base stations are arranged in the K3 conveyor belt corridor, located at 0 meters, 200 meters, and 400 meters away from the K3 machine head, respectively; two wireless base stations are arranged in the K2 conveyor belt corridor, located at 0 meters and 150 meters away from the K2 machine head, respectively. Two wireless base stations are installed on the K1 conveyor belt, located at 0 meters and 200 meters away from the head of the K1 conveyor belt, respectively.

5. A method for deploying a rail-mounted robot system adaptable to multiple scenarios, characterized in that, Includes the following steps: Step 1: Determine the inspection area, including the viewing corridor, the K1-K3 belt conveyor corridor, the No. 4 inclined shaft to the No. 12 belt conveyor in the ore bin, the fine cleaning workshop to the K3 belt conveyor, the high-pressure roller mill area and the filling station; Step 2: Design a track path based on the structural characteristics of each area, the track path covering all equipment and areas to be inspected; Step 3: Select the track fixing method for different areas: use expansion bolts to fix the track in brick-concrete structure areas, use welding to fix the track in steel structure areas, and use a combination of custom hangers and U-bolts to fix the track in the conveyor belt corridor. Step 4: Set up track vias: Create vias in the wall areas through which the track passes; Step 5: Deploy wireless base stations to ensure that there are no blind spots in the signal coverage of adjacent base stations; Step 6: Lay power supply cables and sliding contact lines. Lay 1100 meters of sliding contact lines in area K3 and 660 meters in area K2. Use galvanized pipes to protect the cables in outdoor areas. Step 7: Install the rail-mounted robot and adjust its height off the ground to 0.7-3.3 meters to ensure that its observation range covers the target detection point.

6. The method for arranging a multi-scenario adaptable rail-mounted robot system according to claim 5, characterized in that, In step 3, the track of the viewing corridor A￫B section is installed using expansion bolts suspended from the ceiling. The lowest point of the track is 3.3 meters above the ground and 0.6 meters away from the north pillar. The track of the wellhead office B￫C section is fixed to the heating water pipe by #4 angle steel lining. The lowest point of the track is 3.2 meters above the ground, and the lowest point of the robot is 2.9 meters above the ground.

7. The method for arranging a multi-scenario adaptable rail-mounted robot system according to claim 5, characterized in that, In step 3, the K1 conveyor track is welded below the longitudinal beam of the conveyor, the lowest point of the robot is 700mm from the pedestrian walkway floor, and the pedestrian passage space is not less than 600mm.

8. The method for arranging a multi-scenario adaptable rail-mounted robot system according to claim 5, characterized in that, In step 4, the track passage for transfer station #3 is opened in the K3 corridor and the wall of transfer station #3; the passage for transfer station #2 is opened in the iron door or window on the first floor.

9. The method for arranging a multi-scenario adaptable rail-mounted robot system according to claim 5, characterized in that, In step 7, the track height in the high-pressure roller mill workshop is 7.3 meters, and it descends 3.5 meters before entering the power distribution room; the track height in the filling station is 7-8 meters, and the track height in the pump room is 4 meters.

10. A method for arranging a multi-scenario adaptable rail-mounted robot system according to claim 5, characterized in that, The rail-mounted robot can observe 4 points and the material status of the conveyor belt inside the K2 and K3 corridors, 6 points at the K1 conveyor belt, 5 points at the No. 4, No. 5 and No. 11 conveyor belts, and 6 points at the No. 12 conveyor belt.

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