Search

CN-122008325-A - Robot action auxiliary system integrating infrared and laser technologies

CN122008325ACN 122008325 ACN122008325 ACN 122008325ACN-122008325-A

Abstract

The application discloses a robot action auxiliary system integrating infrared and laser technologies, which comprises a mechanical arm stretching module, a visual identification module, a multi-sensor co-positioning module and a control processing module, wherein the multi-sensor co-positioning module integrates an infrared ranging array and laser scanning modeling to construct a three-dimensional model in a furnace and monitor the distance between an arm body and a furnace wall in real time, the mechanical arm adopts a multi-section foldable telescopic structure, the storage diameter is smaller than a furnace mouth, the expansion can reach twenty meters, and the system also integrates environment sensing, safety judgment, emergency retraction and remote teleoperation functions. The application can safely and accurately finish the high-place ash and coke removing operation under the narrow entrance condition.

Inventors

  • GAO KUN
  • WU HANLIN
  • SHA XIANMING
  • MA LIN
  • Han Keju

Assignees

  • 长沙变化率信息技术有限公司

Dates

Publication Date
20260512
Application Date
20260416

Claims (8)

  1. 1. The robot action auxiliary system integrating the infrared and laser technologies is characterized by comprising a mechanical arm stretching module (2), a visual identification module (3), a multi-sensor co-positioning module (4) and a control processing module (5), wherein the input end of the control processing module (5) is connected with the multi-sensor co-positioning module (4), the output end of the control processing module is connected with the mechanical arm stretching module (2), the control processing module (5) is configured to receive positioning information and generate mechanical arm action instructions to control the stretching path and the operation gesture of the mechanical arm stretching module (2), the mechanical arm stretching module (2) is fixed on a robot main body (1), the base end of the mechanical arm stretching module is connected with the visual identification module (3), and a shovel Jiao Zujian, a polishing assembly and a dust collection assembly are integrated.
  2. 2. The robot action auxiliary system integrating infrared and laser technologies as claimed in claim 1, wherein the multi-sensor co-location module (4) comprises an infrared ranging array module (13) and a laser scanning modeling module (14), the infrared ranging array module (13) is used for detecting distance change between a mechanical arm and a furnace wall, the laser scanning modeling module (14) is used for constructing a three-dimensional point cloud model in an incinerator, and output ends of the infrared ranging array module (13) and the laser scanning modeling module (14) are connected with the control processing module (5).
  3. 3. The robot action auxiliary system integrating infrared and laser technologies as claimed in claim 2, wherein the mechanical arm stretching module (2) comprises a plurality of sections of foldable telescopic arms (15) and a joint servo driving unit (16), the whole diameter of the plurality of sections of foldable telescopic arms (15) is smaller than the inner diameter of an inlet of the incinerator in a storage state, the foldable arms can vertically extend to twenty meters in an unfolding state, and the joint servo driving unit (16) is arranged at the joint of each arm section and is controlled by the control processing module (5) to realize multi-degree-of-freedom posture adjustment.
  4. 4. The robot action auxiliary system integrating infrared and laser technologies as claimed in claim 3, further comprising an environment sensing module (6), an operation safety judging module (7) and a man-machine interaction terminal (8), wherein the operation safety judging module (7) is respectively connected with the infrared ranging array module (13) and the laser scanning modeling module (14) at the input end, the man-machine interaction terminal (8) at the output end, and the environment sensing module (6) at the control end.
  5. 5. The robot action assisting system integrating infrared and laser technologies according to claim 4, wherein the environment sensing module (6) comprises a high-temperature gas concentration sensor (17) and an in-furnace smoke density detector (18), and the high-temperature gas concentration sensor (17) and the in-furnace smoke density detector (18) are connected with a control end of the operation safety judging module (7).
  6. 6. The robot action auxiliary system integrating infrared and laser technologies according to claim 5, further comprising an emergency retraction module (9) and a short-range wireless communication unit (10), wherein a control end of the emergency retraction module (9) is connected with the environment sensing module (6), an input end of the emergency retraction module is connected with the control processing module (5), an output end of the emergency retraction module is connected with the mechanical arm stretching module (2), and the short-range wireless communication unit (10) is used for transmitting operation state data back to an external monitoring platform in real time.
  7. 7. The robot action assisting system integrating infrared and laser technologies as set forth in claim 6, further comprising an acousto-optic warning device (11), wherein the acousto-optic warning device (11) is connected with the control processing module (5).
  8. 8. The robot action assisting system integrating infrared and laser technologies according to claim 7, further comprising a remote teleoperation communication module (12), wherein the remote teleoperation communication module (12) is connected with the control processing module (5).

Description

Robot action auxiliary system integrating infrared and laser technologies Technical Field The invention relates to the technical field of robot sensing and control, in particular to a robot action auxiliary system integrating infrared and laser technologies. Background In the operation process of the industrial incinerator, coke residues and ash are easy to accumulate on the inner wall surface and the heating surface of the incinerator, so that the heat conduction efficiency is seriously affected, equipment faults are possibly caused, and therefore, the periodic ash removal and coke removal are key links for guaranteeing the safe and efficient operation of an incineration system. However, most incinerators currently have compact structural design, narrow inlet diameter, and high vertical space of more than twenty meters, which makes it difficult for personnel to access, and conventional cleaning tools or auxiliary facilities (such as stairs, baskets, etc.) cannot be deployed effectively. In such limited space, a special robot with high adaptability and autonomous working capability is needed to complete the ash removal and decoking tasks. The existing ash removing robot relies on a preset path or simple visual recognition, lacks of real-time sensing and accurate positioning capability on the environment in a complex furnace, is easy to collide, position deviation or operation blind area in the processes of mechanical arm stretching and end effector action control (such as coke shoveling, polishing, dust collection and the like), influences cleaning effect, and has potential safety hazard. In particular, under severe working conditions such as high temperature, high dust, weak light and the like, the conventional vision system is difficult to stably work, and the reliability and the operation precision of the robot are further limited. Therefore, how to integrate the multi-mode sensing technology and realize high-precision identification of the target area in the furnace and safe and accurate action guidance of the mechanical arm becomes a technical problem to be solved urgently. Aiming at the problems, the invention provides a robot action auxiliary system integrating infrared and laser technologies, which provides real-time environment sensing, target positioning and obstacle avoidance support for the stretching and operation of a mechanical arm in a narrow and high-rise incinerator through the cooperative work of infrared thermal imaging, laser ranging/scanning and other sensors, thereby ensuring the safe, efficient and automatic execution of the ash removal and tar removal process. Disclosure of Invention The invention aims to provide a robot action auxiliary system integrating infrared and laser technologies, which solves the problems in the background technology. The robot action auxiliary system integrating the infrared and laser technologies comprises a mechanical arm stretching module, a visual identification module, a multi-sensor co-positioning module and a control processing module, wherein the input end of the control processing module is connected with the multi-sensor co-positioning module, the output end of the control processing module is connected with the mechanical arm stretching module, the control processing module is configured to receive positioning information and generate a mechanical arm action instruction so as to control the stretching path and the operation gesture of the mechanical arm stretching module, the mechanical arm stretching module is fixed on a robot main body, and the free end of the control processing module is connected with the visual identification module and integrates a shovel Jiao Zujian, a polishing component and a dust collection component. In an exemplary embodiment of the invention, the multi-sensor co-location module comprises an infrared ranging array module and a laser scanning modeling module, wherein the infrared ranging array module is used for detecting the distance change between the mechanical arm and the furnace wall in real time, the laser scanning modeling module is used for constructing a three-dimensional point cloud model in the incinerator, and the output ends of the infrared ranging array module and the laser scanning modeling module are connected with the control processing module. In an exemplary embodiment of the invention, the mechanical arm stretching module comprises a plurality of sections of foldable telescopic arms and a joint servo driving unit, wherein the overall diameter of the plurality of sections of foldable telescopic arms is smaller than the inner diameter of an inlet of the incinerator in a storage state, the foldable telescopic arms can vertically extend to a height of twenty meters in an unfolding state, and the joint servo driving unit is arranged at the joint of each arm section and is controlled by the control processing module to realize multi-degree-of-freedom posture adjustment. In an exemplary embodiment of the