Novel tunnel belt conveyor deviation rectifying and line patrol robot

Abstract

The utility model discloses a novel tunnel belt conveyor deviation rectifying and line patrolling robot which comprises a visual holder, a mechanical arm, a supporting structure, a track automatic guiding trolley and a trolley track, and the visual holder is composed of a depth camera, a longitudinal rotating steering engine, a data processing and control module, a transverse rotating steering engine and a holder support. The mechanical arm is composed of a mechanical arm clamp, a mechanical arm camera, a steering engine, a data processing and control module and a mechanical arm structure frame, the supporting structure is composed of a supporting cradle head plate, a side wall and a vehicle auxiliary supporting plate, the device corrects a deviated belt in an intelligent mode, the manufacturing cost is reduced, and the working efficiency is improved. And meanwhile, the requirement of directly adding an intelligent deviation rectifying system in an operated belt conveyor system can be met, and an electric locomotive track in a tunnel is patrolled in a computer vision mode.

Description

Technical Field

[0001] The utility model belongs to the technical direction of tunnel engineering, and particularly relates to a new type of tunnel belt conveyor deviation correction and line inspection robot. Background Technique

[0002] In recent years, subway tunnel projects in China have been successively put into construction. When transporting muck out of the shield tunnel, electric locomotives and continuous belt conveyors are often used. When a continuous belt conveyor is used for muck discharge in the tunnel, the continuous belt conveyor is prone to the phenomenon of "running deviation" during the process of transporting muck due to reasons such as incorrect equipment installation, easy bending of the belt at the tunnel turning point, and uneven weight of muck on both sides of the belt, which will cause "slag dropping". At the same time, the running deviation of the belt during operation may also affect the normal operation of the belt conveyor equipment, thus affecting the construction period. Therefore, during the actual construction process, the construction unit will arrange special personnel to check whether the belt conveyor runs deviation during operation. When the belt is too long, the method of manually checking whether the belt runs deviation will cause waste of construction resources for the construction unit. At the same time, the tracks of electric locomotives in the tunnel often shift and deform, which has a significant impact on the driving safety of electric locomotives. When the tunnel is too long, the inspection of the shift and deformation of the electric locomotive tracks is time-consuming and laborious. Content of the Utility Model

[0003] The purpose of the utility model is to provide a new type of tunnel belt conveyor deviation correction and line inspection robot for the existing technology to solve the problems raised in the above background technique.

[0004] To solve the above technical problems, the utility model provides the following technical solution: A new type of tunnel belt conveyor deviation correction and line inspection robot, including a vision pan-tilt, a robotic arm, a support structure, an automatic track-guided vehicle and a vehicle track. The vision pan-tilt consists of a depth camera, a longitudinal rotation servo, a data processing and control module, a lateral rotation servo and a pan-tilt bracket.

[0005] The robotic arm consists of a robotic arm clamp, a robotic arm camera, a servo, a data processing and control module and a robotic arm structure frame.

[0006] The support structure consists of a support pan-tilt plate, side walls and a vehicle accessory support plate.

[0007] The automatic track-guided vehicle consists of track vehicle wheels, a motor, a vehicle frame, a front wheel data processing and control module, a battery module and a rear wheel data processing and control module.

[0008] The vehicle track consists of a running track, track side walls, track support frames and support bolts.

[0009] Furthermore, the main function of the vision pan-tilt is to determine whether the belt conveyor is running off track and whether the track of the battery locomotive is offset. The depth camera is mainly used to capture photos of the belt of the belt conveyor and the track of the battery locomotive. The longitudinal rotation servo mainly functions to adjust the longitudinal angle of the depth camera, and the lateral rotation servo mainly functions to adjust the lateral angle of the depth camera. The data processing and control module mainly processes the photos of the belt of the belt conveyor and the track of the battery locomotive obtained by the depth camera and transmits the classification results to the front-wheel data processing and control module, the rear-wheel data processing and control module, the data processing and control module of the robotic arm, and the cloud. The pan-tilt bracket mainly functions as a support.

[0010] Furthermore, the main function of the robotic arm is to adjust the position of the idler of the belt conveyor to achieve belt deviation correction of the belt conveyor. The robotic arm clamp mainly functions to install, disassemble, and move the bolts of the idler of the belt conveyor. The robotic arm camera is mainly used to capture images of the bolts of the idler of the belt conveyor. The data processing and control module processes the image data obtained by the robotic arm camera and controls the servo to rotate the robotic arm structure frame according to the algorithm to control the robotic arm to perform specific actions.

[0011] Furthermore, the main function of the support structure is to support the equipment. The vision pan-tilt is placed on the support pan-tilt plate, the robotic arm is hung upside down under the support pan-tilt plate, the side wall is used to support the support pan-tilt plate, and the vehicle accessory support plate is used to place the front-wheel data processing and control module, the battery module, and the rear-wheel data processing and control module.

[0012] Furthermore, the automatic guided vehicle on track is the main device to realize the movement of the equipment. The wheels of the track vehicle can be directly placed on the running track, and the motor provides power for the forward movement of the wheels of the track vehicle. The frame connects the front and rear wheels of the vehicle. The front-wheel data processing and control module and the rear-wheel data processing and control module receive the information from the data processing and control module and control the opening and closing of the motor. The battery module provides power for all the electrical equipment of this robot.

[0013] Furthermore, the vehicle track is the running area of the automatic guided vehicle on track. The running track is the running route of the automatic guided vehicle 4. The track side wall 52 prevents the automatic guided vehicle on track from falling out of the track. The track support frame and support bolts fix the vehicle track beside the continuous belt conveyor.

[0014] Compared with the prior art, the beneficial effects achieved by the present utility model are as follows: In the present utility model,

[0015] (1) By an intelligent method, the off-track belt is corrected, reducing the construction cost. At the same time, it can meet the requirement of directly adding an intelligent deviation correction system to an already operating belt conveyor system, and by means of computer vision, the track of the battery locomotive in the tunnel is inspected. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present utility model and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of the composition of a new type of tunnel belt conveyor deviation correction and line inspection robot for this patent;

[0018] Figure 2 It is a schematic diagram of the vision pan-tilt of a new type of tunnel belt conveyor deviation correction and line inspection robot for this patent;

[0019] Figure 3 It is a schematic diagram of the robotic arm of a new type of tunnel belt conveyor deviation correction and line inspection robot for this patent;

[0020] Figure 4 It is a schematic diagram of the support structure of a new type of tunnel belt conveyor deviation correction and line inspection robot for this patent;

[0021] Figure 5 It is a schematic diagram of the vehicle chassis of a new type of tunnel belt conveyor deviation correction and line inspection robot for this patent;

[0022] Figure 6 It is a schematic diagram of the track structure of a new type of tunnel belt conveyor deviation correction and line inspection robot for this patent.

[0023] In the figure: 1. Vision pan-tilt; 11. Depth camera; 12. Longitudinal rotation servo; 13. Data processing and control module; 14. Transverse rotation servo; 15. Pan-tilt support; 2. Robotic arm; 1. Robotic arm fixture; 22. Robotic arm camera; 23. Servo; 24. Data processing and control module; 25. Robotic arm structure frame; 3. Support structure; 31. Support pan-tilt board; 32. Side wall; 33. Vehicle accessory support board; 4. Track automatic guided vehicle; 41. Track car wheels; 42. Motor; 43. Frame; 44. Front wheel data processing and control module; 45. Battery module; 46. Rear wheel data processing and control module; 5. Carriage track; 51. Travel track; 52. Track side wall; 53. Track support frame; 54. Support bolt. Detailed implementation manners

[0024] The following further non-limiting detailed description of the technical solution of the present utility model is made in conjunction with the preferred embodiments and their accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0025] Please refer to Figure 1-6, the present utility model provides a technical solution: a new type of tunnel belt conveyor deviation correction and line inspection robot, including a vision pan-tilt 1, a robotic arm 2, a support structure 3, an orbital automatic guided vehicle 4, and a vehicle track 5. The vision pan-tilt 1 is composed of a depth camera 11, a longitudinal rotation servo 12, a data processing and control module 13, a lateral rotation servo 14, and a pan-tilt support 15.

[0026] The robotic arm 2 is composed of a robotic arm clamp 21, a robotic arm camera 22, a servo 23, a data processing and control module 24, and a robotic arm structure frame 25.

[0027] The support structure 3 is composed of a support pan-tilt board 31, side walls 32, and a vehicle accessory support board 33.

[0028] The orbital automatic guided vehicle 4 is composed of orbital vehicle wheels 41, a motor 42, a vehicle frame 43, a front wheel data processing and control module 44, a battery module 45, and a rear wheel data processing and control module 46.

[0029] The vehicle track 5 is composed of a traveling track 51, track side walls 52, track support frames 53, and support bolts 54.

[0030] Furthermore, the main function of the vision pan-tilt 1 is to determine whether the belt conveyor is running off track and whether the locomotive track is offset. The depth camera 11 is mainly used to obtain photos of the belt of the belt conveyor and the locomotive track. The longitudinal rotation servo 12 is mainly used to adjust the longitudinal angle of the depth camera 11. The lateral rotation servo 14 is mainly used to adjust the lateral angle of the depth camera 11. The data processing and control module 13 is mainly used to process the photos of the belt of the belt conveyor and the locomotive track obtained by the depth camera 11 and transmit the classification results to the front wheel data processing and control module 44, the rear wheel data processing and control module 46 of the orbital automatic guided vehicle 4, the data processing and control module 24 of the robotic arm 2, and the cloud. The main function of the pan-tilt support 15 is to provide support.

[0031] Furthermore, the main function of the robotic arm 2 is to adjust the position of the belt conveyor idler to achieve deviation correction of the belt conveyor. The main function of the robotic arm clamp 21 is to install, disassemble, and move the belt conveyor idler bolts. The main function of the robotic arm camera 22 is to obtain images of the belt conveyor idler bolts. The data processing and control module 24 is used to process the image data obtained by the robotic arm camera 22 and control the servo 23 to rotate the robotic arm structure frame 25 according to an algorithm to control the robotic arm 2 to perform specific actions.

[0032] Furthermore, the main function of the support structure 3 is to support the device. The vision pan-tilt 1 is placed on the support pan-tilt board 31, and the robotic arm 2 is hung upside down under the support pan-tilt board 31. The side wall 32 is used to support the support pan-tilt board 31. The vehicle accessory support board 33 is used to place the front-wheel data processing and control module 44, the battery module 45, and the rear-wheel data processing and control module 46.

[0033] Furthermore, the rail-guided vehicle 4 is the main device for realizing the movement of the device. The rail vehicle wheels 41 can be directly placed on the running rail 51. The motor 42 provides power for the forward movement of the rail vehicle wheels 41. The vehicle frame 43 connects the front and rear wheels of the vehicle. The front-wheel data processing and control module 44 and the rear-wheel data processing and control module 46 receive the information from the data processing and control module 13 and control the opening and closing of the motor 42. The battery module 45 provides power for all the electrical equipment of the robot.

[0034] Furthermore, the trolley track 5 is the running area of the rail-guided vehicle 4. The running rail 51 is the running route of the rail-guided vehicle 4. The track side wall 52 prevents the rail-guided vehicle from falling out of the track. The track support frame 53 and the support bolt 54 fix the trolley track 5 beside the conveyor belt.

[0035] Before use, the trolley track 5 is fixed beside the conveyor belt through the track support frame 53 and the support bolt 54. During use, the rail-guided vehicle 4 is placed on the trolley track 5, and the rail vehicle wheels 41 are placed on the running rail 51. At the same time, the track side wall 52 prevents the rail-guided vehicle from falling out of the track. The power switch on the battery module 45 is turned on. The robot walks to one side of the conveyor belt idler. The lateral rotation servo 14 and the longitudinal rotation servo 12 rotate to turn the depth camera 11 to an appropriate angle to observe the conveyor belt. The depth camera 11 acquires images, and the data is processed by the data processing and control module 13 to determine the actual height difference between the two sides of the conveyor belt to judge whether the conveyor belt is running off track. When it is determined that the conveyor belt is running off track and needs to be adjusted, the robotic arm 2 acquires images through the robotic arm camera 22, identifies the bolts of the conveyor belt idler through the data processing and control module 24, and controls the robotic arm structure frame 25 and the robotic arm fixture 21 through the servo 23 to adjust the position of the conveyor belt idler. When it is determined that the conveyor belt is not running off track and does not need to be adjusted, the lateral rotation servo 14 and the longitudinal rotation servo 12 rotate to turn the depth camera 11 to an appropriate angle to observe the locomotive track. The data processing and control module 13 judges whether the locomotive track is offset. If the track offset exceeds the threshold, the data processing and control module 13 transmits the mileage of the rail-guided vehicle to the cloud in the MQTT manner; if the track offset does not exceed the threshold, the robot continues to walk until it reaches the next section of the conveyor belt idler.

[0036] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0037] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit them. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model.

Claims

1. A new type of tunnel belt conveyor deviation correction and line inspection robot, comprising a vision pan-tilt (1), a robotic arm (2), a support structure (3), an automatic guided vehicle for the track (4) and a trolley track (5), characterized in that: The vision pan-tilt (1) consists of a depth camera (11), a longitudinal rotation servo (12), a data processing and control module (13), a lateral rotation servo (14) and a pan-tilt support (15); The robotic arm (2) consists of a robotic arm clamp (21), a robotic arm camera (22), a servo (23), a data processing and control module (24) and a robotic arm structure frame (25); The support structure (3) consists of a support pan-tilt plate (31), side walls (32) and a vehicle accessory support plate (33); The automatic guided vehicle for the track (4) consists of track trolley wheels (41), a motor (42), a vehicle frame (43), a front wheel data processing and control module (44), a battery module (45) and a rear wheel data processing and control module (46); The trolley track (5) consists of a running track (51), track side walls (52), track support frames (53) and support bolts (54).

2. The novel tunnel belt conveyor deviation rectification and line inspection robot according to claim 1, characterized in that: The main function of the vision pan-tilt (1) is to judge whether the belt conveyor is running off track and whether the locomotive track is offset. The depth camera (11) is mainly used to obtain photos of the belt of the belt conveyor and the locomotive track. The main function of the longitudinal rotation servo (12) is to adjust the longitudinal angle of the depth camera (11). The main function of the lateral rotation servo (14) is to adjust the lateral angle of the depth camera (11). The main function of the data processing and control module (13) is to process the photos of the belt of the belt conveyor and the locomotive track obtained by the depth camera (11) and transmit the classification result to the front wheel data processing and control module (44), the rear wheel data processing and control module (46) of the automatic guided vehicle for the track (4), the data processing and control module (24) of the robotic arm (2) and the cloud. The main function of the pan-tilt support (15) is for support.

3. A novel tunnel belt conveyor deviation correction and line inspection robot according to claim 1, characterized in that: The main function of the robotic arm (2) is to adjust the position of the belt conveyor idler to achieve deviation correction of the belt conveyor. The main function of the robotic arm clamp (21) is to install, disassemble and move the bolts of the belt conveyor idler. The main function of the robotic arm camera (22) is to obtain images of the bolts of the belt conveyor idler. The data processing and control module (24) processes the image data obtained by the robotic arm camera (22) and controls the servo (23) to rotate the robotic arm structure frame (25) according to the algorithm to control the robotic arm (2) to make specific actions.

4. A novel tunnel belt conveyor deviation correction and line inspection robot according to claim 1, characterized in that: The main function of the support structure (3) is to support the equipment. The vision pan-tilt (1) is placed on the support pan-tilt plate (31). The robotic arm (2) is hung upside down under the support pan-tilt plate (31). The side walls (32) are used to support the support pan-tilt plate (31). The vehicle accessory support plate (33) is used to place the front wheel data processing and control module (44), the battery module (45) and the rear wheel data processing and control module (46).

5. A novel tunnel belt conveyor deviation correction and line inspection robot according to claim 1, characterized in that: The described rail-guided vehicle (4) is the main device for realizing the movement of the equipment. The wheels (41) of the rail vehicle can be directly placed on the running track (51). The motor (42) provides power for the forward movement of the wheels (41) of the rail vehicle. The frame (43) connects the front and rear wheels of the vehicle. The front-wheel data processing and control module (44) and the rear-wheel data processing and control module (46) receive the information from the data processing and control module (13) and control the opening and closing of the motor (42). The battery module (45) supplies power to all the electrical equipment of the robot.

6. A novel tunnel belt conveyor deviation rectification and line inspection robot according to claim 1, characterized in that: The described vehicle track (5) is the running area of the rail-guided vehicle (4). The running track (51) is the running route of the automatic guided vehicle (4). The track side wall (52) prevents the rail-guided vehicle from falling out of the track. The track support frame (53) and the support bolts (54) fix the vehicle track (5) beside the continuous belt conveyor.

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