CN108490960A - A kind of cleaning table automatic inspection device and method - Google Patents
A kind of cleaning table automatic inspection device and method Download PDFInfo
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- CN108490960A CN108490960A CN201810510331.8A CN201810510331A CN108490960A CN 108490960 A CN108490960 A CN 108490960A CN 201810510331 A CN201810510331 A CN 201810510331A CN 108490960 A CN108490960 A CN 108490960A
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- 238000007689 inspection Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 230000005693 optoelectronics Effects 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims description 25
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- 239000000853 adhesive Substances 0.000 claims description 6
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 239000006247 magnetic powder Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 239000000956 alloy Substances 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
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- 230000005389 magnetism Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
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Abstract
The invention discloses a kind of cleaning table automatic inspection device and methods; cleaning table automatic inspection device includes AGV trolleies; AGV trolleies are set on navigation magnetic stripe; the magnetic stripe that navigates is equipped with magnetic stripe protection band and RFID chip; AGV trolleies are equipped with magnetic navigation sensor, wireless transmitter and inverted L holder; inverted L holder is equipped with mechanical arm, industrial camera and LED light source; navigation magnetic stripe is layed in immediately ahead of shaking table equipment; it is parallel with shaking table; the front end of shaking table is equipped with optoelectronic switch; the side of navigation magnetic stripe is equipped with automatic charging stake, and automatic charging stake is equipped with charging indicator light.It using AGV trolleies as mobile inspection carrier, may be implemented " the unattended pattern of shaking table equipment ", reduce the purpose of execute-in-place worker's number, and then reduce cost of labor, increase the performance of enterprises.
Description
Technical field
The present invention relates to a kind of cleaning table more particularly to a kind of cleaning table automatic inspection device and methods.
Background technology
Shaking table is the important equipment of gravity treatment ore dressing link, by way of physical upgrading, finally no by concentrate, secondary concentrate etc.
Ore pulp with grade is separated.Tabling technique is highly developed, but still need operative employee constantly make an inspection tour and manually
Operation connects the position of mine device, and automatization level is relatively low.The variation of technological parameter causes mine belt distribution situation to be varied from, if
Operative employee cannot move the position for connecing mine device in time, may result in concentrate grade decline.Based on this reason, a kind of energy is needed
The shaking table automatic inspection device for enough substituting operative employee, realizes the purpose of personnel reduction and enlargement.
And currently, the research both at home and abroad about such automation equipment is relatively fewer.It is primarily due to ore-dressing technique variation
Complexity, it is more difficult to find a kind of method adapting to many technique changes, to affect the research and development of automatic inspection device.
Invention content
The object of the present invention is to provide a kind of cleaning table automatic inspection device and methods.
The purpose of the present invention is what is be achieved through the following technical solutions：
The cleaning table automatic inspection device of the present invention includes AGV trolleies, and the AGV trolleies are set on navigation magnetic stripe, institute
State navigation magnetic stripe be equipped with magnetic stripe protection band and RFID chip, the AGV trolleies be equipped with magnetic navigation sensor, wireless transmitter and
Inverted L holder, the inverted L holder are equipped with mechanical arm, industrial camera and LED light source, and the navigation magnetic stripe is layed in shaking table equipment
Front, parallel with shaking table, the front end of the shaking table is equipped with optoelectronic switch, and the side of the navigation magnetic stripe is equipped with automatic charging
Stake, the automatic charging stake are equipped with charging indicator light.
The method that the cleaning table automatic inspection device of the present invention realizes cleaning table automatic detecting, including：
Step 1, AGV trolleies are in starting point 1. number site location, since 1. a number website is charge position, LED light source and work
Industry camera does not need work, therefore AGV trolleies can automatically cut off the power supply of LED light source and industrial camera, saves AGV trolley electricity
Pond consumes；
Step 2, AGV move forward automatically, and AGV trolleies are run at high speed forward along navigation magnetic stripe automatically, find 2. number station
Point, AGV trolleies buzzer and warning lamp automatically open in driving process, remind passerby to pay attention to avoiding trolley, while opening safety
Barrier avoiding function goes to barrier by infrared obstacle sensor detection traveling, once find barrier self-actuating brake immediately, protection
Passerby and AGV car safeties.In driving process, LED light source and industrial camera are in off-position simultaneously；
Step 3, AGV trolleies drive to 2. number website, and AGV trolleies drive to 2. number website, i.e. No. 1 shaking table front,
RFID chip below AGV trolleies meeting automatic sensing to 2. number site map magnetic stripe, subsequent AGV trolleies automatically switch to low speed row
It sails；
Step 4, AGV trolleies can detect the optoelectronic switch of 2. number website by laser sensor during running at a low speed,
Subsequent trolley stagnation of movement, buzzer and warning lamp are stopped, and industrial camera and LED light source work on power；
Step 5, camera shoot table ore image, image processing center, transmission success are transmitted to by wireless transmitter
Afterwards, AGV trolleies continue to move forward, and receive unsuccessful situation if there is image in image transmitting process, and camera will continue to
Shooting and transmission, if continuous 5 unsuccessful transmissions, image processing center report an error automatically, AGV trolleies continue to move forward；
Step 6, AGV move forward automatically, and AGV trolleies leave 2. number website, go at a high speed forward along navigation magnetic stripe automatically
It sails, finds 3. number website, AGV trolleies buzzer and warning lamp automatically open in driving process, while opening safe barrier avoiding function,
LED light source and industrial camera are in off-position simultaneously；
Step 7, AGV trolley automatic cycle step 3 execute 3. arrive n website patrol tasks successively to step 6；
Step 8, inspection finish last shaking table, i.e., after n websites, AGV trolleies detect remaining capacity automatically, if
Electricity is more than setting value, then is travelled back towards 2. number website, start new round inspection；If electricity is less than setting value, reversely
It is fully charged to start new round inspection again towards 1. number website traveling.Do not stop when passing by intermediate stations in driving process, AGV trolleies
Buzzer and warning lamp automatically open, while opening safe barrier avoiding function, and LED light source and industrial camera are simultaneously in power-off shape
State；
Step 9, when electricity is less than setting value, AGV trolleies auto-returned 1. number website.AGV trolleies drive to 1. number station
Immediately ahead of point, i.e. automatic charging stake, the RFID chip below AGV trolleies meeting automatic sensing to 1. number site map magnetic stripe, then
AGV trolleies, which automatically switch to, to be run at a low speed；
Step 10, AGV trolleies can detect the optoelectronic switch of 1. number website by laser sensor during running at a low speed,
Subsequent trolley stagnation of movement, stagnation of movement position is automatic charging position；
Step 11, automatic charging stake are stretched out charging electrode and are docked with AGV trolleies, start to fill the lithium battery of car interior
Electricity.When charging, the charging indicator light on charging pile can be lighted automatically, buzzer, warning lamp, industrial camera on AGV trolleies and
LED light source does not work；
Step 12, when electricity reaches 100%, charging pile is retracted charging electrode automatically, charging indicator light automatic distinguishing,
Then step 1 is executed；
In the above process, trolley is moving to above arbitrary RFID chip if not detecting signal, and trolley can be after
It is continuous to travel forward, it is automatically stopped when detecting optoelectronic switch, then reports an error, remind website blackout.
As seen from the above technical solution provided by the invention, cleaning table automatic detecting provided in an embodiment of the present invention
The inspection successively to one group of shaking table may be implemented using AGV trolleies and pattern recognition device as core in device and method, automatic to clap
It takes the photograph photo and uploads analysis system, reach replacement manual inspection, improve the purpose of separation by shaking table efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of cleaning table automatic inspection device provided in an embodiment of the present invention.
Fig. 2 is the inspection process schematic of cleaning table automatic inspection device provided in an embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention will be described in further detail below.What is be not described in detail in the embodiment of the present invention is interior
Appearance belongs to the prior art well known to professional and technical personnel in the field.
The present invention cleaning table automatic inspection device and method, preferable specific implementation mode be：
Cleaning table automatic inspection device includes AGV trolleies, and the AGV trolleies are set on navigation magnetic stripe, the navigation magnetic
Item is equipped with magnetic stripe protection band and RFID chip, and the AGV trolleies are equipped with magnetic navigation sensor, wireless transmitter and inverted L holder,
The inverted L holder is equipped with mechanical arm, industrial camera and LED light source, and the navigation magnetic stripe is layed in immediately ahead of shaking table equipment, with
Shaking table is parallel, and the front end of the shaking table is equipped with optoelectronic switch, and the side of the navigation magnetic stripe is equipped with automatic charging stake, described automatic
Charging pile is equipped with charging indicator light.
A magnetic navigation sensor is respectively installed in lower end before and after the AGV trolleies.
The navigation magnetic stripe is combined by rubber industry and anisotropic magnetic powder, is pasted on earth's surface by adhesive sticker, and splice
Extend to designated length.
The magnetic stripe protection band is layed in right over the navigation magnetic stripe, and magnetic stripe protects bandwidth more than the width of navigation magnetic stripe
Degree is integrally covered in right over navigation magnetic stripe, is pasted in earth's surface by adhesive sticker.
The RFID chip is positioned over below navigation magnetic stripe, and corresponding immediately ahead of every shaking table to place one, the photoelectricity is opened
Pass is installed on immediately below shaking table, corresponding immediately below every shaking table to place one.
The wireless transmitter is installed on above the AGV trolleies.
The inverted L holder is in integrally inverted L shape, is secured by bolts in AGV trolleies upper surface, the inverted L branch is provided with two
A cantilever arm, two cantilever arm front ends are respectively fixed with the mechanical arm, and the industrial camera and LED light source (11) are fixed respectively
In on two mechanical arms.
The industrial camera and LED light source are located at right over shaking table, and the industrial camera includes camera and camera lens.
The automatic charging stake is located at first shaking table side position, is the starting point of AGV trolleies, the charging instruction lamp position
In automatic charging stake top.
The method that above-mentioned cleaning table automatic inspection device realizes cleaning table automatic detecting, including：
Step 1, AGV trolleies are in starting point 1. number site location, since 1. a number website is charge position, LED light source and work
Industry camera does not need work, therefore AGV trolleies can automatically cut off the power supply of LED light source and industrial camera, saves AGV trolley electricity
Pond consumes；
Step 2, AGV move forward automatically, and AGV trolleies are run at high speed forward along navigation magnetic stripe automatically, find 2. number station
Point, AGV trolleies buzzer and warning lamp automatically open in driving process, remind passerby to pay attention to avoiding trolley, while opening safety
Barrier avoiding function goes to barrier by infrared obstacle sensor detection traveling, once find barrier self-actuating brake immediately, protection
Passerby and AGV car safeties.In driving process, LED light source and industrial camera are in off-position simultaneously；
Step 3, AGV trolleies drive to 2. number website, and AGV trolleies drive to 2. number website, i.e. No. 1 shaking table front,
RFID chip below AGV trolleies meeting automatic sensing to 2. number site map magnetic stripe, subsequent AGV trolleies automatically switch to low speed row
It sails；
Step 4, AGV trolleies can detect the optoelectronic switch of 2. number website by laser sensor during running at a low speed,
Subsequent trolley stagnation of movement, buzzer and warning lamp are stopped, and industrial camera and LED light source work on power；
Step 5, camera shoot table ore image, image processing center, transmission success are transmitted to by wireless transmitter
Afterwards, AGV trolleies continue to move forward, and receive unsuccessful situation if there is image in image transmitting process, and camera will continue to
Shooting and transmission, if continuous 5 unsuccessful transmissions, image processing center report an error automatically, AGV trolleies continue to move forward；
Step 6, AGV move forward automatically, and AGV trolleies leave 2. number website, go at a high speed forward along navigation magnetic stripe automatically
It sails, finds 3. number website, AGV trolleies buzzer and warning lamp automatically open in driving process, while opening safe barrier avoiding function,
LED light source and industrial camera are in off-position simultaneously；
Step 7, AGV trolley automatic cycle step 3 execute 3. arrive n website patrol tasks successively to step 6；
Step 8, inspection finish last shaking table, i.e., after n websites, AGV trolleies detect remaining capacity automatically, if
Electricity is more than setting value, then is travelled back towards 2. number website, start new round inspection；If electricity is less than setting value, reversely
It is fully charged to start new round inspection again towards 1. number website traveling.Do not stop when passing by intermediate stations in driving process, AGV trolleies
Buzzer and warning lamp automatically open, while opening safe barrier avoiding function, and LED light source and industrial camera are simultaneously in power-off shape
State；
Step 9, when electricity is less than setting value, AGV trolleies auto-returned 1. number website.AGV trolleies drive to 1. number station
Immediately ahead of point, i.e. automatic charging stake, the RFID chip below AGV trolleies meeting automatic sensing to 1. number site map magnetic stripe, then
AGV trolleies, which automatically switch to, to be run at a low speed；
Step 10, AGV trolleies can detect the optoelectronic switch of 1. number website by laser sensor during running at a low speed,
Subsequent trolley stagnation of movement, stagnation of movement position is automatic charging position；
Step 11, automatic charging stake are stretched out charging electrode and are docked with AGV trolleies, start to fill the lithium battery of car interior
Electricity.When charging, the charging indicator light on charging pile can be lighted automatically, buzzer, warning lamp, industrial camera on AGV trolleies and
LED light source does not work；
Step 12, when electricity reaches 100%, charging pile is retracted charging electrode automatically, charging indicator light automatic distinguishing,
Then step 1 is executed；
In the above process, trolley is moving to above arbitrary RFID chip if not detecting signal, and trolley can be after
It is continuous to travel forward, it is automatically stopped when detecting optoelectronic switch, then reports an error, remind website blackout.
The shaking table automatic inspection device and method of the present invention, using AGV trolleies as moving inspection carrier, trolley can be
Initial position is set out, and is precisely stopped in front of one group of shaking table successively, and bed surface mine belt photo is automatically snapped using pattern recognition device,
Picture data stream is automatically sent to wireless receiving end by wireless transmitter, receiving terminal then carry out data analysis and under bristle with anger
It enables driving connect mine device and moves to target location.AGV trolleies carry automatic charging stake, to one group of shaking table inspection after, automatically
It is back to automatic charging stake position to charge, new round inspection work is automatically begun to after being full of.May be implemented " shaking table equipment without
People's pattern on duty " reduces the purpose of execute-in-place worker's number, and then reduces cost of labor, increases the performance of enterprises.
Specific embodiment：
(1) automatic inspection device
As shown in Figure 1, being the overall construction drawing of shaking table automatic inspection device.
The inspection device includes：AGV trolleies 1, magnetic navigation sensor 2, navigation magnetic stripe 3, magnetic stripe protection band 4, RFID chip
5, optoelectronic switch 6, wireless transmitter 7, inverted L holder 8, mechanical arm 9, industrial camera 10, LED light source 11, automatic charging stake 12, fill
Electric indicator light 13.
Respectively one magnetic navigation sensor 2 of installation, magnetic navigation sensor 3 are read by magnetism for lower end before and after the AGV trolleies 1
The specific location and feedback signal of navigation magnetic stripe 3 are to AGV trolleies 1, and AGV trolleies 1 adjust direction of advance according to this signal, it is ensured that edge
The advance of magnetic stripe direction.
Navigation magnetic stripe 3 is layed in immediately ahead of shaking table equipment, parallel with shaking table.Magnetic stripe 3 navigate by rubber industry and anisotropic magnetic
Powder is combined, and earth's surface is pasted on by adhesive sticker, can arbitrarily splice and extend to designated length, by with magnetic navigation sensor
2 generate Magnetic Inductions and AGV trolleies are guided to walk along fixed route.
Magnetic stripe protection band 4 is layed in right over navigation magnetic stripe 3, and protection bandwidth is more than navigation magnetic stripe 3, is integrally covered in and leads
Navigate right over magnetic stripe 3, by adhesive sticker paste in earth's surface, water proof and dust proof can be played the role of, protecting and navigation magnetic stripe 3 not by
Environmental attack.
RFID chip 5 is positioned over 3 lower section of navigation magnetic stripe, accordingly places one immediately ahead of every shaking table, AGV trolleies 1 are walked
When to 5 surface of RFID chip, then it is corresponding to make acceleration or deceleration action for its position of meeting automatic sensing.
Optoelectronic switch 6 is installed on immediately below shaking table, and AGV trolleies 1 pass through optoelectronic switch 6) when can detect its signal automatically, with
After make stopping action.
Wireless transmitter 7 is installed on 1 top of AGV trolleies, can be by 10 collected digital photograph of industrial camera with wireless
Waveshape is transmitted to wireless receiver.
Inverted L holder 8 is whole to have the advantages that light-weight, anticorrosion, intensity are high in inverted L shape using aluminum alloy material,
It is fixed on 1 upper surface of AGV trolleies entirely through bolt.Two cantilever arms can make mechanical arm 9 significantly right over shaking table.
Mechanical arm 9 uses aluminum alloy material, light small and exquisite.Quantity comes to 2, and one is used to fix industrial camera 10,
One, for fixing LED light source 11, is secured by bolts in two cantilever arm front ends of inverted L holder 8.Mechanical arm 9 can be one
Determine all around to adjust manually up and down in range, to meet 11 position regulatory demand of industrial camera 10 and LED light source.
Industrial camera 10 is made of camera and camera lens, is located at right over shaking table, and direction sweeps away shooting shaking table surface mine belt point
Cloth, and wireless transmitter 7 is sent to by communication cable after photo is digitized.
Due to tabling workshop lamplight brightness deficiency, industrial camera is difficult to take clearly table ore picture and is used for
Analysis, thus devise LED light source 11 for enhance shooting brightness.
Automatic charging stake 12 is located at the starting point of first shaking table side position and AGV trolleies 1.Trolley reaches charging pile
Behind position, charging pile auto-extending charging column charges to trolley, retracts automatically full of rear charging column.
Charging indicator light 13 is located at 12 top of automatic charging stake, is used to indicate AGV trolleies 1 and is currently at charged state, rises
To prompting and warning function.
(2) automatic detecting method (as shown in Figure 2)
Step 1, AGV trolleies are in starting point 1. number site location.Since 1. a number website is charge position, LED light source and work
Industry camera does not need work, therefore AGV trolleies can automatically cut off the power supply of LED light source and industrial camera, saves AGV trolley electricity
Pond consumes.
Step 2, AGV move forward automatically.AGV trolleies are run at high speed forward along navigation magnetic stripe automatically, find 2. number station
Point.AGV trolleies buzzer and warning lamp automatically open in driving process, remind passerby to pay attention to avoiding trolley, while opening safety
Barrier avoiding function goes to barrier by infrared obstacle sensor detection traveling, once find barrier self-actuating brake immediately, protection
Passerby and AGV car safeties.In driving process, LED light source and industrial camera are in off-position simultaneously.
Step 3, AGV trolleies drive to 2. number website.AGV trolleies drive to 2. number website, i.e. No. 1 shaking table front,
RFID chip below AGV trolleies meeting automatic sensing to 2. number site map magnetic stripe, subsequent AGV trolleies automatically switch to low speed row
It sails.
Step 4, AGV trolleies can detect the optoelectronic switch of 2. number website by laser sensor during running at a low speed,
Subsequent trolley stagnation of movement.Buzzer and warning lamp are stopped, and industrial camera and LED light source work on power.
Step 5, camera shoot table ore image, image processing center, transmission success are transmitted to by wireless transmitter
Afterwards, AGV trolleies continue to move forward.Receive unsuccessful situation if there is image in image transmitting process, camera will continue to
Shooting and transmission, if continuous 5 unsuccessful transmissions, image processing center report an error automatically, AGV trolleies continue to move forward.
Step 6, AGV move forward automatically.AGV trolleies leave 2. number website, go at a high speed forward along navigation magnetic stripe automatically
It sails, finds 3. number website.AGV trolleies buzzer and warning lamp automatically open in driving process, while opening safe barrier avoiding function,
LED light source and industrial camera are in off-position simultaneously.
Step 7, AGV trolley automatic cycle step 3 execute 3. arrive n website patrol tasks successively to step 6.
Step 8, inspection finish last shaking table, i.e., after n websites, AGV trolleies detect remaining capacity automatically, if
Electricity is more than setting value, then is travelled back towards 2. number website, start new round inspection；If electricity is less than setting value, reversely
It is fully charged to start new round inspection again towards 1. number website traveling.Do not stop when passing by intermediate stations in driving process, AGV trolleies
Buzzer and warning lamp automatically open, while opening safe barrier avoiding function, and LED light source and industrial camera are simultaneously in power-off shape
State.
Step 9, when electricity is less than setting value, AGV trolleies auto-returned 1. number website.AGV trolleies drive to 1. number station
Immediately ahead of point, i.e. automatic charging stake, the RFID chip below AGV trolleies meeting automatic sensing to 1. number site map magnetic stripe, then
AGV trolleies, which automatically switch to, to be run at a low speed.
Step 10, AGV trolleies can detect the optoelectronic switch of 1. number website by laser sensor during running at a low speed,
Subsequent trolley stagnation of movement, stagnation of movement position is automatic charging position.
Step 11, automatic charging stake are stretched out charging electrode and are docked with AGV trolleies, start to fill the lithium battery of car interior
Electricity.When charging, the charging indicator light on charging pile can be lighted automatically, buzzer, warning lamp, industrial camera on AGV trolleies and
LED light source does not work.
Step 12, when electricity reaches 100%, charging pile is retracted charging electrode automatically, charging indicator light automatic distinguishing,
Then step 1 is executed.
It is worth noting that, trolley is moving to above arbitrary RFID chip if not detecting signal, trolley meeting
Continuation travels forward, is automatically stopped when detecting optoelectronic switch, then reports an error, and reminds website blackout.
The advantageous effect that technical solution of the present invention is brought：
1, it for the first time using AGV trolleies as cleaning table inspection device carrier, may be implemented to one group of multiple shaking table not
It is interrupted inspection, substitutes artificial complicated inspection, liberated labour, to realize that unmanned digital plant provides advantage.
2, shaking table surface mine belt photo is shot using industrial camera, is sent to image processing system and carries out data analysis, generation
It has replaced artificial use to visually observe mine belt, has saved artificial.Simultaneously because identification of the digital photograph for mine belt color and position
More accurately and uniformly, artificial judgment error can be overcome, improve production efficiency.
3, AGV trolleies need not can manually replace battery with automatic charging, realize the continuous work that moves in circles, can do
To really it is unattended.
4, the load of AGV trolleies can be greatly lowered in the inverted L holder of aluminum alloy material and mechanical arm, save electric quantity consumption,
Reduce unbalance loading torque；
The key problem in technology point of the present invention：
1, the automatic detecting of one group of multiple shaking table surface mine belt is carried out using AGV trolleies, is realized and is substituted manual inspection.
2, the ambient brightness for enhancing industrial camera image recognition using LED light source, improves the accuracy of image recognition.
3, using aluminum alloy material inverted L holder, it may be convenient to, can also be substantially right over the nearly shaking table of solid mechanical arm rest
Reduce the unbalance loading torque of AGV trolleies.
4, using 2 mechanical arms as the fixing device of camera and light source position, camera and light source can be adjusted flexibly
Longitudinal separation up and down.
5, automatic charging is carried out to AGV trolleies using automatic charging stake, meets the continuous work that moves in circles of AGV trolleies,
Without manually replacing battery, Unmanned operation is realized.
6, navigation magnetic stripe is protected using magnetic stripe protection band, prevents magnetic stripe by environmental attack, extended it and use the longevity
Life.
7, using AGV trolleies to the process, step and method of multiple shaking table inspections.
8, deceleration position of the setting RFID chip as AGV trolleies, essence of the setting optoelectronic switch as the stop position of AGV trolleies
True localization method；
9, industrial camera and LED light source are automatically shut power off in AGV carriage walkings, the province of self-opening power supply when stopping
Method for electrically；
10, trolley detects electricity automatically in last position website and compared with setting value, automatic decision should return to charge position also
It is to restart new round inspection；
11, processing method of the trolley when not detecting RFID chip signal.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (10)
1. a kind of cleaning table automatic inspection device, which is characterized in that including AGV trolleies (1), the AGV trolleies (1) are set to and lead
It navigates on magnetic stripe (3), the navigation magnetic stripe (3) is equipped with magnetic stripe protection band (4) and RFID chip (5), is set on the AGV trolleies (1)
There are magnetic navigation sensor (2), wireless transmitter (7) and inverted L holder (8), the inverted L holder (8) to be equipped with mechanical arm (9), work
Industry camera (10) and LED light source (11), the navigation magnetic stripe (3) is layed in immediately ahead of shaking table equipment, parallel with shaking table, described to shake
The front end of bed is equipped with optoelectronic switch (6), and the side of the navigation magnetic stripe (3) is equipped with automatic charging stake (12), the automatic charging
Stake (12) is equipped with charging indicator light (13).
2. cleaning table automatic inspection device according to claim 1, which is characterized in that under the AGV trolleies (1) are front and back
Hold one magnetic navigation sensor (2) of each installation.
3. cleaning table automatic inspection device according to claim 2, which is characterized in that the navigation magnetic stripe (3) is by work
Journey rubber and anisotropic magnetic powder are combined, and are pasted on earth's surface by adhesive sticker, and splice and extend to designated length.
4. cleaning table automatic inspection device according to claim 3, which is characterized in that magnetic stripe protection band (4) paving
Right over the navigation magnetic stripe (3), magnetic stripe protection band (4) width is more than the width of navigation magnetic stripe (3), is integrally covered in and leads
It navigates right over magnetic stripe (3), is pasted in earth's surface by adhesive sticker.
5. cleaning table automatic inspection device according to claim 4, which is characterized in that the RFID chip (5) is placed
Below navigation magnetic stripe (3), corresponding immediately ahead of every shaking table to place one, the optoelectronic switch (6) is installed on immediately below shaking table,
It is corresponding immediately below every shaking table to place one.
6. cleaning table automatic inspection device according to claim 5, which is characterized in that wireless transmitter (7) peace
Loaded on above the AGV trolleies (1).
7. cleaning table automatic inspection device according to claim 6, which is characterized in that the inverted L holder (8) is whole to be in
Inverted L shape, is secured by bolts in AGV trolleies (1) upper surface, and the inverted L holder (8) sets that there are two cantilever arm, two cantilever arms
Front end is respectively fixed with the mechanical arm (9), and the industrial camera (10) and LED light source (11) are individually fixed in two machines
On tool arm (9).
8. cleaning table automatic inspection device according to claim 7, which is characterized in that the industrial camera (10) and
LED light source (11) is located at right over shaking table, and the industrial camera (10) includes camera and camera lens.
9. cleaning table automatic inspection device according to claim 8, which is characterized in that automatic charging stake (12) position
It is the starting point of AGV trolleies (1) in first shaking table side position, the charging indicator light (13) is located at automatic charging stake (12)
Top.
10. a kind of claim 1 to 9 any one of them cleaning table automatic inspection device realizes cleaning table automatic detecting
Method, which is characterized in that including：
Step 1, AGV trolleies are in starting point 1. number site location, since 1. a number website is charge position, LED light source and industrial phase
Machine does not need work, therefore AGV trolleies can automatically cut off the power supply of LED light source and industrial camera, saves AGV trolley batteries and disappears
Consumption；
Step 2, AGV move forward automatically, and AGV trolleies are run at high speed forward along navigation magnetic stripe automatically, find 2. number website,
AGV trolleies buzzer and warning lamp automatically open in driving process, remind passerby to pay attention to avoiding trolley, while opening safe avoidance
Function goes to barrier by infrared obstacle sensor detection traveling, once finding barrier self-actuating brake immediately, protects passerby
With AGV car safeties.In driving process, LED light source and industrial camera are in off-position simultaneously；
Step 3, AGV trolleies drive to 2. number website, and AGV trolleies drive to 2. number website, i.e. No. 1 shaking table front, AGV is small
RFID chip below vehicle meeting automatic sensing to 2. number site map magnetic stripe, subsequent AGV trolleies, which automatically switch to, to be run at a low speed；
Step 4, AGV trolleies can detect the optoelectronic switch of 2. number website by laser sensor during running at a low speed, then
Trolley stagnation of movement, buzzer and warning lamp are stopped, and industrial camera and LED light source work on power；
Step 5, camera shoot table ore image, and image processing center is transmitted to by wireless transmitter, after transmission success,
AGV trolleies continue to move forward, and receive unsuccessful situation if there is image in image transmitting process, and camera will continue to shoot
And transmission, if continuous 5 unsuccessful transmissions, image processing center report an error automatically, AGV trolleies continue to move forward；
Step 6, AGV move forward automatically, and AGV trolleies leave 2. number website, run at high speed forward along navigation magnetic stripe automatically,
Find 3. number website, AGV trolleies buzzer and warning lamp automatically open in driving process, while opening safe barrier avoiding function, LED
Light source and industrial camera are in off-position simultaneously；
Step 7, AGV trolley automatic cycle step 3 execute 3. arrive n website patrol tasks successively to step 6；
Step 8, inspection finish last shaking table, i.e., after n websites, AGV trolleies detect remaining capacity automatically, if electricity
More than setting value, is then travelled back towards 2. number website, start new round inspection；If electricity is less than setting value, back towards 1.
Number website traveling, it is fully charged to start new round inspection again.Do not stop when passing by intermediate stations in driving process, AGV trolley buzzings
Device and warning lamp automatically open, while opening safe barrier avoiding function, and LED light source and industrial camera are in off-position simultaneously；
Step 9, when electricity is less than setting value, AGV trolleies auto-returned 1. number website.AGV trolleies drive to 1. number website,
I.e. immediately ahead of automatic charging stake, the RFID chip below AGV trolleies meeting automatic sensing to 1. number site map magnetic stripe, subsequent AGV
Trolley, which automatically switches to, to be run at a low speed；
Step 10, AGV trolleies can detect the optoelectronic switch of 1. number website by laser sensor during running at a low speed, then
Trolley stagnation of movement, stagnation of movement position are automatic charging position；
Step 11, automatic charging stake are stretched out charging electrode and are docked with AGV trolleies, and the lithium battery charging to car interior is started.
When charging, the charging indicator light on charging pile can be lighted automatically, the buzzer, warning lamp, industrial camera on AGV trolleies and LED
Light source does not work；
Step 12, when electricity reaches 100%, charging pile is retracted charging electrode automatically, charging indicator light automatic distinguishing, then
Execute step 1；
In the above process, trolley is moving to above arbitrary RFID chip if not detecting signal, and trolley will continue to past
Preceding traveling, is automatically stopped when detecting optoelectronic switch, then reports an error, and reminds website blackout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810510331.8A CN108490960A (en) | 2018-05-24 | 2018-05-24 | A kind of cleaning table automatic inspection device and method |
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| CN201810510331.8A CN108490960A (en) | 2018-05-24 | 2018-05-24 | A kind of cleaning table automatic inspection device and method |
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Family
ID=63350906
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| CN201810510331.8A Withdrawn CN108490960A (en) | 2018-05-24 | 2018-05-24 | A kind of cleaning table automatic inspection device and method |
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Application publication date: 20180904 |