CN115091429A - Overhauling robot of bag type dust collector and control method thereof - Google Patents
Overhauling robot of bag type dust collector and control method thereof Download PDFInfo
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- CN115091429A CN115091429A CN202211022380.XA CN202211022380A CN115091429A CN 115091429 A CN115091429 A CN 115091429A CN 202211022380 A CN202211022380 A CN 202211022380A CN 115091429 A CN115091429 A CN 115091429A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/0084—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours provided with safety means
- B01D46/0086—Filter condition indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/0084—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours provided with safety means
- B01D46/0095—Means acting upon failure of the filtering system, e.g. in case of damage of the filter elements; Failsafes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/02—Particle separators, e.g. dust precipitators, having hollow filters made of flexible material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/42—Auxiliary equipment or operation thereof
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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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
- G01N19/08—Detecting presence of flaws or irregularities
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Abstract
The application discloses a maintenance robot of a bag type dust collector and a control method thereof. Wherein overhaul the robot and include: the system comprises a mobile base, a mechanical arm and an execution terminal; the movable base is arranged in the bag type dust collector and used for driving the maintenance robot to move in the bag type dust collector; one end of the mechanical arm is connected to the movable base, and the other end of the mechanical arm is connected with the execution terminal and used for driving the execution terminal to move in the bag type dust collector; and the execution terminal is used for acquiring the state information of each filter bag in the bag type dust collector, judging whether a damaged filter bag exists or not, and executing plugging operation when the damaged filter bag is detected. The maintenance robot of bag collector in above-mentioned scheme can accomplish the detection of the damaged condition of filter bag in the bag collector automatically, realizes online maintenance through the damaged filter bag of shutoff, is showing the work efficiency who promotes bag collector to realize bag collector field intelligent strideing formula development.
Description
Technical Field
The application belongs to the technical field of program-controlled robots, and particularly relates to a maintenance robot for a bag type dust collector and a control method of the maintenance robot.
Background
The existing bag type dust collector has the problem of aging and damage when a filter bag is used for a long time, and cannot ensure that the emission reaches the standard stably in real time, so that the whole dust removal effect is reduced, and the emission dust concentration exceeds the limit value. At present, the main treatment mode is that the whole or part of a box chamber of the dust collector is taken off line, a damaged filter bag is judged by using an instrument or a visual inspection method, and a maintainer manually replaces the damaged filter bag. The method has the advantages of complex process, low automation degree and obvious influence on the dust removal efficiency, and the material and labor are greatly wasted because the damaged filter bag cannot be accurately positioned and then the filter bag cannot be replaced blindly.
With the rapid development of industrial manufacturing technology, the automation degree of each industry is higher and higher, and various industrial robots such as industrial mechanical arms, cooperative robots, mobile chassis and the like are gradually standard-matched in intelligent factories. The intelligent maintenance robot is a novel composite robot, is mainly used for monitoring production equipment, and timely feeds back equipment states in a system and processes equipment problems. In recent years, such intelligent maintenance robots are widely used in the fields of electric power, metallurgy, environmental protection and the like. The dust remover inner space is narrow and small, and present intelligent maintenance robot can't be in the inside operation of dust remover, overhauls the robot moreover and uses to the single functional design of specific environment usually, can't accomplish the filter bag and detect and handle this complex function.
Disclosure of Invention
In view of the above problems, the present application discloses a service robot of a bag collector and a control method thereof to overcome the above problems or at least partially solve the above problems.
In order to achieve the purpose, the following technical scheme is adopted in the application:
this application provides a bag collector's maintenance robot in one aspect, the maintenance robot includes: remove base, arm and execution terminal:
the movable base is arranged in the bag type dust collector and used for driving the maintenance robot to move in the bag type dust collector;
one end of the mechanical arm is connected to the movable base, and the other end of the mechanical arm is connected with the execution terminal and is used for driving the execution terminal to move in the bag type dust collector;
and the execution terminal is used for acquiring the state information of each filter bag in the bag type dust collector, judging whether a damaged filter bag exists or not, and executing plugging operation when the damaged filter bag is detected.
Optionally, the movable base comprises a walking module, an energy supply module and a navigation module, and the movable base is movably arranged in the upper box body or the lower box body of the bag type dust collector.
Optionally, the walking module is disposed in the mobile base, and includes a driving motor and a track unit, and a wheel train of the track unit is suspended on the mobile base.
Optionally, the navigation module includes a SLAM unit, an RFID unit, and a 3D visual guidance unit, where the SLAM unit is configured to generate a three-dimensional space map inside the bag collector, and plan a working route of the maintenance robot; the RFID unit is used for identifying components and filter bags in the bag type dust collector; the 3D vision guiding unit is used for guiding the overhaul robot to move along a working route;
the energy supply module comprises a rechargeable battery, a wireless charging panel and an electric push rod, wherein the electric push rod is used for pushing the wireless charging panel out, so that the wireless charging panel and the fixed charging pile arranged outside the bag type dust collector meet the wireless charging requirement.
Optionally, the mechanical arm is a joint type mechanical arm, and is connected to the upper portion of the moving base, the working end of the joint type mechanical arm can be positioned at any angle, and each joint moves according to control, and the maximum moving range does not exceed the limit of the inner space of the upper box body or the lower box body.
Optionally, the execution terminal includes a detection module, a positioning module, and a blocking module; the detection module is used for detecting breakage of the filter bag and identifying the broken filter bag; the positioning module is used for acquiring the spatial position information of the damaged filter bag; the plugging module is used for plugging the damaged filter bag after the maintenance robot moves to the position of the damaged filter bag.
Optionally, the detection module includes a camera and a wireless communication unit, and the wireless communication unit is used for realizing communication connection with a server outside the bag filter; and/or the presence of a gas in the gas,
the detection module also comprises an anemoscope for monitoring the air flow velocity near the mouth of the filter bag and is used for assisting in judging whether the filter bag is damaged; and/or the presence of a gas in the gas,
the detection module also comprises a dust meter for monitoring the dust concentration near the mouth of the filter bag and used for assisting in judging whether the filter bag is damaged; and/or the presence of a gas in the gas,
the plugging module grabs the plugging tool through the grabbing mechanism, and places the plugging tool above the damaged filter bag to complete plugging of the damaged filter bag.
In another aspect, the present application further provides a method of controlling a service robot of a bag collector, the method including:
driving the movable base to move the maintenance robot, and detecting whether a damaged filter bag exists in the bag type dust collector through the execution terminal;
when a damaged filter bag is detected, controlling the mechanical arm to drive the execution terminal to move to a damaged position of the damaged filter bag;
and plugging the damaged filter bag by using the execution terminal.
Optionally, the driving mobile base moves the maintenance robot includes:
generating a three-dimensional space map inside the bag type dust collector through a navigation module in the mobile base, and planning a working route of the maintenance robot;
and guiding the maintenance robot to move along a working route through a 3D visual guide unit in the movable base.
Optionally, detecting whether there is a broken filter bag inside the bag collector by executing the terminal includes:
constructing a filter bag damage identification model based on an artificial neural network or a machine learning algorithm;
taking historical data of a damaged filter bag as a sample, and training a filter bag damage identification model;
and inputting the filter bag image shot by the execution terminal into the filter bag breakage detection model, and identifying the broken filter bag.
The application has the advantages that:
the maintenance robot in the above scheme can automatically complete the intelligent detection of the damaged condition of the filter bag, and the online maintenance of the bag type dust collector is realized by plugging the damaged filter bag offline, so that the working efficiency of the bag type dust collector is obviously improved, and the intelligent crossing development in the field of bag type dust collection is realized.
Specifically, the maintenance robot of this application fuses leading-edge technologies such as compound robot technique, vision guide technique, image recognition technique, machine learning technique, dust monitoring technique, has replaced traditional low efficiency's artifical maintenance mode completely, saves material and cost of labor by a wide margin, is showing promotion bag collector intelligent degree.
Above-mentioned overall structure of overhauing the robot highly matches with bag collector upper box internal space size, can be in its inside self-adaptation accessible cruise, is applied to the damaged detection of filter bag with image recognition technology for the first time, has realized bag collector online automated inspection filter bag damaged situation and shutoff damaged filter bag, is showing the work efficiency who improves bag collector.
The movable base in the maintenance robot can adapt to the closed space and the complex road surface condition inside the upper box body of the bag type dust collector, the stability of the whole machine in the walking process meets the requirements of an execution terminal such as an electric finger type, and the detection accuracy of the damage of a filter bag can be greatly improved.
The arm wherein is joint type arm, can remove the execution terminal of electronic finger type to the detection position of all filter bags in the coverage, promotes filter bag detection efficiency, and the working path of arm is through strict calculation simultaneously, when overhauing the robot and being in the inside different positions of bag collector, the working path adaptability adjustment of arm avoids colliding with bag collector inner structure on the basis of guaranteeing the work coverage.
The preferred finger type of execution terminal, integrated filter bag location, detection, shutoff function, its structure and filter bag size height match, but accurate positioning to waiting to detect the filter bag top, accomplish the maintenance to this filter bag, do not exert an influence to the filter bag normal operating of other positions simultaneously. In the detection process, the detection efficiency and the detection accuracy rate of the detection module for the filter bag breakage are gradually improved by utilizing big data and a machine learning technology.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic view of a service robot in one embodiment of the present application;
fig. 2 is a schematic flow chart of a control method of a service robot in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, the following description of the present application will be made in detail and completely with reference to the embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all 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 application.
It is to be understood that the terms "comprises/comprising," "consisting of … …," or any other variation, are intended to cover a non-exclusive inclusion, such that a product, device, process, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product, device, process, or method if desired. Without further limitation, an element defined by the phrases "comprising/including … …," "consisting of … …," or "comprising" does not exclude the presence of other like elements in a product, device, process, or method that comprises the element.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Example 1
Referring to fig. 1, a service robot of a bag type dust collector includes: the mobile base 1, the mechanical arm 2 and the execution terminal 3 are combined with fig. 1, and the execution terminal 3 can be finger-shaped, and the functions of all joints are different.
The mobile base 1 is arranged inside the bag type dust collector and used for driving the maintenance robot to move inside the bag type dust collector, and the mobile base 1 is preferably a crawler-type mobile base.
One end of the mechanical arm 2 is connected to the movable base, and the other end of the mechanical arm is connected to an execution terminal and used for driving the execution terminal to move in the bag type dust collector; the robot arm 2 is preferably a multi-joint link type robot arm.
The execution terminal 3 is used for acquiring the state information of each filter bag in the bag type dust collector, judging whether the filter bag is damaged or not, and executing plugging operation when the filter bag is damaged. Preferably, the executive terminal 3 can be wirelessly connected with a remote server to realize the analysis and control of executive terminal data.
In a preferred embodiment, the mobile base 1 comprises a walking module 11, an energy supply module 12 and a navigation module 13, and the mobile base is connected in an upper box or a lower box of the bag-type dust collector.
In one or some embodiments, as shown in fig. 1, the walking module 11 is built in the mobile base, and includes a driving motor and a track unit, the track unit freely moves in the upper case or the lower case, and a wheel train of the track unit is respectively hung on the mobile base.
Preferably, in the upper box body of the dust remover, the top steel ring of the cage framework protrudes out of the bottom pattern plate, so that the robot can walk stably. Remove base 1 and carry on intelligent arm 2 and execution terminal 3 and carry out work, execution terminal 3 requires strictly to the stationarity, therefore in walking module 11, the inside train of track unit adopts independent suspended structure, and track unit and carriage body adopt whole suspended structure, ensure that intelligent maintenance robot walks steadily at the course of the work, satisfy the stationarity requirement of filter bag maintenance function.
In one embodiment, the navigation module comprises a SLAM unit, an RFID unit and a 3D visual guidance unit, wherein the SLAM unit is used for generating a three-dimensional space map of the interior of the bag type dust collector and planning a working route of the maintenance robot; the RFID unit is used for identifying components and filter bags in the bag type dust collector; the 3D vision guiding unit is used for guiding the maintenance robot to move along a working route.
The above units can be calculated by a controller and a memory arranged in the mobile base 1, and related data can be transmitted to a server in a wireless mode for remote control.
The energy supply module comprises a rechargeable battery, a wireless charging panel and an electric push rod, wherein the electric push rod is used for pushing the wireless charging panel out, so that the wireless charging panel and the fixed charging pile arranged outside the bag type dust collector meet the wireless charging requirement.
In one embodiment, the mechanical arm is a joint type mechanical arm which is connected to the upper part of the movable base, the working end of the joint type mechanical arm can be positioned at any angle, each joint moves according to control, and the maximum moving range does not exceed the internal space limit of the upper box body or the lower box body. The maximum load of the mechanical arm 2 is higher than the total quality of the electric finger-shaped execution terminal and the plugging tool, so that effective detection and plugging of all filter bags in the coverage range of the mechanical arm can be guaranteed.
In one embodiment, the execution terminal includes a detection module 32, a positioning module 31, and a blocking module 33. The detection module 32 is used for detecting breakage of the filter bag and identifying the broken filter bag; the positioning module 31 is used for acquiring the spatial position information of the damaged filter bag; the plugging module 33 is used for plugging the damaged filter bag after the maintenance robot moves to the position of the damaged filter bag.
In one embodiment, the detection module 32 includes a camera and a wireless communication unit for enabling a communication connection with a server external to the bag house.
Preferably, the detection module 32 further includes an anemometer for monitoring the air velocity near the mouth of the filter bag, so as to assist in determining whether the filter bag is damaged.
The detection module 32 further comprises a dust meter for monitoring the dust concentration near the mouth of the filter bag and assisting in judging whether the filter bag is damaged.
In addition, the plugging module 33 preferably grabs a plugging tool through a grabbing mechanism, and places the plugging tool above the damaged filter bag to complete the plugging of the damaged filter bag.
Example 2
Referring to fig. 2, a control method of a detection robot, wherein a service robot is preferably the robot disclosed in embodiment 1 and is used in a bag filter, specifically includes the following steps:
step S1: driving the movable base to move the maintenance robot, and detecting whether a damaged filter bag exists in the bag type dust collector through the execution terminal;
step S2: when a damaged filter bag is detected, controlling the mechanical arm to drive the execution terminal to move to a damaged position of the damaged filter bag;
step S3: and plugging the damaged filter bag by using the execution terminal.
By the control method disclosed by the embodiment, the detection robot can be driven and controlled to quickly, efficiently and automatically detect and plug the filter bag, and intelligent crossover development in the field of bag type dust removal is realized.
In a preferred embodiment, the driving of the moving base to move the service robot in step S1 includes:
generating a three-dimensional space map inside the bag type dust collector through a navigation module in the mobile base, and planning a working route of the maintenance robot;
and guiding the maintenance robot to move along a working route through a walking module by a 3D visual guide unit in the movable base.
The above-described elements may be stored and executed in a mobile base or may be implemented under the control of a remote computing device.
In one embodiment, the detecting whether there is a broken filter bag inside the bag collector by the execution of the terminal in step S1 includes:
constructing a filter bag damage identification model based on an artificial neural network or a machine learning algorithm;
training a filter bag breakage recognition model by taking historical data of broken filter bags as samples;
and inputting the filter bag image shot by the execution terminal into the filter bag breakage detection model, and identifying the broken filter bag.
Specifically, when detection module removed to the filter bag top, the camera that carries on will shoot the local photo of filter bag, transmits it to data processing center to through the damaged recognition model of predetermined filter bag discernment damaged filter bag, promote the detection precision to the filter bag.
And, the operating mode of each field bag collector is different, and the damaged situation difference of filter bag is great moreover, therefore detection module when using detection technology inspection filter bag broken situation, will collect historical detection data, establish the damaged situation database of filter bag, carry out big data analysis, training to it, utilize deep learning or machine learning technique, progressively promote the detection efficiency and the detection rate of accuracy that the filter bag is broken.
Example 3
Example 3 discloses a service robot in a bag house for further explanation of examples 1 and 2.
The maintenance robot in this embodiment is applied to the bag collector field with "industry endoscope" theory, compares in conventional maintenance robot, and its appearance structure is through special optimization, can go up the intelligent accessible cruise in the closed inner space of box on the bag collector, adapts to filter bag structure size, and the complete machine all adopts the lightweight design simultaneously, effectively avoids intelligent maintenance robot to the influence of bag collector body structure. In the course of the work, intelligent machine overhauls the robot and is applied to the damaged detection of filter bag with image recognition technology for the first time, can accomplish the intellectual detection system of the damaged situation of filter bag automatically, after discerning the damaged filter bag, usable shutoff frock carries out the shutoff with damaged filter bag, with the offline of damaged filter bag, realizes the online maintenance of bag collector complete machine, improves the work efficiency of bag collector, pressure drop cost of labor by a wide margin.
Wherein the mobile base 1 is an intelligent mobile tool specially designed for cruising inside the upper box body of the bag-type dust collector. In order to ensure the stable flow of the air flow in the bag-type dust collector and the structural strength of the bag-type dust collector, the internal space of the upper box body is compact, and particularly the height dimension needs to be strictly controlled. Therefore, different from a conventional mobile transport vehicle, the overall appearance and the appearance of each module of the mobile base 1 are preferably specially and optimally designed aiming at the internal structure of the upper box body of the bag type dust collector, and the height of the whole machine does not exceed the net height of the interior of the upper box body, so that the mobile base can operate in the upper box body of the dust collector without obstacles in the working process.
Further, the walking module 11 is a main body structure of the mobile base 1, and a built-in walking driving gear motor drives the track unit to move forward. In the upper box body of the bag type dust collector, the top steel ring of the cage framework protrudes out of the bottom pattern plate, so that the stable walking of the robot is influenced. The mobile base 1 is used for carrying an intelligent mechanical arm 2 and an execution terminal 3 to work, and the execution terminal 3 has strict requirements on stability, so that in the walking module 11, an independent suspension structure is adopted for an internal wheel train of a crawler unit, the crawler unit and the box body are of an integral suspension structure, the intelligent maintenance robot is ensured to walk stably in the working process, and the stability requirement of the filter bag maintenance function is met.
Further, the inside train of track unit comprises heavy burden wheelset, support wheelset, driving wheel group, and heavy burden wheelset hangs in track unit frame through the christmas base and connects, promotes the stability of track unit marching in-process, and the support wheelset has the elasticity regulatory function, can be the track at the tensioning state of walking in-process.
Furthermore, the track unit is flexibly connected with the box body of the bag type dust collector through the suspension system, so that the track unit and the box body can be allowed to move relatively to a certain degree when the mobile robot runs, and the stability of the mobile robot passing through uneven ground is improved.
Furthermore, the upper box body is positioned at the top of the bag type dust collector and is a totally closed space during working, so that the robot is difficult to control and maintain manually, the navigation module 13 carries the SLAM technology, the RFID technology and the 3D vision technology, a three-dimensional space map model in the upper box body can be automatically generated, the working route of the robot is intelligently planned, and the robot automatically moves to a designated area.
Further, the navigation module 13 is installed on the housing of the mobile base 1, and further includes auxiliary components such as an illumination lamp, so as to improve the accuracy of the navigation system.
Furthermore, energy supply module 12 has set up telescopic wireless charging system, comprises wireless charging panel and electric putter, and on electric putter was fixed in the car box, wireless charging panel was connected with the electric putter expansion end. When the mobile base 1 needs to be charged, the robot is controlled by the navigation module 13 to travel to the appointed charging station, the electric push rod pushes out the wireless charging panel, the distance between the wireless charging panel and the charging station fixed charging pile meets the wireless charging requirement, the intelligent maintenance robot is charged, and the problem that the battery of the robot is replaced manually or the battery is charged in the upper box body is solved.
Furthermore, the mechanical arm 2 is an intelligent cooperation 6-axis robot, the fixed end of the mechanical arm 2 is installed on the mobile robot 1, the working end of the mechanical arm 2 can realize 360-degree dead-angle-free positioning, meanwhile, the working route of the mechanical arm 2 is strictly controlled, and the maximum moving range of each joint is not more than the limit of the inner space of the upper box body. The maximum load of the mechanical arm 2 is higher than the total quality of the electric fingers and the plugging tool, so that effective detection and plugging of all filter bags in the coverage range of the mechanical arm can be completed.
Further, the executive terminal 3 comprises a positioning module 31, a detection module 32 and a blocking module 33. This execution terminal 3 adopts miniaturization and lightweight design theory, matches with filter bag overall dimension and shutoff frock overall dimension.
Further, the positioning module 31 uses a 3D vision camera positioning technology, and when the mobile terminal 1 travels to a designated area, the positioning module 31 may acquire spatial position information of the filter bag to be detected, and transmit the information to the control system. The control system controls the mechanical arm 2 to move, and the execution terminal 3 is moved to the position above the filter bag to be detected.
The further detection module 32 detects damage of the filter bag, and if the filter bag is detected to be damaged, the plugging module 33 plugs the filter bag by using a plugging tool, and takes the filter bag off-line to complete the maintenance task of the filter bag.
Further, the detection module 32 applies image recognition technology to filter bag breakage detection for the first time. When the detection module 32 moves above the filter bag, the camera mounted thereon takes a picture of the local part of the filter bag and transmits the picture to the data processing center, and by means of an image recognition technology, for example, the taken picture and the normal filter bag picture can be intelligently analyzed by a machine learning algorithm to judge the damage condition of the filter bag.
Furthermore, the detection module 32 can also carry an anemometer to monitor the air velocity near the mouth of the filter bag and assist the image recognition technology to judge whether the filter bag is damaged.
Furthermore, the detection module 32 can also be equipped with a dust meter to monitor the dust concentration near the mouth of the filter bag and assist the image recognition technology to judge whether the filter bag is damaged.
Furthermore, the detection module 32 integrates a machine learning technology, and the detection precision of the filter bag is improved. The working condition of each field dust remover is different, and the damaged situation difference of filter bag is great moreover, therefore detection module 32 will collect historical detection data when using detection technology inspection filter bag broken situation, establishes the damaged situation database of filter bag, carries out big data sample analysis to it, utilizes deep learning for example neural network technique, progressively promotes the broken detection efficiency of filter bag and detects the rate of accuracy.
Further, the plugging module 33 uses a grabbing mechanism to grab the plugging tool placed on the car body and place the plugging tool above the damaged filter bag to complete the plugging of the filter bag.
The above description is only an embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (10)
1. An inspection robot of a bag type dust collector, characterized in that the inspection robot comprises: remove base, arm and execution terminal:
the movable base is arranged in the bag type dust collector and used for driving the maintenance robot to move in the bag type dust collector;
one end of the mechanical arm is connected to the movable base, and the other end of the mechanical arm is connected with the execution terminal and is used for driving the execution terminal to move in the bag type dust collector;
and the execution terminal is used for acquiring the state information of each filter bag in the bag type dust collector, judging whether a damaged filter bag exists or not, and executing plugging operation when the damaged filter bag is detected.
2. The service robot of claim 1, wherein the mobile base comprises a walking module, an energy supply module and a navigation module, and the mobile base is movably disposed in the upper or lower box of the bag collector.
3. The service robot of claim 2, wherein the traveling module is disposed within the mobile base and includes a drive motor and a track unit, the wheel train of the track unit being suspended from the mobile base.
4. The service robot of claim 2, wherein the navigation module comprises a SLAM unit, an RFID unit and a 3D visual guidance unit, the SLAM unit is used for generating a three-dimensional space map of the interior of the bag collector and planning a working route of the service robot; the RFID unit is used for identifying components and filter bags in the bag type dust collector; the 3D vision guiding unit is used for guiding the maintenance robot to move along a working route;
the energy supply module comprises a rechargeable battery, a wireless charging panel and an electric push rod, wherein the electric push rod is used for pushing the wireless charging panel out, so that the wireless charging panel and the fixed charging pile arranged outside the bag type dust collector meet the wireless charging requirement.
5. The inspection robot as claimed in claim 1, wherein the robot arm is a joint type robot arm connected to an upper portion of the movable base, a working end of the joint type robot arm can be positioned at an arbitrary angle, and each joint moves according to a control and a maximum movable range does not exceed an inner space limit of the upper case or the lower case.
6. The service robot of any one of claims 1-5, wherein the execution terminal comprises a detection module, a positioning module, and a plugging module; the detection module is used for detecting breakage of the filter bag and identifying the broken filter bag; the positioning module is used for acquiring the spatial position information of the damaged filter bag; the plugging module is used for plugging the damaged filter bag after the maintenance robot moves to the position of the damaged filter bag.
7. The inspection robot of claim 6, wherein the detection module comprises a camera and a wireless communication unit for enabling communication with a server external to the bag house; and/or the presence of a gas in the gas,
the detection module also comprises an anemoscope for monitoring the air flow velocity near the mouth of the filter bag and is used for assisting in judging whether the filter bag is damaged; and/or the presence of a gas in the atmosphere,
the detection module also comprises a dust meter for monitoring the dust concentration near the mouth of the filter bag and used for assisting in judging whether the filter bag is damaged; and/or the presence of a gas in the gas,
the plugging module grabs the plugging tool through the grabbing mechanism, and places the plugging tool above the damaged filter bag to complete plugging of the damaged filter bag.
8. A method of service robot control of a bag house collector according to any of claims 1-7, characterized in that the method comprises:
driving the movable base to move the maintenance robot, and detecting whether a damaged filter bag exists in the bag type dust collector through the execution terminal;
when a damaged filter bag is detected, controlling the mechanical arm to drive the execution terminal to move to a damaged position of the damaged filter bag;
and plugging the damaged filter bag by using the execution terminal.
9. The control method of claim 8, wherein the driving the moving base to move the service robot comprises:
generating a three-dimensional space map inside the bag type dust collector through a navigation module in the mobile base, and planning a working route of the maintenance robot;
and guiding the maintenance robot to move along a working route through a 3D visual guide unit in the movable base.
10. The method of claim 8, wherein the detecting whether the broken filter bag exists inside the bag collector by the terminal comprises:
constructing a filter bag damage identification model based on an artificial neural network or a machine learning algorithm;
taking historical data of a damaged filter bag as a sample, and training a filter bag damage identification model;
and inputting the filter bag image shot by the execution terminal into the filter bag breakage detection model, and identifying the broken filter bag.
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