Rail robot

Abstract

The embodiment of the utility model provides a rail robot which comprises a rail arranged above a coal conveying belt; the robot main body is arranged below the track and slides along the track so as to inspect the coal conveying belt; and the motor is arranged at the end part of the track and drives the robot main body to move through a traction rope. According to the rail robot provided by the embodiment of the invention, it can be ensured that the robot can still run stably in a severe environment.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of robots, in particular to a track robot. BACKGROUND

[0002] The thermal power generation still accounts for a large proportion in the power production, and in the power generation process of the thermal power plant, coal needs to be delivered to the thermal power generator through the coal conveying belt, so that the coal conveying belt can affect the normal operation of the thermal power plant.

[0003] The coal conveying belt track robot is usually used for monitoring the operation of the coal conveying belt, and when the coal conveying belt deviates, personnel climbs, fire and the like occur, the coal conveying belt track robot timely issues a warning to prevent accidents. However, the existing track robot still has some problems, such as poor adaptability to complex environment and difficulty in maintenance and maintenance. The coal conveying area usually has high temperature, high humidity, coal dust and other harsh environmental conditions, which puts high requirements on the durability and performance of the robot. The robot may malfunction or performance degradation in harsh environment. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the embodiment of the present application is to provide a track robot which can ensure stable operation of the robot in harsh environment.

[0005] To achieve the above purpose, the embodiment of the present application provides a track robot, which comprises:

[0006] a track arranged above the coal conveying belt;

[0007] a robot body arranged below the track and sliding along the track to perform inspection on the coal conveying belt; and

[0008] a motor driving the robot body to move through a traction rope.

[0009] Further, the robot body comprises a camera and an edge computing base, the camera is arranged below the edge computing base, and the edge computing base analyzes the video shot by the camera to perform inspection on the coal conveying belt.

[0010] Further, the camera comprises a visible light camera and an infrared camera, the number of the visible light cameras is four, the four visible light cameras are arranged in a ring, and the infrared camera is arranged to face the coal conveying belt.

[0011] Further, the robot body further comprises a sound pickup device, and the sound pickup device is used to collect the sound below the robot body.

[0012] Furthermore, the motor is a magnetically encoded motor, which is used to position the robot body on the track.

[0013] Furthermore, the robot body also includes cleaning brushes and / or cleaning fans for cleaning the track.

[0014] Furthermore, it also includes a slider, which is fixed to the robot body and is sleeved on the slide rail.

[0015] Furthermore, it also includes a battery pack and a battery compartment, the battery pack being disposed within the battery compartment and electrically connected to the robot body, the battery compartment being disposed below the track and sliding along the track, and the battery compartment being detachably connected to the robot body.

[0016] Furthermore, it also includes a dust cover, which is disposed on the track and houses the robot body.

[0017] Furthermore, it also includes a motor control system, which is electrically connected to the motor to control the motor to pull the traction rope and control the movement of the robot body.

[0018] In the track robot provided in this application embodiment, the motor drives the robot body through the traction rope. The robot body can move back and forth along the track above the coal conveyor belt to inspect the coal conveyor belt. In other words, the track robot provided in this application embodiment uses the traction power provided by the externally installed motor to drag the robot body to slide on the track, thereby avoiding the robot body from running out of power and being unable to return, and ensuring that the robot body can still operate stably in harsh environments. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a side view of the track robot provided in an embodiment of this application;

[0021] Figure 2 for Figure 1 A partial structural diagram of the orbital robot;

[0022] Figure 3 yes Figure 1A three-dimensional structural diagram of the track robot;

[0023] Figure 4 yes Figure 1 A three-dimensional structural diagram of the orbital robot from another angle.

[0024] Explanation of icon numbers:

[0025] Reference Name Reference Name 100 Orbital robot 101 Orbit 102 Robot body 103 Motor 104 Tow rope 121 Camera 122 Edge computing base 105 Battery pack 106 Battery compartment 107 Dust cover

[0026] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0029] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description and cannot be understood as indicating or implying the relative importance of the technical features indicated or implying the number of technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions, for example, "A and / or B" includes A solution, or B solution, or A and B solution. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed in the present application.

[0031] Reference Figures 1 to 4 The present application embodiment proposes a track robot 100, which comprises:

[0032] Track 101 is arranged above the coal conveying belt;

[0033] Robot body 102 is arranged below the track 101 and slides along the track 101 to inspect the coal conveying belt; and

[0034] Motor 103 is arranged at the end of track 101 and drives the robot body 102 to move through traction rope 104.

[0035] Specifically, the robot body 102 slides back and forth along the track 101 to inspect the coal conveying belt below, and when the coal conveying belt is out of alignment, personnel climb, fire, etc. When the situation occurs, the robot body 102 can timely issue a warning to prevent accidents from happening.

[0036] In the track robot 100 provided by the present application, the motor 103 drives the robot body 102 through the traction rope 104, and the robot body 102 can move back and forth above the coal conveying belt along the track 101, thereby inspecting the coal conveying belt. That is, the track robot 100 provided by the present application is dragged by the traction power provided by the externally arranged motor 103 to slide on the track 101, so that the robot body 102 can avoid returning due to track skidding and power consumption, and ensure that the robot body 102 can still operate stably in harsh environment.

[0037] It should be noted that the traction rope 104 is usually made of metal material, for example, the traction rope 104 is a steel wire rope.

[0038] Further, in some embodiments of the present application, the robot body 102 comprises a camera 121 and an edge computing base 122, the camera 121 is arranged below the edge computing base 122, and the edge computing base 122 analyzes the video and image taken by the camera 121 to perform inspection on the coal conveying belt.

[0039] Specifically, the camera 121 is used to take and monitor the coal conveying belt below, and when the coal conveying belt deviates, personnel climb, fire, etc. occur, the camera 121 can capture the relevant video and image, and then transmit the video and image to the edge computing base 122. The edge computing base 122 is provided with a computer for edge computing, and the edge computing base 122 deploys a visual analysis algorithm to analyze the video and image taken by the camera connected thereto in real time, and alarms in place and sends to the management system and mobile terminal in real time when a violation occurs.

[0040] The visual analysis algorithm is a deep convolutional network-based video and image processing algorithm that completes edge inference locally on the robot, which mainly extracts useful information from video frames, helps the computer understand the content in the image or video, and identifies whether the personnel in the factory area wear safety helmets, wear work clothes, climb the belt, find open flames, etc.

[0041] In the track robot 100 provided in the embodiments of the present application, the power system and the edge computing system are separated by the above arrangement, the edge computing can focus on real-time analysis and processing of low-delay video data, and the power system can focus on stable and efficient energy supply. When any one system sends a fault, it will not cause overall use problems, reduce single-point failure risk, and improve overall reliability.

[0042] Further, in some embodiments of the present application, the camera 121 comprises a visible light camera and an infrared camera, the number of visible light cameras is four, the four visible light cameras are arranged in a ring, and the infrared camera is arranged to face the coal conveying belt.

[0043] Specifically, the visible light camera can take video and image of the coal conveying belt during the day, and the infrared camera can take video and image of the coal conveying belt at night, the four visible light cameras are arranged in a ring, which can take all-around video and image of the coal conveying belt, and cooperate with the infrared camera to take video and image of the coal conveying belt all day long, thereby ensuring real-time monitoring of the coal conveying belt.

[0044] Further, in some embodiments of the present application, the robot body 102 further comprises a sound pickup device (not shown), which is used to collect the sound below the robot body 102.

[0045] Specifically, the function of the pickup is to collect the sound under the robot body 102, when the coal conveying belt is out of alignment, personnel climb, fire, etc. When the abnormal sound occurs, the pickup can collect the abnormal sound, so as to transmit the relevant information to the management system and the mobile terminal, and ensure the stable operation of the coal conveying belt.

[0046] Further, in some embodiments of the present application, the motor 103 is a magnetic encoding motor, which is used to position the position of the robot body 102 on the track 101.

[0047] Specifically, the motor 103 of the traction track robot is a magnetic encoding motor, which can accurately position the position of the robot body 102 on the track 101 through high-precision magnetic encoding technology, so as to realize accurate control of the motion position and state of the robot body 102. On the one hand, it provides accurate positioning service for fault point maintenance, and on the other hand, it provides bottom support for intelligent inspection function, so as to significantly improve the overall operation efficiency of the coal conveying belt system.

[0048] Further, in some embodiments of the present application, the robot body 102 further comprises a cleaning brush and / or a cleaning fan (not shown) for cleaning the track 101.

[0049] Specifically, when the coal conveying belt is operated for a long time, dust deposition and other phenomena may occur on the track 101. Therefore, the cleaning brush and / or the cleaning fan provided by the robot body 102 can be used to clean the track 101, so as to ensure the cleanliness of the track 101 and avoid affecting the movement of the robot body 102 on the track 101.

[0050] It should be noted that the robot body 101 further comprises other components, such as a router, a wireless communication module, etc. The function of the router is to connect the robot body 101 with the network, and the wireless communication module is used for the instructions of the management system or the mobile terminal.

[0051] Further, in some embodiments of the present application, the track robot 100 further comprises a battery pack 105 and a battery compartment 106, the battery pack 105 is arranged in the battery compartment 106, the battery pack 105 is electrically connected with the robot body 102, the battery compartment 106 is arranged below the track 101 and slides along the track 101, and the battery compartment 106 is detachably connected with the robot body 102.

[0052] Specifically, the battery compartment 106 is used for placing the battery pack 105, and the battery pack 105 is used for supplying power to the robot body 102, the battery compartment 106 is arranged below the track 101 and slides along the track 101, the battery compartment 106 is detachably connected with the robot body 102, so that the battery pack 105 can supply power to the robot body 102 in real time, thereby ensuring that the robot body 102 can collect videos and images of the coal conveying belt below in real time and analyze the videos and images.

[0053] Further, in some embodiments of the present application, the track robot 100 further comprises a charging part (not shown) arranged at the end of the track 101 for charging the battery pack 105.

[0054] Specifically, the charging part is used for charging the battery pack 105, so as to ensure that the power of the battery pack 105 can meet the use demand, thereby ensuring the normal operation of the robot body 102. The charging part can be a device for wirelessly charging electronic devices without physical connection based on electromagnetic induction, magnetic resonance or capacitive coupling technology, and when the robot body 102 is pulled to the end of the track 101, the wireless charging can be triggered to charge the battery pack 105.

[0055] Further, in some embodiments of the present application, the track robot 100 further comprises a dust cover 107 arranged on the track 101, and the dust cover 107 accommodates the robot body 102.

[0056] Specifically, when the coal conveying belt is operated for a long time, dust deposition and other phenomena may occur on the track 101, so when the robot body 102 stays on the track 101, it can be accommodated in the dust cover 107, thereby preventing dust or coal dust from accumulating on the robot body 102, and ensuring that the robot body 102 can operate stably.

[0057] Further, in some embodiments of the present application, the track robot 100 further comprises a motor control system (not shown) electrically connected with the motor 103 for controlling the motor 103 to pull the traction rope 104 and controlling the movement of the robot body 102. After receiving an instruction, the motor control system drives the motor 103 to pull the traction rope 104 to make the robot body 102 slide back and forth on the track 101, thereby realizing the monitoring of the coal conveying belt below.

[0058] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made according to the contents of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A rail robot, characterized in that, The track robot comprises: a track arranged above a coal conveying belt; a robot body arranged below the track and sliding along the track to perform inspection on the coal conveying belt; and a motor arranged at an end of the track and driving the robot body to move through a traction rope.

2. The track robot of claim 1, wherein, The robot body comprises a camera and an edge computing base, the camera is arranged below the edge computing base, and the edge computing base performs inspection on the coal conveying belt by analyzing videos taken by the camera.

3. The track robot of claim 2, wherein, The camera comprises a visible light camera and an infrared camera, the number of visible light cameras is four, the four visible light cameras are arranged in a surrounding manner, and the infrared camera is arranged to face the coal conveying belt.

4. The track robot of claim 3, wherein, The robot body further comprises a sound pickup device for collecting sound below the robot body.

5. The track robot of claim 4, wherein, The motor is a magnetic encoding motor, which is used to position the robot body on the track.

6. The rail robot of claim 5, wherein, The robot body further comprises a cleaning brush and / or a cleaning fan for cleaning the track.

7. The trackbot of claim 1, wherein, Further comprising a battery pack and a battery compartment, the battery pack is arranged in the battery compartment, the battery pack is electrically connected with the robot body, the battery compartment is arranged below the track and slides along the track, and the battery compartment is detachably connected with the robot body.

8. The trackbot of claim 7, wherein, Further comprising a charging part arranged at the end of the track for charging the battery pack.

9. The rail robot of claim 8, wherein, Further comprising a dust cover arranged on the track, the dust cover accommodating the robot body.

10. The trackbot of claim 9, wherein, Further comprising a motor control system electrically connected with the motor for controlling the motor to pull the traction rope and controlling the movement of the robot body.

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