CN111932711A - Intelligent inspection system and method for coal conveying belt of thermal power generating unit - Google Patents
Intelligent inspection system and method for coal conveying belt of thermal power generating unit Download PDFInfo
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- G07C1/20—Checking timed patrols, e.g. of watchman
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
According to the intelligent routing inspection system and method for the coal conveying belt of the thermal power generating unit, the traditional manual routing inspection is replaced by the on-line routing inspection, and the risk of personal safety accidents is reduced; meanwhile, a tail double-light camera, a head double-light camera, a mobile inspection robot and a belt bottom double-light camera are used for collecting full-flow image coverage of the coal conveying belt, so that the running state of the coal conveying system can be monitored in real time on line; after the system is put into operation, the labor cost of inspection can be obviously reduced, and the economical efficiency and the efficiency of the unit are improved.
Description
Technical Field
The invention relates to the technical field of automatic control of thermal power stations, in particular to an intelligent inspection system and an intelligent inspection method for a coal conveying belt of a thermal power unit.
Background
The thermal power station converts thermal energy into electric energy for power generation. The coal is the raw material for power generation in thermal power stations. In order to provide stable power supply for industrial and agricultural production, the coal needs to be continuously conveyed into a boiler for combustion through a coal conveying system. If the coal delivery system is unable to continuously and stably deliver the coal to the interior of the boiler bunker, the boiler may be shut down because of the lack of fuel supply. Because the coal consumption of the thermal power generating unit is huge, the coal yard is often selected to be close to a waterway, a railway and a land road, and the distance from the coal yard to the boiler is often far, so that the cascade continuous conveying is required to be carried out through a multi-stage coal conveying belt. For safe and continuous coal conveying, the thermal power station arranges special staff for manual inspection on each section of coal conveying belt, and the current manual inspection has the main problems and limitations:
(1) the coal conveying belt has many rotating devices, high working voltage and complex process, can generate noise and dust pollution in the operation process, and has serious threat to the personal safety and health of workers.
(2) The coal conveying system of the thermal power generating unit is long-distance conveying and provided with the multi-stage coal conveying belts, the manual inspection needs too long time for performing one-time inspection on the coal conveying belts, the real-time performance is not high, the inspection work depends on manual completion, and online directional inspection cannot be realized.
(3) The coal conveying belt has many fault hidden trouble points in the operation process, the inspection content is difficult to fully cover when the manual inspection is carried out, and coal blockage, belt damage, carrier roller high temperature and the like can not be found and responded in time, so that the equipment damage degree and the range are expanded, and great economic loss is caused to a power plant.
(4) Due to the fact that special staff is arranged on each section of the coal conveying belt of the coal conveying system to conduct routing inspection, the cost of the staff is high when the coal conveying belt is conveyed in a long distance, and economic benefits of a power plant are affected.
Disclosure of Invention
The invention aims to provide an intelligent inspection system and an intelligent inspection method for a coal conveying belt of a thermal power generating unit, and solves the problems of high cost and low efficiency of the conventional inspection of the coal conveying belt of the thermal power generating unit.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides an intelligent inspection system for a coal conveying belt of a thermal power generating unit, which comprises an intelligent inspection system body, wherein each stage of coal conveying belt is correspondingly provided with an intelligent inspection system body, and each intelligent inspection system body comprises a tail double-light camera, a calculation server, a data center, a head double-light camera, a movable inspection robot and a belt bottom double-light camera, wherein the tail double-light camera, the head double-light camera, the movable inspection robot and the belt bottom double-light camera are all connected with the data center; the computing server is connected with the data center;
the tail double-light camera is arranged above a tail roller of the coal conveying belt and used for acquiring image information of the tail roller of the coal conveying belt and transmitting the acquired image information to the data center;
the head double-light camera is arranged above a head roller of the coal conveying belt and used for collecting image information of the head roller of the coal conveying belt and transmitting the collected image information to the data center;
the double-light camera at the bottom of the belt is arranged below a head roller of the coal conveying belt and used for collecting belt surface image information after coal falling of the coal conveying belt and transmitting the collected image information to the data center;
the mobile inspection robot is used for acquiring temperature information of the designated position of the coal conveying belt and transmitting the acquired temperature information to the data center;
the data center is used for storing the received data and transmitting the data to the computing server;
and the computing server is used for computing the received temperature information, the coal conveying belt operating angle, the coal flow height and the coal conveying belt surface smoothness, comparing the computed result with a preset threshold value and transmitting the compared result to the external equipment.
Preferably, the mobile patrol inspection robot is installed on the robot patrol inspection rail, and the robot patrol inspection rail is installed at the top of the coal conveying belt.
Preferably, the tail double-light camera, the head double-light camera and the belt bottom double-light camera are connected with the data center through an Ethernet switch.
Preferably, the mobile inspection robot is connected with the calculation server through a wireless network.
Preferably, the mobile inspection robot is connected with an operator station, and the operator station is used for setting the operation mode of the mobile inspection robot.
An intelligent inspection method for a coal conveying belt of a thermal power generating unit is based on the intelligent inspection system for the coal conveying belt of the thermal power generating unit, and comprises the following steps:
and 3, comparing the running angle, the coal flow height, the temperature and the belt surface smoothness of the coal conveying belt obtained in the step 2 with preset thresholds, and controlling the starting and stopping of the coal conveying belt according to comparison results.
Preferably, in the step 1, when the temperature information of the designated position of the coal conveying belt is collected, the operator station controls the mobile inspection robot to inspect along the robot inspection track through a control instruction;
the control instruction comprises an instruction head, a length, an instruction word and an instruction tail, wherein the length of the instruction head is one byte and is encoded into 0x 55; the length of the instruction tail is one byte, and the instruction tail is encoded into 0 xAA; the instruction words comprise the moving direction, the moving distance and the moving speed of the mobile inspection robot and the shooting direction of the airborne infrared camera; the length is the length of an instruction word in bytes.
Preferably, in step 3, the start and stop of the coal conveying belt is controlled according to the comparison result, and the specific method comprises the following steps:
s1, respectively calculating a coal blockage signal, an overtemperature signal, a belt damage signal and a deviation signal of a coal conveying belt;
s2, calculating the comprehensive fault R of the coal conveying belt according to the calculation result of S1, wherein if R is 1 and the coal conveying belt is in a running state, the coal conveying belt is controlled to stop running; and if the R is equal to 0 and the coal conveying belt is in a stop state, controlling the coal conveying belt to start running.
Compared with the prior art, the invention has the beneficial effects that:
according to the intelligent routing inspection system for the coal conveying belt of the thermal power generating unit, the traditional manual routing inspection is replaced by online routing inspection, so that the risk of personal safety accidents is reduced; meanwhile, a tail double-light camera, a head double-light camera, a mobile inspection robot and a belt bottom double-light camera are used for collecting full-flow image coverage of the coal conveying belt, so that the running state of the coal conveying system can be monitored in real time on line; after the system is put into operation, the labor cost of inspection can be obviously reduced, and the economical efficiency and the efficiency of the unit are improved.
The invention provides an intelligent inspection method for a coal conveying belt of a thermal power generating unit, which is characterized in that image information of a tail roller of the coal conveying belt, image information of a head roller of the coal conveying belt, belt surface image information after coal falling of the coal conveying belt and temperature information of a specified position of the coal conveying belt are collected, the collected image information is processed, fault information such as coal blockage, belt deviation, strain, tearing, overtemperature of a carrier roller and the like is found in real time, the operation of the belt can be stopped immediately after the fault of the coal conveying belt occurs, and the damage to equipment and the loss to power production caused by fault expansion are avoided.
Further, the response rate of the system can be achieved by configuring the control commands issued by the operator stations.
Drawings
FIG. 1 is a block diagram of a system to which the present invention relates;
fig. 2 is a schematic diagram of the application of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides an intelligent inspection system for a coal conveying belt of a thermal power generating unit, which comprises an operator station 1, a gigabit Ethernet switch 2, a tail double-light camera 3, a wireless access node 4, a calculation server 5, a data center 6, a head double-light camera 7, a mobile inspection robot 8, a robot inspection track 9, a belt bottom double-light camera 10 and a communication controller 11, wherein the tail double-light camera 3, the head double-light camera 7 and the belt bottom double-light camera 10 are fixedly installed, the tail double-light camera 3 is installed above the bottom roller of the coal conveying belt, the head double-light camera 7 is installed above the head roller of the coal conveying belt, and the belt bottom double-light camera 10 is installed below the head roller of the coal conveying belt.
The operator station 1, the computing server 5, the data center 6, the tail dual-optical camera 3, the wireless access node 4 and the head dual-optical camera 7 are all connected with the gigabit Ethernet switch 2 through Ethernet cables.
The mobile inspection robot 8 is arranged on the robot inspection track 9 and is connected with the wireless access node 4 through a wireless network, and the wireless network adopts an 802.11b/g/n protocol.
The robot patrol rail 9 is installed at the top of the coal conveying belt, can be installed in two modes, namely a hoisting mode and a support mode, and can be selected according to the design process of the coal conveying belt, and can be installed in a hoisting mode or a support mode if the coal conveying belt is built with a closed corridor, if the 679C coal conveying belt is not built with a closed corridor, the support mode can be adopted.
The dual-optical camera 10 at the bottom of the belt is connected with the gigabit Ethernet switch 2 through an Ethernet cable.
The communication controller 11 comprises an Ethernet interface and an RS485 interface, and the communication controller 11 is connected with the calculation server 5 through the Ethernet interface and is connected to the coal conveying belt control system through the RS485 interface.
The tail double-light camera 3 is used for collecting image data of the tail roller.
The mobile inspection robot 8 moves on an inspection track of the coal conveying belt according to a control instruction, and acquires image data of the designated position of the coal conveying belt through a carried infrared camera.
The head bi-optic camera 7 is used for acquiring image data of the head roller.
The double-light camera 10 at the bottom of the belt is used for collecting belt surface image data after coal falling.
The tail double-light camera 3, the head double-light camera 7 and the belt bottom double-light camera 10 send collected image data to the data center 6 through the Ethernet switch 2 for storage.
The calculation server 5 is used for reading the data information stored in the data center 6, calculating the running angle J, the coal flow height L, the temperature T and the belt surface smoothness F of the coal conveying belt according to the read data information, comparing the running angle J, the coal flow height L, the temperature T and the belt surface smoothness F of the coal conveying belt with preset threshold values, and controlling the starting and stopping of the coal conveying belt according to the comparison result.
The operator station 1 is deployed in a coal conveying centralized control room and is a human-computer interface of the whole system, coal conveying operators can check video images of the specified position of the coal conveying belt through the operator station 1, and the operator station 1 can control the mobile inspection robot 8 to run to the specified position on the track.
The operator station 1 is also connected to a data center 6 for displaying the acquired images in real time. Such as: when an engineer needs to visit the historical images of the coal conveying belt, the time period information of the images to be visited is sent to the data center through the Ethernet switch 2, the data center retrieves the time period information in the image library according to time after receiving the time period information, and then the retrieved image information is sent to the operator station through the Ethernet switch and displayed to the user.
The operation modes of the mobile inspection robot comprise automatic operation and manual operation, wherein if the operation mode is the automatic operation mode, the operator station 1 sends a control instruction to the calculation server 5, the calculation server 5 controls the mobile inspection robot 8 to inspect along the robot inspection track 9 within the set operation time according to the set operation speed; if the mobile inspection robot runs in a manual running mode, the operator station 1 controls the mobile inspection robot 8 to perform inspection along the robot inspection track 9 within a set running time according to a set running speed.
The maximum angle value Jmax, the maximum coal flow height value Lmax, the maximum temperature value Tmax and the maximum belt surface smoothness Fmax of the safe operation of the coal conveying belt are input through the operator station 1, after the input is finished, the operator station 1 automatically sends the data to the computing server through the Ethernet switch, and the maximum angle value Jmax, the maximum coal flow height value Lmax, the maximum temperature value Tmax and the maximum belt surface smoothness Fmax are stored in the computing server.
The invention provides an intelligent inspection method for a coal conveying belt of a thermal power generating unit, which comprises the following steps:
and 3, comparing the running angle, the coal flow height, the temperature and the belt surface smoothness of the coal conveying belt obtained in the step 2 with preset thresholds, and controlling the starting and stopping of the coal conveying belt according to comparison results.
When the temperature information of the designated position of the coal conveying belt is collected, the operator station 1 sends a control instruction to control the mobile inspection robot 8 to inspect on the inspection track 9, and the infrared camera carried by the inspection robot is adjusted according to the control instruction to collect images of the designated position of the coal conveying belt.
The control instruction comprises four parts, namely an instruction head, a length, an instruction word and an instruction tail, wherein the length of the instruction head is one byte and is coded as 0x55, and the length of the instruction tail is one byte and is coded as 0 xAA; length refers to the length of an instruction word in bytes.
And decoding the instruction words according to bytes, wherein the instruction words comprise the moving direction, the moving distance and the moving speed of the mobile inspection robot and the shooting direction of the airborne infrared camera.
The method for calculating the running angle J of the coal conveying belt comprises the following steps:
firstly, under the normal operation condition, acquiring images of a tail camera 3 and a head camera 7, taking the images as comparison images, carrying out edge detection on the images, wherein the edge detection is the function of the tail camera 3 and the head camera 7, generating the position of the coal conveying belt after the detection, and calibrating the position as the position of the coal conveying belt for safe operation; and in the normal running process of the belt, acquiring an image of the belt in real time, detecting the position of the belt, and recording the angle of the position deviated from the comparison image as the running angle J of the coal conveying belt.
The method for calculating the belt surface smoothness F of the coal conveying belt comprises the following specific steps:
the belt surface smoothness is obtained by acquiring a belt surface image of a tail roller through a tail double-light camera 3, firstly, a frame of belt image is shot through the tail double-light camera 3 under a standard working condition and is called as a reference image, the belt surface smoothness of the image is set to be 0, in the running process, the image at the tail roller shot by the tail double-light camera 3 in real time is recorded as a target image, then, each pixel point of the reference image and the target image is converted into an RGB coordinate system, the value of the pixel point of the reference image is recorded as (r, g, b), the value of the pixel point at the corresponding position of the target image is recorded as (r1, g1, b1), and for the point, the offset distance Dpix of a single pixel point is calculated according to the following formula:
Dpix＝(r-r1)2+(g-g1)2+(b-b1)2；
and calculating the Dpix of all the pixel points on the same positions of the reference image and the target image, wherein the maximum belt surface smoothness F is equal to the sum of the Dpix of all the pixel points.
In the running process of the coal conveying belt, an engineer can monitor the running of the coal conveying belt through the operator station in real time, and when an event threatening the safe coal conveying is found through the image data, a control instruction can be immediately sent to the communication controller through the operator station to control the starting and stopping of the coal conveying belt.
Through the operator station, an engineer can manually perform small value correction on the maximum angle value Jmax, the maximum coal flow height value Lmax, the maximum temperature value Tmax and the maximum belt surface smoothness Fmax.
Taking the maximum belt surface smoothness Fmax as an example to explain the small value correction method, when an engineer monitors images from the tail double-light camera 3, the head double-light camera 7, the mobile inspection robot 8 and the belt bottom double-light camera 10 at an operator station, if the engineer finds that the belt surface has been scratched, torn or lifted and threatens the coal transportation safety, the engineer needs to immediately stop the belt running, the engineer immediately marks the image of the belt surface, after the marking is finished, the operator station automatically calculates the new maximum belt surface smoothness Fmax according to the marked image, if the newly calculated Fmax is smaller than the Fmax stored in the calculation server, the Fmax in the calculation server is immediately updated, and if the newly calculated Fmax is larger than the Fmax stored in the calculation server, the Fmax is not updated.
After receiving the operating angle J, the coal flow height L and the temperature T, the calculation server compares the operating angle J, the coal flow height L and the temperature T with a stored maximum angle value Jmax, a stored maximum coal flow height value Lmax and a stored maximum temperature value Tmax, and calculates a deviation signal I1, a coal blockage signal I2, an over-temperature signal I3 and a belt damage signal I4, wherein the calculation formula is as follows:
when J > Jmax, I1 ═ 1, otherwise I1 ═ 0;
when L > Lmax, I2 ═ 1, otherwise I2 ═ 0;
when T > Tmax, I3 is 1, otherwise I3 is 0;
when F > Fmax, I4 ═ 1, otherwise I4 ═ 0.
After the deviation signal I1, the coal blockage signal I2, the overtemperature signal I3, the coal flow abnormal signal I4 and the belt abnormal signal I5 are calculated, the calculation server 5 performs the next operation according to the following formula to calculate the comprehensive fault:
r ═ I1& I2& I3& I4& I5, where R denotes a synthetic fault and denotes an and operation.
The calculation server 5 stores therein the operation states of the coal belt, including two states of operation and stop.
When R is 1 and the coal conveying belt is in a running state, the calculation server 5 immediately sends a stop instruction to a control system of the coal conveying belt through the communication controller to stop the running of the coal conveying belt; meanwhile, a coal conveying belt fault stop alarm is sent to the operator station 1 through the Ethernet switch 2, and an engineer is informed that the coal conveying belt has a fault and needs to be immediately repaired and maintained.
When R1 is 0 and the coal belt is in a stopped state, the calculation server 5 may send a start instruction to the coal belt control system through the communication controller to start the coal belt to operate.
Compared with the prior art, the invention has the following advantages:
1. because coal conveying system work area safety risk point is many, and the intelligence is patrolled and examined the system and is put into operation back, patrols and examines and replace traditional manual work and patrols and examines on line, has reduced the risk that takes place personal safety accident.
2. The intelligent inspection system adopts a machine vision technology, realizes the full-flow image coverage of the coal conveying belt, and can monitor the running state of the coal conveying system in real time on line.
3. The intelligent inspection system can find fault information such as coal blockage, belt deviation, strain, tearing, roller overtemperature and the like in real time by analyzing and calculating the image, and can immediately stop the operation of the belt after the coal conveying belt has a fault, so that the fault amplification is avoided, equipment is damaged, and the loss is caused to the power production.
4. After the intelligent inspection system is put into operation, the labor cost of inspection can be obviously reduced, and the economical efficiency and the efficiency of the unit are improved.
Examples
As shown in the attached figure 2, the diagram is a structure diagram of the field engineering implementation and deployment of a two-stage coal conveying belt, the diagram comprises two stages of coal conveying belts, a first stage coal conveying belt conveys coal to a second stage coal conveying belt, an intelligent inspection system is respectively deployed on the first stage coal conveying belt and the second stage coal conveying belt according to the structure shown in the figure 1, the establishment of the intelligent inspection system of the two stages of belts is completed, a thermal power unit can determine to deploy the intelligent inspection system on the belt or each belt according to the use frequency of the coal conveying belt, wherein an operator station adopts an industrial personal computer, a gigabit Ethernet switch adopts a 24-port gigabit Ethernet switch produced by Cisco, a wireless access node adopts commercial wireless AP produced by Zhongxing or Huaxing, a computing server adopts SR850 produced by association, a data center adopts SR590, a double-optical camera adopts a gun type camera, and supports out-of-border detection, regional intrusion detection, etc.
Claims (8)
1. The intelligent inspection system for the coal conveying belt of the thermal power generating unit is characterized by comprising an intelligent inspection system body, wherein each stage of coal conveying belt is correspondingly provided with an intelligent inspection system body, the intelligent inspection system body comprises a tail double-light camera (3), a calculation server (5), a data center (6), a head double-light camera (7), a mobile inspection robot (8), a robot inspection track (9) and a belt bottom double-light camera (10), and the tail double-light camera (3), the head double-light camera (7), the mobile inspection robot (8) and the belt bottom double-light camera (10) are all connected with the data center (6); the computing server (5) is connected with a data center (6);
the tail double-light camera (3) is arranged above a tail roller of the coal conveying belt and used for acquiring image information of the tail roller of the coal conveying belt and transmitting the acquired image information to the data center;
the head double-light camera (7) is arranged above a head roller of the coal conveying belt and used for collecting image information of the head roller of the coal conveying belt and transmitting the collected image information to the data center;
the double-light camera (10) at the bottom of the belt is arranged below a head roller of the coal conveying belt and used for collecting belt surface image information after coal falling of the coal conveying belt and transmitting the collected image information to the data center;
the mobile inspection robot (8) is used for acquiring temperature information of the designated position of the coal conveying belt and transmitting the acquired temperature information to the data center (6);
the data center (6) is used for storing the received data and transmitting the data to the computing server (5);
and the calculation server (5) is used for calculating the received temperature information, the coal conveying belt running angle, the coal flow height and the coal conveying belt surface smoothness, comparing the calculation result with a preset threshold value and transmitting the comparison result to the external equipment.
2. The intelligent inspection system for the coal conveying belt of the thermal power generating unit according to claim 1, wherein the mobile inspection robot (8) is installed on an inspection rail (9) of the robot, and the inspection rail (9) of the robot is installed at the top of the coal conveying belt.
3. The intelligent inspection system for the coal conveying belt of the thermal power generating unit according to claim 1, wherein the tail double-light camera (3), the head double-light camera (7) and the belt bottom double-light camera (10) are connected with the data center (6) through an Ethernet switch.
4. The intelligent inspection system for the coal conveying belt of the thermal power generating unit according to claim 1, wherein the mobile inspection robot (8) is connected with the calculation server (5) through a wireless network.
5. The intelligent inspection system for the coal conveying belt of the thermal power generating unit according to claim 1, wherein the mobile inspection robot (8) is connected with an operator station (1), and the operator station (1) is used for setting an operation mode of the mobile inspection robot (8).
6. An intelligent inspection method for a coal conveying belt of a thermal power generating unit is characterized in that the intelligent inspection system for the coal conveying belt of the thermal power generating unit is based on any one of claims 1 to 5 and comprises the following steps:
step 1, collecting image information of a tail roller of a coal conveying belt, image information of a head roller of the coal conveying belt, belt surface image information after coal falling of the coal conveying belt and temperature information of a specified position of the coal conveying belt;
step 2, respectively extracting the running angle, the coal flow height, the temperature and the belt surface smoothness of the coal conveying belt according to the information acquired in the step 1;
and 3, comparing the running angle, the coal flow height, the temperature and the belt surface smoothness of the coal conveying belt obtained in the step 2 with preset thresholds, and controlling the starting and stopping of the coal conveying belt according to comparison results.
7. The intelligent inspection method for the coal conveying belt of the thermal power generating unit according to claim 6, wherein in the step 1, when temperature information of a designated position of the coal conveying belt is collected, the operator station (1) controls the mobile inspection robot (8) to perform inspection along the robot inspection track (9) through a control command;
the control instruction comprises an instruction head, a length, an instruction word and an instruction tail, wherein the length of the instruction head is one byte and is encoded into 0x 55; the length of the instruction tail is one byte, and the instruction tail is encoded into 0 xAA; the instruction words comprise the moving direction, the moving distance and the moving speed of the mobile inspection robot and the shooting direction of the airborne infrared camera; the length is the length of an instruction word in bytes.
8. The intelligent inspection method for the coal conveying belt of the thermal power generating unit according to claim 6, wherein in the step 3, the starting and stopping of the coal conveying belt are controlled according to the comparison result, and the specific method comprises the following steps:
s1, respectively calculating a coal blockage signal I2, an overtemperature signal I3, a belt damage signal I4 and a deviation signal I1 of the coal conveying belt;
s2, calculating the comprehensive fault R of the coal conveying belt according to the calculation result of S1, wherein if R is 1 and the coal conveying belt is in a running state, the coal conveying belt is controlled to stop running; and if the R is equal to 0 and the coal conveying belt is in a stop state, controlling the coal conveying belt to start running.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020108583206 | 2020-08-24 | ||
| CN202010858320 | 2020-08-24 |
Publications (1)
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086549A (en) * | 2021-03-01 | 2021-07-09 | 广东能源集团科学技术研究院有限公司 | Multi-agent cooperative monitoring system for coal conveying belt of thermal power plant |
| CN114119522A (en) * | 2021-11-17 | 2022-03-01 | 北京华能新锐控制技术有限公司 | Visual detection method for coal blockage of coal conveying belt |
| CN114545815A (en) * | 2022-01-24 | 2022-05-27 | 北京大华启天工业技术有限公司 | Coal conveying system program control method and device, electronic equipment and storage medium |
| CN117245629A (en) * | 2023-11-10 | 2023-12-19 | 中煤科工机器人科技有限公司 | Colliery robot with belt trouble recognition function |
| CN117718941A (en) * | 2023-12-20 | 2024-03-19 | 国能长源荆州热电有限公司 | Coal conveying belt track inspection robot and inspection method |
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2020
- 2020-09-08 CN CN202010938030.2A patent/CN111932711A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086549A (en) * | 2021-03-01 | 2021-07-09 | 广东能源集团科学技术研究院有限公司 | Multi-agent cooperative monitoring system for coal conveying belt of thermal power plant |
| CN114119522A (en) * | 2021-11-17 | 2022-03-01 | 北京华能新锐控制技术有限公司 | Visual detection method for coal blockage of coal conveying belt |
| CN114545815A (en) * | 2022-01-24 | 2022-05-27 | 北京大华启天工业技术有限公司 | Coal conveying system program control method and device, electronic equipment and storage medium |
| CN114545815B (en) * | 2022-01-24 | 2023-11-14 | 北京大华启天工业技术有限公司 | Coal conveying system program control method and device, electronic equipment and storage medium |
| CN117245629A (en) * | 2023-11-10 | 2023-12-19 | 中煤科工机器人科技有限公司 | Colliery robot with belt trouble recognition function |
| CN117245629B (en) * | 2023-11-10 | 2024-02-06 | 中煤科工机器人科技有限公司 | Colliery robot with belt trouble recognition function |
| CN117718941A (en) * | 2023-12-20 | 2024-03-19 | 国能长源荆州热电有限公司 | Coal conveying belt track inspection robot and inspection method |
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