CN111901570A - Belt conveyor post robot - Google Patents
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- CN111901570A CN111901570A CN202010807036.6A CN202010807036A CN111901570A CN 111901570 A CN111901570 A CN 111901570A CN 202010807036 A CN202010807036 A CN 202010807036A CN 111901570 A CN111901570 A CN 111901570A
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- 208000003164 Diplopia Diseases 0.000 claims abstract description 29
- 208000029444 double vision Diseases 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims abstract description 20
- 238000001931 thermography Methods 0.000 claims abstract description 13
- 238000004458 analytical method Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 11
- 210000003128 head Anatomy 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000009529 body temperature measurement Methods 0.000 description 3
- 210000001508 eye Anatomy 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The invention relates to the technical field of robots, in particular to a belt conveyor post robot which comprises a robot shell, a remote control terminal, a double-vision high-definition camera, an acoustic camera, a multi-parameter gas sensor and a control circuit, wherein the center of the bottom of the robot shell is sunken to form an installation part, the bottom of the robot shell is also provided with a first installation position, and the double-vision high-definition camera is arranged on the installation part and used for collecting visible images and thermal imaging data in real time; the acoustic camera is arranged on the first installation position and used for realizing accurate positioning of a sound source; the multi-parameter gas sensor is arranged on the first installation position and used for collecting various gas data in real time. The invention can improve the working efficiency, reduce the labor cost and reduce the probability of working errors.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a post robot for a belt conveyor.
Background
The belt conveyor is a belt conveyor for short, and has the advantages of fixed type, movable type, simple structure and high efficiency. A continuous conveyor machine for carrying and pulling material on a flexible conveyor belt. An endless conveyor belt is looped around the drive rollers and the direction-changing rollers. The upper and lower branches between the two rollers are supported by a plurality of carrier rollers. The materials are placed on the upper branch, and the conveying belt and the materials are dragged to run by utilizing the friction force between the driving roller and the belt. The conveying device is suitable for conveying bulk materials and finished articles in horizontal and inclined directions, and can also be used in a production line for certain process operations.
In order to ensure safety, special posts are arranged on the use site of the belt conveyor, particularly in special places (such as a belt conveyor head, a belt conveyor tail, a blanking area and the like), and in order to ensure safety, the traditional belt conveyor management adopts post workers arranged on the special posts such as the belt conveyor head, the belt conveyor tail, a blanking point and the like, workers work on the posts in turns, various video monitoring and other equipment are gradually used on the special posts along with the development of technology, the monitoring on the post site by a remote end is realized, but because a large amount of monitoring is collected in a monitoring room, monitoring personnel cannot ensure that each monitoring picture is watched and judged in real time, and therefore, when special conditions occur on the post site, the monitoring personnel cannot timely process the post sites, and a lot of site post workers are still reserved.
The post worker works on the spot, and a certain potential safety hazard exists because the long-term continuous work brings tiredness to the worker; moreover, after long-time work, post personnel cannot ensure no fatigue and distraction in the whole working time, and accidents caused by negligence of the post personnel often occur; causing great adverse effects on the mind and body of people. Therefore, people start to monitor the post of the belt conveyor so as to improve the safety of workers.
For example, patent application No. CN201410396673.3 discloses a belt conveyor safety monitoring device, which includes: the collecting layer is positioned on the site of the belt conveyor, a plurality of temperature sensors, a plurality of vibration sensors and a wireless network transceiving device are arranged in the collecting layer, analysis data information is collected through a controller, and the data information is transmitted to the monitoring layer through a wireless network; the belt conveyor site is also provided with a video camera for acquiring a video image of the belt conveyor operation and transmitting belt state information to a monitoring layer through a network; the monitoring layer comprises a wireless network transceiving device and a central control room server, data information is transmitted to the central control room server through a wireless network, the central control room server analyzes and processes the data information and displays the basic operation state, fault early warning and video images of the belt conveyor, and meanwhile, the central control room server transmits the data information to the Web server; and the application layer comprises a Web server and a plurality of user terminals and is used for obtaining the real-time belt state information.
However, the common video camera of the video camera for the belt conveyor safety monitoring device cannot simultaneously acquire visual images and thermal imaging data in real time; nor an acoustic camera to locate the sound source; the device has dispersed structure and is inconvenient to install and use; more importantly, the method is only a monitoring measure, cannot effectively control the behavior of the post worker, and cannot radically solve the safety problem.
Disclosure of Invention
Therefore, the invention mainly aims to provide the belt conveyor post robot which can replace the existing belt post workers to solve the safety problem of the existing workers and avoid safety accidents caused by manual operation.
Another object of the present invention is to provide a belt conveyor post robot, which can improve work efficiency and reduce labor cost.
In order to achieve the purpose, the invention adopts the technical scheme that:
a belt conveyor post robot is characterized by comprising a robot shell, a remote control terminal, a double-vision high-definition video camera, an acoustic camera, a multi-parameter gas sensor and a control circuit, wherein,
the robot shell is used for installing a remote control terminal, a double-vision high-definition camera, an acoustic camera, a multi-parameter gas sensor and a control circuit, the control circuit is connected with the double-vision high-definition camera, the acoustic camera and the multi-parameter gas sensor, the center of the bottom of the robot shell is sunken to form an installation part, and the bottom of the robot shell is also provided with a first installation position;
the double-vision high-definition camera is arranged on the mounting part and is used for acquiring visual images and thermal imaging data in real time;
the acoustic camera is arranged on the first installation position and used for realizing accurate positioning of a sound source;
the multi-parameter gas sensor is arranged on the first installation position and used for collecting various gas data in real time;
the control circuit is used for realizing power control and data packaging of the double-vision high-definition camera, the multi-parameter gas sensor and the acoustic camera, meanwhile, communication with the remote control terminal is completed, control over field devices is realized, passive contacts and RS485 private protocols are output externally to control sudden stop of the belt conveyor, and starting signals of the belt conveyor are collected in real time to realize synchronous operation with the belt conveyor.
Further, the lens of the double-vision high-definition camera is a 30-time optical zoom lens, and the resolution of the lens of the double-vision high-definition camera is 500 ten thousand pixels; for performing real-time acquisition of visual image data.
Further, the dual-view high-definition camera comprises a thermal imaging module, the thermal imaging module comprises a pyroelectric sensor, and the pyroelectric sensor is connected with the control circuit through an Ethernet; for performing real-time acquisition of thermal imaging data.
Further, the remote control terminal comprises a remote PC and control software installed on the remote PC, and the remote control terminal also comprises an algorithm running on the remote PC;
the remote PC is used for realizing the operation of control software and an algorithm, controlling the algorithm to finish the analysis and the identification of the data collected by the double-vision high-definition camera, the data collected by the acoustic camera and the data collected by the multi-parameter gas sensor, judging the working condition of the field equipment according to an identification conclusion and sending a control signal to the control circuit.
Further, the identifying of the data comprises: the method comprises the steps of automatic identification of video images, identification of overtemperature areas of temperature data and identification of sources of abnormal sound.
The invention has the beneficial effects that:
the invention comprises a robot shell, a remote control terminal, a double-vision high-definition video camera, an acoustic camera, a multi-parameter gas sensor and a control circuit; the belt conveyor post robot mainly replaces post workers, and the double-vision high-definition camera replaces the function of human eyes to realize real-time video acquisition of a polling area; the double-vision high-definition camera adopts a thermal imaging scheme to replace a hand touch function, so that all temperature points in the whole field of view are collected; the acoustic camera replaces the function of ears, and realizes automatic acquisition of sound sources in the area; the multi-parameter gas sensor has the function of replacing nasal smell, so that the real-time data collection of the gas content in the inspection area is realized; the remote control terminal identifies and judges the collected data and sends alarm information when the data are abnormal. Therefore, the invention can improve the working efficiency, reduce the labor cost, reduce the probability of working errors, solve the safety problem of the operation of the existing workers and avoid safety accidents caused by manual operation.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a schematic diagram of the connection of the modules of the present invention.
The reference numbers illustrate: 1. a robot housing; 2. an acoustic camera; 3. a multi-parameter gas sensor; 4. a dual-view high definition camera; 5. and a control circuit board.
Detailed Description
Referring to fig. 1-3, the invention relates to a belt conveyor post robot, which comprises a robot shell 1, a remote control terminal, a double-vision high-definition camera 4, an acoustic camera 2, a multi-parameter gas sensor 3 and a control circuit board 5, wherein the center of the bottom of the robot shell 1 is sunken to form an installation part, the bottom of the robot shell 1 is also provided with a second installation position and a first installation position, the second installation position and the first installation position are distributed on two sides of the installation part, the control circuit board 5 is arranged on the second installation position, the control circuit board 5 is integrated with a control circuit, and the control circuit is connected with the double-vision high-definition camera 4, the acoustic camera 2 and the multi-parameter gas sensor 3; wherein,
the double-vision high-definition video camera 4 is arranged on the mounting part, the acoustic camera 2 is arranged on the first mounting position, and the multi-parameter gas sensor 3 is arranged on the first mounting position; the remote control terminal comprises a remote PC and control software installed on the remote PC, and further comprises an algorithm running on the remote PC;
in the scheme, the belt conveyor post robot is installed in a belt conveyor special post area (such as a belt conveyor head, a belt conveyor tail, a blanking area and the like), the remote control terminal can acquire relevant data of the double-vision high-definition camera 4, the multi-parameter gas sensor 3 and the acoustic camera 2 in real time through control software and an algorithm, can finish automatic identification of acquired information and control the control circuit to work, namely the belt conveyor post robot can replace post workers and respectively replace four sense organs of human eye observation, ear listening sound, hand touch temperature and nose smell; the method specifically comprises the following steps:
1. human eyes are replaced in video information acquisition and analysis
Video data acquisition and identification are realized: the video of the inspection area is collected and analyzed in real time, and an alarm is given to abnormal conditions in time;
2. temperature information collection and analysis instead of manual touch
Temperature data acquisition and analysis: the method adopts a thermal imaging scheme to realize the acquisition of all temperature points in the whole view field, realize non-contact and large-range temperature measurement, automatically analyze the temperature in the field and realize overtemperature identification;
3. gas information collection and analysis substitute for olfaction of personnel
Gas data acquisition and analysis: carrying a multi-parameter gas sensor 3, realizing real-time data collection of the gas content of the inspection area, and warning according to a set threshold value;
4. sound information collection and analysis instead of human hearing
Sound data acquisition and analysis: carry on multichannel acoustics camera 2, realize the automatic acquisition to the sound source in the region to carry out analysis, discernment to the sound source signal of gathering, through 2 time differences of multichannel acoustics camera, pinpoint abnormal signal source position, in time give alarm information.
In this embodiment, the control circuit collects the belt conveyor running signals continuously, after collecting the belt conveyor starting signal, the control circuit starts the power supplies of the double-vision high-definition video camera 4, the multi-parameter gas sensor 3 and the acoustic camera 2 to start collecting corresponding information and sends the collected information to the remote PC, the control software and the algorithm automatically analyze the collected data, when an alarm appears in an analysis result, the alarm level is judged, an alarm or alarm and stop signal is sent to the control circuit according to the alarm level, the control circuit receives the information sent by the remote PC in real time and carries out corresponding action response on the received information. The control of the belt conveyor is realized, and the running safety of the belt conveyor is ensured;
the double-vision high-definition camera adopts a 360-degree tripod head to realize full-range collection of video data, the video resolution reaches 500 ten thousand pixels to realize clear shooting of small defects, 30-time optical zooming finishes clear shooting of objects with the diameter of 10cm in a range of 30 meters, a thermal imaging module adopts a high-resolution pyroelectric sensor, the temperature measurement precision is 0.1 ℃, the temperature measurement distance is 20 meters, the double-vision high-definition camera is connected with a control circuit through Ethernet, the on-off of a camera power supply, the rotation angle of the tripod head, the posture, the focal length change and the like are controlled through a remote PC, meanwhile, the reading, image grabbing and the like of camera code streams are realized, and the real-time collection of visual images and thermal imaging data is finished;
the multi-parameter gas sensor 3 adopts a multi-path parallel AD circuit to realize the synchronous digitization of data of various gas sensors, and then is connected with a control circuit through an RS485 interface to transmit the acquired gas data to the control circuit in real time;
the acoustic camera 2 adopts independent 4-path sound pickup, is arranged in parallel and is fixed in distance, so that the source of a sound source is accurately positioned, and the acoustic camera 2 is connected with the control circuit by adopting RJ45 so as to realize the transmission of sound information;
the control circuit adopts a high-dominant-frequency embedded system to realize power control and data packaging of the double-vision high-definition camera 4, the multi-parameter gas sensor 3 and the acoustic camera 2, and simultaneously complete communication with a remote PC (personal computer), realize control of field equipment, externally output passive contacts and an RS485 private protocol to control emergency stop of the belt conveyor, and acquire a starting signal of the belt conveyor in real time to realize synchronous operation with the belt conveyor;
the remote PC realizes the operation of control software and algorithm, the control algorithm completes the analysis of data transmitted by the control circuit, the automatic identification of video images, the identification of over-temperature areas of temperature data and the identification of sources of abnormal sound, meanwhile, whether the machine needs to be stopped is judged according to the identification conclusion, if the machine needs to be stopped, a stop command is sent to the control circuit to realize the emergency stop of the belt conveyor, an alarm signal is synchronously given, and personnel are prompted to process the machine.
In the embodiment, the model of the dual-view high-definition video camera 4 is V12D-30/500, the model of the multi-parameter gas sensor 3 is T12-5/RS485, the model of the acoustic camera 2 is S12-4V, and the model of the control circuit is D12-1/RJ 45.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and not restrictive, and various changes and modifications to the technical solutions of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are intended to fall within the scope of the present invention defined by the appended claims.
Claims (5)
1. A belt conveyor post robot is characterized by comprising a robot shell, a remote control terminal, a double-vision high-definition video camera, an acoustic camera, a multi-parameter gas sensor and a control circuit, wherein,
the robot shell is used for installing a remote control terminal, a double-vision high-definition camera, an acoustic camera, a multi-parameter gas sensor and a control circuit, the control circuit is connected with the double-vision high-definition camera, the acoustic camera and the multi-parameter gas sensor, the center of the bottom of the robot shell is sunken to form an installation part, and the bottom of the robot shell is also provided with a first installation position;
the double-vision high-definition camera is arranged on the mounting part and is used for acquiring visual images and thermal imaging data in real time;
the acoustic camera is arranged on the first installation position and used for realizing accurate positioning of a sound source;
the multi-parameter gas sensor is arranged on the first installation position and used for collecting various gas data in real time;
the control circuit is used for realizing power control and data packaging of the double-vision high-definition camera, the multi-parameter gas sensor and the acoustic camera, meanwhile, communication with the remote control terminal is completed, control over field devices is realized, passive contacts and RS485 private protocols are output externally to control sudden stop of the belt conveyor, and starting signals of the belt conveyor are collected in real time to realize synchronous operation with the belt conveyor.
2. The belt conveyor post robot as claimed in claim 1, wherein the lens of the double-vision high-definition camera is a 30-fold optical zoom lens, and the resolution of the lens of the double-vision high-definition camera is 500 ten thousand pixels; for performing real-time acquisition of visual image data.
3. The belt conveyor station robot of claim 2, wherein the dual-view high-definition camera comprises a thermal imaging module comprising a pyroelectric sensor, the pyroelectric sensor being connected to the control circuit by an ethernet network; for performing real-time acquisition of thermal imaging data.
4. A belt conveyor station robot as in claim 3 wherein the remote control terminal comprises a remote PC and control software installed on the remote PC, the remote control terminal further comprising an algorithm running on the remote PC;
the remote PC is used for realizing the operation of control software and an algorithm, controlling the algorithm to finish the analysis and the identification of the data collected by the double-vision high-definition camera, the data collected by the acoustic camera and the data collected by the multi-parameter gas sensor, judging the working condition of the field equipment according to an identification conclusion and sending a control signal to the control circuit.
5. A belt conveyor station robot as in claim 4 wherein the identification of the data comprises: the method comprises the steps of automatic identification of video images, identification of overtemperature areas of temperature data and identification of sources of abnormal sound.
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| CN202010807036.6A CN111901570A (en) | 2020-08-12 | 2020-08-12 | Belt conveyor post robot |
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| CN202010807036.6A CN111901570A (en) | 2020-08-12 | 2020-08-12 | Belt conveyor post robot |
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| CN111901570A true CN111901570A (en) | 2020-11-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114563179A (en) * | 2022-03-02 | 2022-05-31 | 福建双延兴业传动科技股份有限公司 | Belt pulley testing machine and testing method thereof |
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| CN212628156U (en) * | 2020-08-12 | 2021-02-26 | 宁夏泛恩智控科技有限公司 | Belt conveyor post robot |
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| JP2005144631A (en) * | 2003-11-19 | 2005-06-09 | Mitsubishi Heavy Ind Ltd | Remote control robot for gathering doubtful material and its gathering method |
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| CN114563179A (en) * | 2022-03-02 | 2022-05-31 | 福建双延兴业传动科技股份有限公司 | Belt pulley testing machine and testing method thereof |
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