封闭储煤场高空轨道盘煤机器人系统设计

Design of high altitude orbit coal volume measuring robot system for closed coal yard

针对目前储煤场高效盘煤的无人机自动盘煤系统存在拍照抖动、定位精度不稳定、封闭空间盘煤适应性差的问题,结合封闭储煤场大棚结构特点,设计一款封闭储煤场高空轨道行走机器人自动盘煤系统。该系统主要由地面操作系统、轨道系统、行走机器人系统构成。地面系统实现应急手动操作控制、数据接收与处理,由手控遥控器及操作箱构成;轨道系统包含棚顶轨道系统与机器人升降轨道系统,棚顶轨道及轨道上设置的位置感应器实现机器人的行走轨迹及位置信息确定,升降轨道系统设置有固定开关及行程位置开关,保障机器人的机体固定,升降轨道与棚顶轨道有效结合,实现行走机器人的安全提升、行走与下降;行走机器人系统包括动力模块、数据采集模块、控制模块3个部分,动力模块为机器人在轨道上行走提供动力源,包括电池与行走机构,数据采集模块实现图像采集与位置信息融合,PLC控制系统实现机器人远距离遥控、行走控制及高清图像采集与传输。试验证明,该系统保留了无人机盘煤系统的高效数据采集分析的优点,解决了无人机盘煤系统的不足。轨道机器人自动盘煤系统虽然前期整体投入较高,但使用成本低、易操作。

Aiming at the problems of camera shake,unstable positioning accuracy and poor adaptability of closed space in automatic coal volume measuring system of unmanned aerial vehicle(UAV),according to the characteristics of roof structure of closed coal storage yard,an automatic measuring coal storage volume system is designed based on the high altitude orbit walking robot.This system is mainly conposed of the ground operating system,the orbit system and the walking robot system.The ground system realizes emergency manual operation control and data receiving and processing,which is composed of hand-controlled remote control and operation box.The orbit system includes the roof orbit system and the lifting orbit system of robot.The roof orbit of shed and the position sensor set on the orbit realize the determination of walking path and the position information of robot.The lifting orbit system is equipped with a fixed switch and a stroke position switch to ensure that the robot fixation and the lifting orbit is effectively combined with the top orbit of the shed,so as to achieve the safety promotion,walking and descent of the walking robot.The walking robot system consists of three parts:power module,data acquisition module and control module.The power module provides the power source for the robot to walk in orbit,including battery and walking mechanism.The data acquisition module realizes image acquisition and position information fusion,and the PLC control system realizes remote control,walking control and high definition image acquisition and transmission of the robot.The test results show that the system retains the advantages of data acquisition and analysis of UAV automatic measuring coal storage volume system,and solves the shortcomings of UAV automatic measuring coal storage volume system.Although the initial overall investment of the automatic measuring coal storage volume system of the high altitude orbit walking robot is high,but the system is low use cost and easy to operate.