Research On Inspection Robot System For Mine Monorail Suspension Track

The monorail crane transportation track is an important part of the auxiliary transportation system of the monorail crane in the coal mine.It plays the role of supporting,carrying and guiding the monorail crane locomotive.The health of the track will directly affect the operating efficiency and production safety of the auxiliary transportation equipment.During the long-term service process,the track is constantly impacted by the monorail locomotive with multiple frequencies and large momentum,which is prone to defects such as track joint dislocation and bending.However,at present,track defects mainly rely on manual inspection,which has high labor intensity and long inspection mileage,low accuracy and other issues,it is difficult to conduct continuous and systematic global monitoring of the track.For this reason,this thesis is oriented to the detection requirements of monorail crane track defects,and conducts research on the monorail crane track inspection robot system for track dislocation and bending detection.A modular and detachable inspection robot is designed,which realizes the combination of autonomous inspection mode and attached passive inspection mode,and proposes a track misalignment detection method based on ultrasonic ranging and a track bending angle detection based on machine vision methods,the defect location method based on RFID(Radio Frequency Identification System)as studied,and the inspection robot system test was carried out.The main research content of this thesis is as follows:(1)Overall scheme design of track inspection robot.According to the actual working conditions of the monorail crane track,the functional requirements analysis of the inspection robot is carried out,which provides a basis for the design of the overall plan;based on the modular design idea,the mechanical structure of the robot is designed,and the movement of the inspection robot is determined.According to the characteristics of track defects,the detection and positioning schemes of track bending angle and dislocation defects are proposed;the communication and control scheme of the inspection system is designed,which lays the foundation for the development of the full text.(2)Design and analysis of track inspection robot.The overall mechanical structure of the inspection robot is designed,mainly including the driving mechanism of the driving module and the detection module,clamping mechanism,guiding mechanism and load-bearing mechanism;Carried out the design and selection of inspection robot hardware system and key components;According to the explosion-proof requirements of underground electrical equipment in coal mines,the explosion-proof design of inspection robots is carried out,and the theoretical calculation and finite element simulation analysis of the explosion-proof chambers of equipment and motors are carried out.(3)Research on detection and location method of track defects of monorail crane.Constructed a data set of track status of monorail cranes in coal mines,and realized track recognition in unstructured environments based on an improved convolutional neural network semantic segmentation model;Carried out research on the detection method of track bend angle based on machine vision,realized the measurement of track bend angle by using image preprocessing,edge detection,straight line extraction and other methods;proposed a track misalignment detection method based on the principle of ultrasonic distance measurement,realized the monorail horizontal and longitudinal misalignment measurement of suspension rail;A RFID-based positioning method for monorail crane track defects is proposed,and a positioning system for inspection robots is designed.(4)Experimental research and field test of inspection system.The inspection robot prototype was trial-produced,the visual host computer software of the inspection robot system was developed,and a monorail crane track inspection simulation test bench was built;the motion performance and detection effect of the robot were tested in the laboratory,and the inspection results were verified.The feasibility of the inspection robot for track defect inspection is carried out;the inspection robot system is tested and verified at the coal mine site,mainly including the robot’s motion performance test,defect detection method test,defect location test,and communication performance test.The field test results show that the developed inspection robot system can complete inspection and positioning tasks for defects such as dislocation and bending of the monorail crane track.There are 105 figures,28 tables,and 89 references in this thesis.