The invention relates to the technical field of industrial robots, in particular to coal conveying trestle inspection equipment which comprises a robot body, at least four supporting leg assemblies are installed at the bottom of the robot body, a telescopic installation frame is installed on the robot body, and a four-dimensional light field holographic camera is installed on the telescopic installation frame. The four-dimensional light field holographic camera is used for collecting field images of the coal conveying trestle in real time; and the pair of auxiliary cameras is arranged, the auxiliary cameras are installed on the two sides of the advancing direction of the robot body correspondingly, the auxiliary cameras are used for recognizing road surface features in real time, and the auxiliary cameras are electrically connected with the supporting leg assemblies. The robot body and the four-dimensional light field holographic camera are driven to move in the gallery through the supporting leg assembly, the auxiliary camera recognizes road surface features in real time and guides the supporting leg assembly to avoid road surface obstacles, and the four-dimensional light field holographic camera captures three-dimensional information of a trestle. The coal transporting trestle inspection equipment does not need to be provided with a running track and is not limited by a narrow space, and the installation difficulty and the installation cost of the equipment are reduced.
本发明涉及工业机器人技术领域,具体涉及一种输煤栈桥巡检设备,包括:机器人本体,其底部至少安装有四组支撑腿组件,机器人本体上安装有伸缩安装架,伸缩安装架上安装有四维光场全息相机,四维光场全息相机用于实时采集输煤栈桥的现场图像;辅助摄像头,设置有一对,辅助摄像头分别安装在机器人本体前进方向的两侧,辅助摄像头用于实时识别路面特征,辅助摄像头与支撑腿组件电连接。通过支撑腿组件带动机器人本体和四维光场全息相机在廊道内移动,辅助摄像头实时识别路面特征,并引导支撑腿组件规避路面障碍,四维光场全息相机捕捉栈桥的三维信息。输煤栈桥巡检设备无需设置运行轨道,不会受狭小空间限制,降低了设备的安装难度和安装成本。
Coal conveying trestle inspection equipment
一种输煤栈桥巡检设备
2024-12-20
Patent
Electronic Resource
Chinese
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