CN113447075A - System and method for monitoring running state of coal mine inspection robot - Google Patents
System and method for monitoring running state of coal mine inspection robot Download PDFInfo
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- CN113447075A CN113447075A CN202110648236.6A CN202110648236A CN113447075A CN 113447075 A CN113447075 A CN 113447075A CN 202110648236 A CN202110648236 A CN 202110648236A CN 113447075 A CN113447075 A CN 113447075A
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Abstract
The invention discloses a system and a method for monitoring the running state of a coal mine inspection robot, and relates to the technical field of computers. This robot running state monitoring system is patrolled and examined in colliery includes: the system comprises a data acquisition unit, communication equipment, a cable and a monitoring platform; the data acquisition unit comprises a plurality of sensors and a communication module, the sensors are respectively arranged at a plurality of monitoring ends of the coal mine inspection robot and are used for acquiring the operation parameters of the coal mine inspection robot, and the communication module is used for sending the operation parameters acquired by the sensors to the communication equipment; the communication equipment is connected with the monitoring platform through a cable and used for sending the operating parameters acquired by the data acquisition unit to the monitoring platform and sending the control instructions acquired from the monitoring platform to the data acquisition unit. From this, can carry out real-time monitoring to the running state of patrolling and examining the robot, timely give monitoring platform with state data transmission, ensure the colliery and patrolled and examined the normal operating of robot, satisfy the intelligent development in colliery.
Description
Technical Field
The disclosure relates to the technical field of computers, in particular to a system and a method for monitoring the running state of a coal mine inspection robot.
Background
The coal mine inspection robot is an important branch of intelligent development of a coal mine as a mode for replacing manual inspection to improve inspection efficiency, and stable operation of the coal mine inspection robot is a premise for guaranteeing normal inspection work.
In the related art, the detection of the operation state of the driving motor of the inspection robot is usually only to control the start and stop of the driving motor by a local circuit, or to locally judge the voltage and current of the driving motor, and the data of the entire operation state of the driving motor cannot be uploaded to the ground in time, so that the operation state of the inspection robot cannot be known in time. Therefore, how to establish a safe and intelligent monitoring system for the running state of the coal mine inspection robot is a problem which needs to be solved urgently at present.
Disclosure of Invention
The disclosure provides a system and a method for monitoring the running state of a coal mine inspection robot.
According to an aspect of the present disclosure, a running state monitoring system for a coal mine inspection robot is provided, which includes: the method comprises the following steps: the system comprises a data acquisition unit, communication equipment, a cable and a monitoring platform;
the data acquisition unit comprises a plurality of sensors and a communication module, the sensors are respectively arranged at a plurality of monitoring ends of the coal mine inspection robot and are used for acquiring the operation parameters of the coal mine inspection robot, and the communication module is used for sending the operation parameters acquired by the sensors to the communication equipment;
the communication equipment is connected with the monitoring platform through the cable and is used for sending the operating parameters acquired by the data acquisition unit to the monitoring platform and sending the control instructions acquired from the monitoring platform to the data acquisition unit.
According to another aspect of the disclosure, a method for monitoring the running state of a coal mine inspection robot is provided, which includes:
acquiring output values of a plurality of sensors in the coal mine inspection robot in the running process of the coal mine inspection robot;
determining target communication equipment which is in communication connection with the coal mine inspection robot at present;
transmitting the output values of the plurality of sensors to the target communication device.
The system and the method for monitoring the running state of the coal mine inspection robot provided by the embodiment of the disclosure have the following beneficial effects at least:
the embodiment of the disclosure provides a robot running state monitoring system is patrolled and examined in colliery, includes: the data acquisition unit, communication equipment, cable and monitor platform, wherein include a plurality of sensors and communication module in the data acquisition unit, a plurality of sensors set up respectively and patrol and examine a plurality of monitoring ends of robot in the colliery, be used for gathering the colliery and patrol and examine the operating parameter of robot, communication module, be used for sending the operating parameter of sensor collection for communication equipment, communication equipment passes through the cable and is connected with monitor platform, be used for sending the operating parameter of data acquisition unit collection for monitor platform, and will follow the control command that monitor platform acquireed and send for the data acquisition unit. Therefore, the running state monitoring system of the coal mine inspection robot can monitor the running state of the inspection robot in real time, timely transmits the state data to the monitoring platform, ensures the normal running of the coal mine inspection robot, and meets the development of coal mine intellectualization.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic structural diagram of an operation state monitoring system of a coal mine inspection robot according to a first embodiment of the disclosure;
fig. 2 is a schematic flow chart of a method for monitoring the operating state of a coal mine inspection robot according to another embodiment of the disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The following describes in detail an operation state monitoring system and method of a coal mine inspection robot provided by the present disclosure with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a system for monitoring an operation state of a coal mine inspection robot according to an embodiment of the present disclosure.
As shown in fig. 1, the coal mine inspection robot operation state monitoring system 10 includes: data acquisition unit 110, communication device 120, cable 130, and monitoring platform 140.
The data acquisition unit 110 comprises a plurality of sensors and a communication module, the sensors are respectively arranged at a plurality of monitoring ends of the coal mine inspection robot and used for acquiring the operating parameters of the coal mine inspection robot, and the communication module is used for sending the operating parameters acquired by the sensors to the communication equipment 120.
The communication device 120 is connected to the monitoring platform 140 through a cable, and is configured to send the operating parameters acquired by the data acquisition unit 110 to the monitoring platform 140, and send the control instruction acquired from the monitoring platform 140 to the data acquisition unit 110.
Optionally, the plurality of sensors may include: a voltage sensor, a current sensor, a vibration sensor, a temperature sensor, a rotation speed sensor, a smoke sensor, and the like, which are not limited in the present disclosure.
It can be appreciated that the data acquisition unit can monitor the operational data by placing the plurality of sensors at a plurality of monitoring ends of the coal mine inspection robot. For example, the monitoring system can acquire the motor rotating speed of the coal mine inspection robot by arranging the rotating speed sensor on a motor gear of the coal mine inspection robot; the temperature sensor is arranged near a dashboard of the coal mine inspection robot to acquire the temperature of the coal mine inspection robot, which is not limited by the disclosure.
Optionally, the data acquisition unit 110 further includes a processor, configured to pre-process the operation parameters acquired by the plurality of sensors, and send the processed operation parameters to the communication module.
It should be noted that, when the monitoring system preprocesses the operating parameters acquired by the plurality of sensors through the processor, the monitoring system may perform error analysis and correction on the operating parameters acquired by the plurality of sensors to make the measurement result closer to the true value, and then may perform feature extraction and data fusion on the operating parameters, so as to improve the measurement accuracy of the monitoring system to a certain extent, or may also perform data cleaning and compression on the operating parameters, so as to obtain the processed operating parameters, which is not limited by the present disclosure.
In addition, when the processor compares the operation parameters acquired by the sensors with the corresponding reference ranges, if the operation parameters acquired by any sensor are not matched with the corresponding reference ranges, the monitoring system can control the coal mine inspection robot to stop running, so that the running safety and efficiency of the coal mine inspection robot are ensured.
It can be understood that if the operation parameter acquired by any sensor is not matched with the corresponding reference range, it indicates that the current coal mine inspection robot may have an operation fault or may touch an obstacle or other abnormal conditions, so that the monitoring system can stop the loss in time by controlling the coal mine inspection robot to stop operating, which is not limited by the disclosure.
As a possible implementation manner, the processor may further output an alarm signal to the communication module when the operating parameter acquired by any one of the sensors does not match the corresponding reference range. Therefore, the communication module can timely acquire the warning information encountered by the current coal mine inspection robot by transmitting the warning signal to the communication module, and further can improve the monitoring strength of the running state of the coal mine inspection robot.
As a possible implementation manner, the processor may be further configured to, when the operation parameter acquired by any one of the sensors does not match the reference range corresponding to the operation parameter, determine a processing policy corresponding to the operation parameter acquired by any one of the sensors according to a preset correspondence between the processing policy and the sensor parameter. It can be understood that the processor can be preset, and any sensor can be used for processing strategies under the condition that the collected operation parameters are not matched with the corresponding reference ranges, so that abnormal prevention can be performed on possible fault conditions, and the normal operation of the coal mine inspection robot is guaranteed.
The communication device may include a communication controller and a plurality of communication stations, the communication controller is connected to the monitoring platform via a cable, each communication station is configured to send the received operation parameters sent by the data acquisition unit to the communication controller, and the communication controller is configured to send the identifiers and the operation parameters of the communication stations that send the operation parameters to the monitoring platform 140 via a cable. Therefore, the monitoring platform 140 can process the operation parameters by using a preset monitoring algorithm after acquiring the operation parameters sent by the data acquisition unit, so as to realize real-time monitoring and control of the coal mine inspection robot, and can send the control instruction to the data acquisition unit 110 when determining that early warning needs to be performed or a production process needs to be controlled by using the preset monitoring algorithm. The preset monitoring algorithm may include a semantic segmentation algorithm, a three-dimensional reconstruction algorithm, a positioning and mapping algorithm, an equipment operation parameter detection algorithm, and the like, which is not limited in the present disclosure.
The communication controller may receive operation parameter information of different communication sites, and may transmit the identifier corresponding to each communication site and the received operation parameter to the monitoring platform through a cable, where the communication site may be any site capable of performing near field communication, such as a Long Range Radio (LoRa) site, and thus may improve stability and coverage of communication.
It is understood that the control instruction may be a recommendation generated by the monitoring platform according to the operation parameter of the coal mine inspection robot, for example, a maintenance recommendation or a control recommendation given when the operation parameter acquired by any sensor does not match the corresponding reference range, which is not limited in the present disclosure.
The monitoring platform can comprise a display screen and an operation panel. Wherein, the display screen can be used for showing the colliery and patrolling and examining robot operating parameter, and operating panel can be used for receiving operating command. It can be understood that the display screen of the monitoring platform can display the running state data of the coal mine inspection robot, so that a user can conveniently perform better management according to the running parameters, for example, maintenance suggestions are given through an operation panel, or reference ranges corresponding to the running parameters of the sensors are adjusted, and the method is not limited by the disclosure.
The embodiment of the disclosure provides a robot running state monitoring system is patrolled and examined in colliery, includes: the data acquisition unit, communication equipment, cable and monitor platform, wherein include a plurality of sensors and communication module in the data acquisition unit, a plurality of sensors set up respectively and patrol and examine a plurality of monitoring ends of robot in the colliery, be used for gathering the colliery and patrol and examine the operating parameter of robot, communication module, be used for sending the operating parameter of sensor collection for communication equipment, communication equipment passes through the cable and is connected with monitor platform, be used for sending the operating parameter of data acquisition unit collection for monitor platform, and will follow the control command that monitor platform acquireed and send for the data acquisition unit. Therefore, the running state monitoring system of the coal mine inspection robot can monitor the running state of the inspection robot in real time, timely transmits the state data to the monitoring platform, ensures the normal running of the coal mine inspection robot, and meets the development of coal mine intellectualization.
Fig. 2 is a flowchart of a method for monitoring an operation state of a coal mine inspection robot according to an embodiment of the present disclosure.
As shown in fig. 2, the method for monitoring the running state of the coal mine inspection robot comprises the following steps:
In the operation process of robot is patrolled and examined in the colliery, monitoring system can acquire the colliery and patrol and examine the running state information of robot through the sensor, for example, the output value of voltage is acquireed to the voltage that patrols and examines the robot in colliery through voltage sensor monitoring, and the motor speed that patrols and examines the robot in colliery through revolution speed sensor monitoring acquires the rotational speed value, and this disclosure does not prescribe a limit to this. Therefore, the operation state of the coal mine inspection robot can be determined by acquiring various operation parameters of the sensors in the coal mine inspection robot.
And 202, determining the current target communication equipment in communication connection with the coal mine inspection robot.
Specifically, the target communication device can be connected with the coal mine inspection robot in a wired mode such as a cable and an optical fiber, and can also receive output value information of a sensor of the coal mine inspection robot in a wireless mode. The monitoring system is convenient for timely uploading the running state information of the coal mine inspection robot by determining the current target communication equipment in communication connection with the coal mine inspection robot.
Specifically, the monitoring system may send output values of the plurality of sensors to the target communication device, so that the target communication device may determine a corresponding decision according to the output values of the plurality of sensors. For example, if the transmission value of the sensor is: normally, the target communication device may continue to receive the output value if the sensor transmits a value of: and if the transmission value is abnormal, the communication device can generate a corresponding maintenance suggestion according to the specific size and the range of the transmission value, and send an alarm, which is not limited by the disclosure.
Optionally, the monitoring system may determine a reference range corresponding to each sensor, and control the coal mine inspection robot to stop operating when an output value of any sensor is not matched with the reference range.
It can be understood that the reference range may be a preset normal operation parameter range for each sensor, and if the output value of any sensor exceeds the reference range, it indicates that a fault may occur in operation, for example, the temperature is too high, or the rotation speed is too low, so that the coal mine inspection robot may not perform normal inspection, and further, a potential safety hazard may be caused. Therefore, the monitoring system can control the coal mine inspection robot to stop running under the condition that the output value of any sensor is not matched with the reference range, and therefore safety is guaranteed.
In the embodiment of the disclosure, the monitoring system acquires output values of a plurality of sensors in the coal mine inspection robot in the operation process of the coal mine inspection robot, then determines the target communication equipment which is in communication connection with the coal mine inspection robot at present, and finally sends the output values of the plurality of sensors to the target communication equipment. Therefore, the running information of the coal mine inspection robot is collected in time through the sensors, and the running state of the coal mine inspection robot can be obtained more comprehensively.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The utility model provides a robot running state monitoring system is patrolled and examined in colliery which characterized in that includes: the system comprises a data acquisition unit, communication equipment, a cable and a monitoring platform;
the data acquisition unit comprises a plurality of sensors and a communication module, the sensors are respectively arranged at a plurality of monitoring ends of the coal mine inspection robot and are used for acquiring the operation parameters of the coal mine inspection robot, and the communication module is used for sending the operation parameters acquired by the sensors to the communication equipment;
the communication equipment is connected with the monitoring platform through the cable and is used for sending the operating parameters acquired by the data acquisition unit to the monitoring platform and sending the control instructions acquired from the monitoring platform to the data acquisition unit.
2. The system of claim 1, wherein the plurality of sensors comprises: voltage sensor, current sensor, vibration sensor, temperature sensor, rotational speed sensor and smoke sensor.
3. The system of claim 1, wherein the data acquisition unit further comprises: a processor;
the processor is used for preprocessing the operation parameters acquired by the sensors and sending the processed operation parameters to the communication module.
4. The system of claim 3,
the processor is further used for comparing the operation parameters acquired by each sensor with the corresponding reference range, and controlling the coal mine inspection robot to stop operating under the condition that any one of the operation parameters acquired by the sensors is not matched with the corresponding reference range.
5. The system of claim 4,
the processor is further used for outputting an alarm signal to the communication module under the condition that the operating parameter acquired by any one of the sensors is not matched with the corresponding reference range.
6. The system of claim 4,
the processor is further configured to determine a processing strategy corresponding to the operation parameter acquired by any one of the sensors according to a corresponding relationship between a preset processing strategy and the sensor parameter when the operation parameter acquired by any one of the sensors does not match the reference range corresponding to the operation parameter acquired by the sensor;
and based on the processing strategy, processing the coal mine inspection robot.
7. The system of claim 1, wherein the communication device comprises: a communication controller and a plurality of communication stations which are in wireless connection;
the communication controller is connected with the monitoring platform through a cable;
each communication station is used for sending the received operation parameters sent by the data acquisition unit to the communication controller, and the communication controller is used for sending the identification of the communication station sending the operation parameters and the operation parameters to the monitoring platform through the cable.
8. The system of any one of claims 1-7, wherein the monitoring platform comprises a display screen and an operation panel;
the display screen is used for displaying the operation parameters of the coal mine inspection robot;
the operation panel is used for receiving operation instructions.
9. A running state monitoring method for a coal mine inspection robot is characterized by comprising the following steps:
acquiring output values of a plurality of sensors in the coal mine inspection robot in the running process of the coal mine inspection robot;
determining target communication equipment which is in communication connection with the coal mine inspection robot at present;
transmitting the output values of the plurality of sensors to the target communication device.
10. The method of claim 9, further comprising:
determining a reference range corresponding to each of the sensors;
and under the condition that the output value of any one sensor is not matched with the reference range, controlling the coal mine inspection robot to stop running.
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| CN202110648236.6A CN113447075A (en) | 2021-06-10 | 2021-06-10 | System and method for monitoring running state of coal mine inspection robot |
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| CN116988837A (en) * | 2023-09-25 | 2023-11-03 | 太原科技大学 | Underground autonomous inspection system and method for coal mine |
| CN117058858A (en) * | 2023-07-21 | 2023-11-14 | 煤炭科学技术研究院有限公司 | Remote control system, construction method and electronic equipment for mining wireless communication equipment |
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| CN116988837B (en) * | 2023-09-25 | 2024-04-05 | 太原科技大学 | Underground autonomous inspection system and method for coal mine |
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