Intelligent inspection equipment for long-distance coal conveying pipe belt conveyor

Abstract

The invention discloses intelligent inspection equipment for a long-distance coal conveying pipe belt conveyor, and relates to the technical field of inspection equipment, the intelligent inspection equipment comprises a slide rail and an equipment main body, two driving mechanisms are symmetrically arranged at the top of the equipment main body, an adjusting mechanism is arranged at the bottom of the equipment main body, and a charging mechanism is arranged at the top of the slide rail. A rack is arranged on one side of the sliding rail, a first cleaning mechanism is arranged between the two driving mechanisms, and a second cleaning mechanism is arranged on one side of the equipment body. The first cleaning mechanism synchronously works along with the driving mechanism, the cleaning sleeve slides back and forth along the sliding rail, dust on the surface of the sliding rail is removed in time, jamming and abrasion of the driving wheel and the guide wheel are avoided, and stable movement of the equipment body is ensured; the second cleaning mechanism drives a sponge wiper to vertically wipe lenses of the visible light camera module and the infrared thermal imaging module in a reciprocating mode through meshing transmission of a gear and a rack, dust attachment is prevented from affecting the monitoring precision, frequent manual maintenance is not needed, and the service life of equipment is prolonged.

Description

Technical Field

[0001] This invention relates to the field of inspection equipment technology, specifically an intelligent inspection device for long-distance coal conveyor belt conveyors. Background Technology

[0002] Long-distance coal conveyor belts are key transport equipment connecting coal terminals, power plants, and stockpiles. They continuously transport coal via enclosed circular belts, with a single unit often reaching several kilometers or even more than ten kilometers in length. Due to their long distances and complex environments along the route, relying on manual inspections on foot has inherent drawbacks such as extremely low efficiency, numerous blind spots, and high safety risks (e.g., difficulty in timely detection of hidden dangers such as belt misalignment, idler jamming, and abnormal temperature rise). Therefore, it is necessary to adopt intelligent inspection equipment. Tracked or self-propelled robots equipped with high-definition cameras, infrared thermal imagers, and acoustic sensors can replace manual labor to achieve all-weather, blind-spot-free automated inspections, accurately identify and locate abnormal conditions, and provide early warnings.

[0003] Existing long-distance coal conveyor belt inspection equipment is not suitable for automated and synchronized cleaning of the slide rail surface and the lenses of the visible light camera module and infrared thermal imaging module during use. If the large amount of dust generated by the long-distance coal conveyor belt during operation adheres to the slide rail surface and is not cleaned in time, it will cause uneven friction between the drive wheel, guide wheel and slide rail contact surface, causing the equipment to move slowly, deviate or even slip. This not only affects the accuracy of the inspection path, but also accelerates the wear of drive components, shortens the service life of the equipment, and increases maintenance costs. If dust adheres to the surface of the visible light camera module and infrared thermal imaging module lens and is not cleaned in time, it will obstruct the lens, resulting in blurred images and reduced accuracy of infrared thermal imaging temperature measurement. This makes it impossible to clearly identify faults such as belt tearing and roller overheating, causing missed or misjudged potential hazards and reducing the reliability of inspection.

[0004] Based on this, we now provide an intelligent inspection device for long-distance coal conveyor belts, which can eliminate the drawbacks of existing devices. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent inspection device for long-distance coal conveyor belts, so as to solve the problem in the background technology that it is not convenient to automatically and synchronously clean the surface of the slide rail and the lenses of the visible light camera module and the infrared thermal imaging module.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A long-distance coal conveyor belt intelligent inspection device includes a slide rail and a device body. Two drive mechanisms are symmetrically arranged on the top of the device body, an adjustment mechanism is arranged on the bottom of the device body, a charging mechanism is arranged on the top of the slide rail, and a rack is arranged on one side of the slide rail. A first cleaning mechanism is provided between the two drive mechanisms, and a second cleaning mechanism is provided on one side of the main body of the device.

[0007] In one alternative embodiment: the drive mechanism includes a first protective shell, which is fixedly installed on the top of the device body. A first drive assembly is provided inside the first protective shell, and the first drive assembly has two output ends. One of the output ends of the first drive assembly is provided with a drive wheel. A guide wheel is rotatably installed inside the first protective shell through a bearing. The device body can move along the track of the slide rail through the cooperation of the first protective shell, the guide wheel and the drive wheel. A first slide groove adapted to the rack is opened on one side of the first protective shell.

[0008] In one alternative: the first cleaning mechanism includes two cams, each of which is connected to another output end of two first drive components. A connecting rod is rotatably mounted on one side of each of the two cams via a pin. A cleaning sleeve is rotatably mounted between one end of each of the two connecting rods, and the cleaning sleeve is fitted over the outside of the slide rail.

[0009] In one alternative: a second groove adapted to the rack is provided on one side of the inside of the cleaning sleeve.

[0010] In one alternative: the adjustment mechanism includes a second protective shell, which is fixedly installed at the bottom of the device body. A second driving component is disposed inside the second protective shell. The output end of the second driving component passes through the second protective shell and is connected to a third protective shell. Two third driving components are disposed inside the third protective shell. The output ends of the two third driving components pass through the third protective shell and are respectively connected to a visible light camera module and an infrared thermal imaging module.

[0011] In one alternative embodiment: the second cleaning mechanism includes four fixed plates, all of which are fixedly installed on one side of the main body of the equipment. A reciprocating screw is rotatably mounted between two of the fixed plates via a bearing, and a limit rod is fixedly installed between the other two fixed plates. A matching reciprocating plate is provided on the outside of the reciprocating screw, and the reciprocating plate and the limit rod are slidably mounted. A mounting bracket is provided at the bottom of the reciprocating plate, and a sponge is provided at the end of the mounting bracket.

[0012] In one alternative: the top of the reciprocating screw passes through a fixed plate and is connected to a gear, and the gear meshes with the rack.

[0013] In one alternative embodiment: the charging mechanism includes two support rods, both of which are fixedly mounted on the top of the slide rail, and a protective cover is provided between the tops of the two support rods, with a wireless charging base provided on one side of the protective cover.

[0014] In one alternative: a wireless charging module is provided on the other side of the main body of the device, and the wireless charging module is compatible with the wireless charging base. The other side of the main body of the device is also provided with a temperature and humidity sensor, a PM2.5 / PM10 sensor, a gas sensor, a sound sensor, a laser detector, and an ultrasonic obstacle avoidance sensor.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this invention, the first cleaning mechanism works synchronously with the drive mechanism. By sliding the cleaning sleeve back and forth along the slide rail, it removes dust from the surface of the slide rail in a timely manner, avoids jamming and wear of the drive wheel and guide wheel, and ensures the smooth movement of the main body of the equipment. The second cleaning mechanism uses the meshing transmission of gears and racks to drive the sponge to wipe the lenses of the visible light camera module and the infrared thermal imaging module up and down, preventing dust from affecting the monitoring accuracy. It eliminates the need for frequent manual maintenance and extends the service life of the equipment.

[0016] 2. This invention uses a drive mechanism to automatically move the main body of the equipment along the slide rail, replacing the traditional manual inspection on foot. It can efficiently cover the entire length of the long-distance conveyor belt. With the automatic power replenishment design of the charging mechanism and wireless charging module, it can achieve uninterrupted inspection and completely solve the pain points of low efficiency, incomplete coverage and easy fatigue of manual inspection. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the installation structure of the wireless charging module of the present invention.

[0019] Figure 3 This is a schematic diagram of the first cleaning mechanism of the present invention.

[0020] Figure 4 This is a schematic diagram of the adjustment mechanism of the present invention.

[0021] Figure 5 This is a schematic diagram of the second cleaning mechanism of the present invention.

[0022] Figure 6 This is a schematic diagram of the charging mechanism of the present invention.

[0023] Figure reference numerals: 1. Slide rail; 2. Equipment body; 3. Drive mechanism; 31. First protective shell; 32. First drive assembly; 33. Drive wheel; 34. Guide wheel; 35. First slide groove; 4. Adjustment mechanism; 41. Second protective shell; 42. Second drive assembly; 43. Third protective shell; 44. Third drive assembly; 45. Visible light camera module; 46. Infrared thermal imaging module; 5. First cleaning mechanism; 51. Cam; 52. Connecting rod; 53. Cleaning sleeve; 54. Second slide groove; 6. Second cleaning mechanism; 61. Fixing plate; 62. Reciprocating screw; 63. Limiting rod; 64. Reciprocating plate; 65. Gear; 66. Mounting bracket; 67. Sponge wiper; 7. Rack; 8. Charging mechanism; 81. Support rod; 82. Protective cover; 83. Wireless charging base; 9. Wireless charging module. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0025] In one embodiment, such as Figures 1-6 As shown, an intelligent inspection device for a long-distance coal conveyor belt includes a slide rail 1 and a device body 2. Two drive mechanisms 3 are symmetrically arranged on the top of the device body 2, an adjustment mechanism 4 is arranged on the bottom of the device body 2, a charging mechanism 8 is arranged on the top of the slide rail 1, and a rack 7 is arranged on one side of the slide rail 1. A first cleaning mechanism 5 is provided between the two drive mechanisms 3, and a second cleaning mechanism 6 is provided on one side of the main body 2 of the equipment.

[0026] In this embodiment, the drive mechanism 3 drives the main body 2 of the equipment to move automatically along the slide rail 1, replacing the traditional manual inspection on foot. This can efficiently cover the entire long-distance conveyor belt. With the automatic power replenishment design of the charging mechanism 8 and the wireless charging module 9, uninterrupted inspection can be achieved, completely solving the pain points of low efficiency, incomplete coverage, and easy fatigue of manual inspection. The first cleaning mechanism 5 works synchronously with the drive mechanism 3. The cleaning sleeve 53 slides back and forth along the slide rail 1 to remove dust from the surface of the slide rail 1 in time, avoiding jamming and wear of the drive wheel 33 and guide wheel 34, and ensuring the smooth movement of the main body 2 of the equipment. The second cleaning mechanism 6 uses the meshing transmission of the gear 65 and the rack 7 to drive the sponge 67 to wipe the lenses of the visible light camera module 45 and the infrared thermal imaging module 46 up and down, preventing dust from affecting the monitoring accuracy. This eliminates the need for frequent manual maintenance and extends the service life of the equipment.

[0027] The drive mechanism 3 includes a first protective shell 31, which is fixedly installed on the top of the device body 2. A first drive assembly 32 is disposed inside the first protective shell 31, and the first drive assembly 32 has two output ends. One output end of the first drive assembly 32 is provided with a drive wheel 33. A guide wheel 34 is rotatably mounted inside the first protective shell 31 via a bearing. The device body 2 can move along the track of the slide rail 1 through the cooperation of the first protective shell 31, the guide wheel 34, and the drive wheel 33. A first groove adapted to the rack 7 is formed on one side of one of the first protective shells 31. 35. The first drive component 32 achieves functional linkage through its dual output design. One end drives the drive wheel 33 to rotate, which, together with the support and guidance of the guide wheel 34, propels the main body of the equipment 2 to move smoothly and accurately along the slide rail 1, ensuring no deviation or jamming during long-distance inspections and meeting the full-process inspection needs of the conveyor belt machine. The other end provides power to the first cleaning mechanism 5, enabling inspection and cleaning to be carried out simultaneously without the need for an additional power source. This simplifies the structural design and improves energy efficiency. At the same time, the first slide groove 35 on the first protective shell 31 can avoid the rack 7, preventing interference with the rack 7 during movement and ensuring smooth equipment movement.

[0028] The first cleaning mechanism 5 includes two cams 51, each connected to the other output end of one of the two first drive components 32. A connecting rod 52 is rotatably mounted on one side of each cam 51 via a pin. A cleaning sleeve 53 is rotatably mounted between one end of each connecting rod 52, and the cleaning sleeve 53 is fitted onto the outside of the slide rail 1. A second groove 54, adapted to the rack 7, is provided on one side of the cleaning sleeve 53. The first cleaning mechanism 5 is linked to the first drive component 32 of the drive mechanism 3 via the two cams 51, eliminating the need for a separate drive component, achieving efficient power reuse, and reducing overall energy consumption and structural complexity of the equipment. During rotation, the cleaning sleeve 53 is driven to slide back and forth along the slide rail 1 via the connecting rod 52. The cleaning sleeve 53 is fitted on the outside of the slide rail 1 and can completely cover the surface of the slide rail 1 to effectively remove the attached dust, slag and other impurities. This effectively avoids slippage and wear problems caused by the accumulation of impurities on the contact surface between the drive wheel 33 and the guide wheel 34, ensuring the stability and accuracy of the movement of the main body 2 of the equipment, and extending the service life of the slide rail 1 and the drive components. At the same time, the second sliding groove 54 opened inside the cleaning sleeve 53 can be adapted to the rack 7 to ensure that there is no collision with the rack 7 during the cleaning process, so as not to affect the normal movement of the equipment and the subsequent work of the second cleaning mechanism 6, and to achieve uninterrupted coordination between cleaning and inspection operations.

[0029] The adjustment mechanism 4 includes a second protective shell 41, which is fixedly installed at the bottom of the main body 2 of the equipment. A second drive component 42 is installed inside the second protective shell 41. The output end of the second drive component 42 passes through the second protective shell 41 and is connected to a third protective shell 43. Two third drive components 44 are installed inside the third protective shell 43. The output ends of the two third drive components 44 pass through the third protective shell 43 and are respectively connected to a visible light camera module 45 and an infrared thermal imaging module 46. The adjustment mechanism 4 seals and protects the internal second drive component 42 through the second protective shell 41, isolating dust and moisture in the corridor and ensuring stable operation of the drive components. The second drive component 42 can drive the third protective shell 43 to flexibly adjust the angle. In conjunction with the two third drive components 44 inside the third protective shell 43, the orientation of the visible light camera module 45 and the infrared thermal imaging module 46 are controlled respectively, realizing accurate monitoring of different positions and angles of the conveyor belt machine. It can cover key parts such as the surface of the conveyor belt, idlers, and motors, and can quickly switch monitoring angles according to inspection needs, avoiding blind spots and improving the comprehensiveness of fault identification.

[0030] The second cleaning mechanism 6 includes four fixed plates 61, all of which are fixedly installed on one side of the main body 2. A reciprocating screw 62 is rotatably mounted between two of the fixed plates 61 via bearings, and a limit rod 63 is fixedly mounted between the other two fixed plates 61. A matching reciprocating plate 64 is provided outside the reciprocating screw 62, and the reciprocating plate 64 and the limit rod 63 are slidably mounted. A mounting bracket 66 is provided at the bottom of the reciprocating plate 64, and a sponge 67 is provided at the end of the mounting bracket 66. The top of the reciprocating screw 62 passes through the fixed plate 61 and is connected to a gear 65, which meshes with a rack 7. The transmission is achieved by the meshing of the gear 65 and the rack 7 on one side of the slide rail 1, without the need for additional drive components, utilizing the moving power of the main body 2. The reciprocating screw 62 rotates, achieving efficient energy utilization. Simultaneously, the meshing design of the gear 65 and rack 7 precisely triggers the cleaning action, ensuring automatic wiping after the equipment moves to the designated position. When the reciprocating screw 62 rotates, it drives the reciprocating plate 64 to move smoothly up and down along the limiting rod 63. The limiting rod 63 effectively restricts the rotation of the reciprocating plate 64, ensuring it moves only in a straight line. This, in turn, drives the sponge 67 via the mounting bracket 66 to evenly and comprehensively wipe the lenses of the visible light camera module 45 and the infrared thermal imaging module 46, thoroughly removing dust adhering to the lens surface. This prevents dust from affecting monitoring accuracy and causing missed fault detection. Furthermore, the sponge 67 is made of soft material and will not scratch the lens, extending the service life of the monitoring module. While ensuring cleaning effectiveness, it avoids damage to the precision lens during the cleaning process.

[0031] The charging mechanism 8 includes two support rods 81, both of which are fixedly installed on the top of the slide rail 1. A protective cover 82 is provided between the tops of the two support rods 81. A wireless charging base 83 is provided on one side of the protective cover 82, and a wireless charging module 9 is provided on the other side of the main body 2. The wireless charging module 9 is compatible with the wireless charging base 83. The other side of the main body 2 is also equipped with a temperature and humidity sensor, a PM2.5 / PM10 sensor, a gas sensor, a sound sensor, a laser detector, and an ultrasonic obstacle avoidance sensor. When the main body 2 moves to the charging area, the wireless charging module 9 on its side can be precisely adapted to the wireless charging base 83 to achieve automatic wireless charging without manual intervention. This reduces the safety risk of personnel entering dangerous corridors and can quickly replenish the power of the equipment. Combined with the equipment's autonomous inspection logic, it can achieve uninterrupted inspection operations, greatly improving inspection efficiency. Each sensor can comprehensively capture environmental and equipment operating status data of the coal conveying corridor, providing comprehensive environmental and equipment data support for inspection operations, and greatly improving the intelligence level and safety assurance capability of inspection.

[0032] The working principle of this invention is as follows: the main body 2 of the equipment is driven to move along the slide rail 1 by the drive mechanism 3 to achieve full-process inspection. The specific working process of the drive mechanism 3 is as follows: the first drive component 32 inside the first protective shell 31 outputs power, which drives the drive wheel 33 to rotate. The drive wheel 33 is in contact with the surface of the slide rail 1. In conjunction with the guide wheel 34 installed in the first protective shell 31 through the bearing, the main body 2 of the equipment is supported and guided, and the main body 2 of the equipment moves stably along the slide rail 1. On the other hand, the other output end of the first drive component 32 drives the cam 51 of the first cleaning mechanism 5 to rotate. The cam 51 is rotatably connected to the connecting rod 52 through the pin. As the cam 51 rotates, it pulls the connecting rod 52, so that the cleaning sleeve 53 sleeved on the outside of the slide rail 1 slides back and forth along the slide rail 1. Simultaneously, the first cleaning mechanism 5 cleans the dust on the surface of the slide rail 1 in real time, ensuring that the drive mechanism 3 always runs smoothly on the slide rail 1. During the movement of the main body of the equipment 2, multi-dimensional monitoring and inspection are required: temperature and humidity sensors are used to monitor the temperature and humidity environment in the coal conveying corridor; PM2.5 / PM10 sensors are used to detect the dust concentration in the corridor; gas sensors are used to identify harmful gases such as CO and H2S to warn of safety risks; sound sensors are used to collect abnormal noises from the operation of the conveyor belt motor, idlers, and other equipment; laser detectors are used to determine whether the conveyor belt is misaligned, collapsed, or has other abnormal shapes; ultrasonic obstacle avoidance sensors are used to identify obstacles on the inspection path to avoid collisions; at the same time, visible light camera module 45 is used to collect the appearance of the conveyor belt (such as belt tearing and idler damage); and infrared thermal imaging module 46 is used to detect the surface temperature of key components such as motors and reducers to troubleshoot overheating faults. Because long-distance coal conveyor belts generate a large amount of dust, which easily adheres to the surfaces of the visible light camera module 45 and the infrared thermal imaging module 46, the lenses need to be cleaned by the second cleaning mechanism 6. The specific working principle is as follows: racks 7 are equidistantly arranged on one side of the slide rail 1. When the main body 2 moves to the point where the gear 65 of the second cleaning mechanism 6 is about to contact the rack 7, the adjusting mechanism 4 first adjusts the angle of the third protective shell 43 through the second drive component 42 inside the second protective shell 41, controlling the visible light camera module 45 and the infrared thermal imaging module 46 to reset to the position where the lenses face the sponge 67; subsequently, the racks 7... Wheel 65 meshes with rack 7 and continues to move with the main body 2 of the equipment. Rack 7 drives gear 65 to rotate. The bottom of gear 65 is connected to reciprocating screw 62, which in turn drives reciprocating screw 62 to rotate between two fixed plates 61. Reciprocating plate 64, which is sleeved on the outside of reciprocating screw 62 and slides with limit rod 63, moves up and down along limit rod 63. The bottom of reciprocating plate 64 moves up and down synchronously through sponge wiper 67 connected to mounting bracket 66 to thoroughly wipe the lenses of visible light camera module 45 and infrared thermal imaging module 46, so as to avoid dust affecting monitoring accuracy and ensure the stable progress of inspection work.

[0033] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A long-distance coal conveying pipeline intelligent inspection device, comprising a slide rail (1) and a device body (2), wherein two drive mechanisms (3) are symmetrically arranged on the top of the device body (2), an adjustment mechanism (4) is arranged on the bottom of the device body (2), a charging mechanism (8) is arranged on the top of the slide rail (1), and a rack (7) is arranged on one side of the slide rail (1). Its features are, A first cleaning mechanism (5) is provided between the two drive mechanisms (3), and a second cleaning mechanism (6) is provided on one side of the main body of the equipment (2).

2. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 1, characterized in that, The drive mechanism (3) includes a first protective shell (31), which is fixedly installed on the top of the main body (2). The first protective shell (31) is provided with a first drive assembly (32), which has two output ends. One of the output ends of the first drive assembly (32) is provided with a drive wheel (33). The first protective shell (31) is rotatably installed with a guide wheel (34) through a bearing. The main body (2) can move along the track of the slide rail (1) through the cooperation of the first protective shell (31), the guide wheel (34) and the drive wheel (33). One side of the first protective shell (31) is provided with a first groove (35) that is adapted to the rack (7).

3. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 2, characterized in that, The first cleaning mechanism (5) includes two cams (51), which are respectively connected to the other output end of the two first drive components (32). A connecting rod (52) is rotatably mounted on one side of each of the two cams (51) via a pin. A cleaning sleeve (53) is rotatably mounted between one end of the two connecting rods (52), and the cleaning sleeve (53) is sleeved on the outside of the slide rail (1).

4. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 3, characterized in that, The cleaning sleeve (53) has a second groove (54) on one side inside that is adapted to the rack (7).

5. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 1, characterized in that, The adjustment mechanism (4) includes a second protective shell (41), which is fixedly installed at the bottom of the main body (2). A second drive component (42) is provided inside the second protective shell (41). The output end of the second drive component (42) passes through the second protective shell (41) and is connected to a third protective shell (43). Two third drive components (44) are provided inside the third protective shell (43). The output ends of the two third drive components (44) pass through the third protective shell (43) and are respectively connected to a visible light camera module (45) and an infrared thermal imaging module (46).

6. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 1, characterized in that, The second cleaning mechanism (6) includes four fixed plates (61), all of which are fixedly installed on one side of the main body (2). A reciprocating screw (62) is rotatably installed between two of the fixed plates (61) via a bearing, and a limit rod (63) is fixedly installed between the other two fixed plates (61). A matching reciprocating plate (64) is provided on the outside of the reciprocating screw (62), and the reciprocating plate (64) and the limit rod (63) are slidably installed. A mounting bracket (66) is provided at the bottom of the reciprocating plate (64), and a sponge (67) is provided at the end of the mounting bracket (66).

7. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 6, characterized in that, The top of the reciprocating lead screw (62) passes through the fixed plate (61) and is connected to a gear (65), and the gear (65) meshes with the rack (7).

8. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 1, characterized in that, The charging mechanism (8) includes two support rods (81), both of which are fixedly installed on the top of the slide rail (1). A protective cover (82) is provided between the tops of the two support rods (81), and a wireless charging base (83) is provided on one side of the protective cover (82).

9. The intelligent inspection equipment for long-distance coal conveyor belts according to claim 8, characterized in that, The other side of the main body (2) of the device is provided with a wireless charging module (9), and the wireless charging module (9) is compatible with the wireless charging base (83). The other side of the main body (2) of the device is also provided with a temperature and humidity sensor, a PM2.5 / PM10 sensor, a gas sensor, a sound sensor, a laser detector, and an ultrasonic obstacle avoidance sensor.

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