CN113043285A - Liftable mining inspection robot - Google Patents
Liftable mining inspection robot Download PDFInfo
- Publication number
- CN113043285A CN113043285A CN202110450626.2A CN202110450626A CN113043285A CN 113043285 A CN113043285 A CN 113043285A CN 202110450626 A CN202110450626 A CN 202110450626A CN 113043285 A CN113043285 A CN 113043285A
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- module
- liftable
- processing system
- acquisition unit
- detection module
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- 238000007689 inspection Methods 0.000 title claims abstract description 18
- 238000005065 mining Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000005286 illumination Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 3
- 238000013523 data management Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a liftable mining inspection robot, which comprises a head sensor and a detection module, a middle telescopic structure, a bottom processing system and a walking mechanism, wherein the head sensor and the detection module mainly comprise a video acquisition unit, a sound acquisition unit and a lighting module, the middle telescopic structure is connected with the head sensor and the detection module and the bottom processing system, the bottom processing system comprises a large-range video acquisition module, the bottom walking mechanism is of a crawler belt structure, the detection distance of the robot is long, the robot is suitable for inspection of a large number of devices below a mine, and the whole robot adopts a modular design idea and can adapt to operating environments with different lengths and structures.
Description
Technical Field
The invention relates to the field of robots, in particular to a liftable mining inspection robot.
Background
A large amount of equipment under a mine needs to be maintained and managed to meet the requirement, and special staff is usually set to regularly check different equipment according to different check intervals to ensure the safety performance of the equipment for a long time. Most of equipment has premonition before failure, such as the problems of increased surface temperature of the equipment, abnormal sound generated by the equipment, larger vibration during normal operation, falling of a track and the like. Therefore, when equipment runs, equipment maintenance personnel are required to watch monitoring instrument instruments such as a pressure gauge, a thermometer and a displacement detection gauge of the running state of the equipment and a change curve of the monitoring instrument instruments, some operators even use a screwdriver to sense the vibration condition of the equipment such as a homogenizer, and in this way, whether the homogenizer runs normally is judged through feeling and hearing.
Disclosure of Invention
The invention aims to provide a liftable mining inspection robot, which is long in detection distance and suitable for inspection of a large number of devices under a mine, and the whole robot adopts a modular design idea and can adapt to working environments with different lengths and structures.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a liftable mining robot of patrolling and examining, includes head sensor and detection module, but middle part extending structure, bottom processing system and running gear, head sensor and detection module mainly include video acquisition unit, sound acquisition unit, lighting module, but middle part extending structure connects head sensor and detection module and bottom processing system, bottom processing system includes video acquisition module on a large scale, bottom running gear is the track structure.
Furthermore, the head sensor and the detection module are arranged in the square shell, and the video acquisition unit, the sound acquisition unit and the illumination module are arranged above the shell.
Furthermore, the middle telescopic structure is a telescopic pipe.
Furthermore, the bottom processing system is arranged in the square shell, and the ultrasonic sensor and the navigation module are arranged above the shell.
Furthermore, the bottom travelling mechanism is of a triangular lower crawler structure.
Compared with the prior art, the invention has the advantages that:
1. the robot is small in size, flexible in steering, capable of operating under various working conditions and incapable of being operated by a traditional robot.
2. The robot carries an infrared camera, and the condition inside the pipeline can be effectively identified.
3. The robot adopts the modularized design, can adjust required length according to the operating mode to reach optimal scheme.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the liftable mining inspection robot provided by the invention comprises a head sensor and detection module, a middle telescopic structure, a bottom processing system and a walking mechanism, wherein the head sensor and detection module mainly comprises a video acquisition unit 2, a sound acquisition unit 1 and a lighting module 3, the middle telescopic structure 4 is connected with the head sensor and detection module and the bottom processing system, the bottom processing system comprises a large-range video acquisition module 7, and the bottom walking mechanism is a crawler structure 8.
The head sensor and the detection module are arranged in the square shell, and the video acquisition unit, the sound acquisition unit and the illumination module are arranged above the shell.
The middle telescopic structure is a telescopic pipe.
The bottom processing system is arranged in a square shell, and an ultrasonic sensor 5 and a navigation module 6 are arranged above the shell.
The bottom travelling mechanism is of a triangular lower crawler structure.
In the scheme of the invention, the robot head sensor and detection module mainly comprises a video acquisition unit and a sound acquisition unit, the two modules are used for efficiently collecting image and audio data in the process of inspection and sending the image and audio data to a processor for analysis and processing, and a video and sound transmission system is mainly responsible for transmission tasks.
In the scheme of the invention, the infrared position sensor and the lighting module are mainly used for judging the trafficability and important basis of path planning, can realize automatic routing inspection after a route is planned, and are integrated with an obstacle avoidance function.
In the scheme of the invention, the large-range video acquisition module is used for real-time monitoring for mining, can perform algorithm recognition image, and performs analysis transmission on transmission belt space information, pipeline arrangement attribute information and the like, so that the data management platform can clearly know about the pipeline of the management corridor, and the interactive talkback module is used for talkback between the data management platform and the robot terminal.
In the scheme of the invention, the middle telescopic structure mainly connects the head and the walking mechanism, has a telescopic function and is used for adapting to monitoring surfaces with different heights, and when the monitoring surfaces meet narrow areas, the telescopic part in the diagram can be subjected to various conversions according to scenes, can be folded, extended and asymmetrically telescopic, so that the telescopic part can reach different angles to control the position of the head sensor module, and can collect information more accurately.
The inspection method in the implementation process of the scheme of the invention comprises the following steps of firstly, using an autonomous positioning navigation module to autonomously scan and plan a path of an inspection range, forming an environment map and a path in a processing and analyzing module, and realizing automatic inspection; secondly, starting automatic inspection work, starting the large-range video acquisition module to work, transmitting the acquired information to a processing and analyzing module, and judging whether abnormal conditions exist or not; when the condition is normal, the information is remotely transmitted to a data management platform without alarm information; when the situation is abnormal, the information is remotely transmitted to the data management platform and gives an alarm to remind management platform personnel, meanwhile, the telescopic mechanism synchronously works, the integrated sensor can be stretched into positions such as near dead angles, back faces and the like through multi-degree-of-freedom movement, the movement range of the integrated sensor is enlarged, then the video acquisition module, the illumination module and the distance sensor are used for detecting, detailed information is transmitted to the data management platform, the detailed understanding of the field situation of the data management platform at the first time is facilitated, and when the situation is needed, the interactive talkback module can work, so that the management personnel and the field personnel can talkback.
Claims (5)
1. The utility model provides a liftable mining robot of patrolling and examining, its characterized in that, includes head sensor and detection module, but middle part extending structure, bottom processing system and running gear, head sensor and detection module mainly include video acquisition unit, sound acquisition unit, lighting module, but middle part extending structure connects head sensor and detection module and bottom processing system, bottom processing system includes video acquisition module on a large scale, bottom running gear is the track structure.
2. The liftable mining inspection robot according to claim 1, wherein the head sensor and the detection module are arranged in a square shell, and a video acquisition unit, a sound acquisition unit and an illumination module are arranged above the shell.
3. The liftable mining inspection robot according to claim 1, wherein the middle stretchable structure is a telescopic pipe.
4. The liftable mining inspection robot according to claim 1, wherein the bottom processing system is arranged in a square shell, and an ultrasonic sensor and a navigation module are arranged above the shell.
5. The liftable mining inspection robot according to claim 1, wherein the bottom traveling mechanism is of a triangular lower crawler belt structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110450626.2A CN113043285A (en) | 2021-04-26 | 2021-04-26 | Liftable mining inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110450626.2A CN113043285A (en) | 2021-04-26 | 2021-04-26 | Liftable mining inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113043285A true CN113043285A (en) | 2021-06-29 |
Family
ID=76520573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110450626.2A Pending CN113043285A (en) | 2021-04-26 | 2021-04-26 | Liftable mining inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113043285A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2622136A (en) * | 2022-07-12 | 2024-03-06 | Joy Global Underground Mining Llc | Offboard monitoring system |
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|---|---|---|---|---|
| US20130231779A1 (en) * | 2012-03-01 | 2013-09-05 | Irobot Corporation | Mobile Inspection Robot |
| CN203422665U (en) * | 2013-06-04 | 2014-02-05 | 沈阳易思达智能通讯有限公司 | Inspection robot for transformer station |
| US20150190925A1 (en) * | 2014-01-07 | 2015-07-09 | Irobot Corporation | Remotely Operating a Mobile Robot |
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| US20160195390A1 (en) * | 2015-01-05 | 2016-07-07 | Bell Helicopter Textron Inc. | Inspecting components using mobile robotic inspection systems |
| CN110253530A (en) * | 2019-08-05 | 2019-09-20 | 陕西中建建乐智能机器人有限公司 | A kind of inspection intelligent robot and its method for inspecting with snakelike detecting head |
| CN210173567U (en) * | 2019-04-17 | 2020-03-24 | 北京黑森智能科技有限公司 | Intelligent security and protection auxiliary alarm robot and control system thereof |
| CN210270618U (en) * | 2019-06-25 | 2020-04-07 | 金陵科技学院 | A crawler inspection robot |
| CN110977964A (en) * | 2019-11-26 | 2020-04-10 | 汕头大学 | Intelligent inspection robot for detecting micro-leakage of power plant equipment operation and detection method |
| CN210909999U (en) * | 2019-09-09 | 2020-07-03 | 上海朗驰佰特智能技术有限公司 | Indoor inspection wheel type robot |
| CN212154317U (en) * | 2020-03-18 | 2020-12-15 | 杭州智骨软件科技有限公司 | Maintenance robot |
| CN212195683U (en) * | 2019-12-27 | 2020-12-22 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Power distribution inspection robot |
| EP3808510A1 (en) * | 2019-10-16 | 2021-04-21 | Everis Aeroespacial y Defensa, S.L.U. | Tele-commanded robot |
-
2021
- 2021-04-26 CN CN202110450626.2A patent/CN113043285A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130231779A1 (en) * | 2012-03-01 | 2013-09-05 | Irobot Corporation | Mobile Inspection Robot |
| CN203422665U (en) * | 2013-06-04 | 2014-02-05 | 沈阳易思达智能通讯有限公司 | Inspection robot for transformer station |
| US20150190925A1 (en) * | 2014-01-07 | 2015-07-09 | Irobot Corporation | Remotely Operating a Mobile Robot |
| US20160195390A1 (en) * | 2015-01-05 | 2016-07-07 | Bell Helicopter Textron Inc. | Inspecting components using mobile robotic inspection systems |
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN210173567U (en) * | 2019-04-17 | 2020-03-24 | 北京黑森智能科技有限公司 | Intelligent security and protection auxiliary alarm robot and control system thereof |
| CN210270618U (en) * | 2019-06-25 | 2020-04-07 | 金陵科技学院 | A crawler inspection robot |
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| EP3808510A1 (en) * | 2019-10-16 | 2021-04-21 | Everis Aeroespacial y Defensa, S.L.U. | Tele-commanded robot |
| CN110977964A (en) * | 2019-11-26 | 2020-04-10 | 汕头大学 | Intelligent inspection robot for detecting micro-leakage of power plant equipment operation and detection method |
| CN212195683U (en) * | 2019-12-27 | 2020-12-22 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Power distribution inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2622136A (en) * | 2022-07-12 | 2024-03-06 | Joy Global Underground Mining Llc | Offboard monitoring system |
| GB2622136B (en) * | 2022-07-12 | 2024-10-23 | Joy Global Underground Mining Llc | Offboard monitoring system |
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| PB01 | Publication | ||
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Application publication date: 20210629 |