CN113771053A - Robot with intelligent patrol early warning function - Google Patents
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- CN113771053A CN113771053A CN202110999381.9A CN202110999381A CN113771053A CN 113771053 A CN113771053 A CN 113771053A CN 202110999381 A CN202110999381 A CN 202110999381A CN 113771053 A CN113771053 A CN 113771053A
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Abstract
The invention relates to a robot with an intelligent patrol early warning function, which comprises a monitoring background and a robot body, wherein the monitoring background is connected with the robot body; a display screen on the monitoring background displays real-time monitoring pictures of a high-definition camera in the robot body and feeds back equipment temperature rise detection data of an infrared thermal imager in the robot body; meanwhile, a monitoring background checks a manual robot remote control panel of the robot body and a self-state panel of the robot, a directional MIC13 is installed in the robot body to inquire the real-time position of the robot in the monitoring background in real time, a monitoring background 1 generates a graphic image analysis identification and historical data inquiry statistical log according to an equipment running picture fed back by the robot body and data detected by an infrared thermal imager on equipment temperature rise, the monitoring background analyzes and records a data report summary, and the monitoring background feeds back real-time alarm conditions according to fault abnormal phenomena such as equipment thermal defects, environmental abnormalities and the like detected by the robot body.
Description
Technical Field
The invention relates to a robot, in particular to a robot with an intelligent inspection early warning function, and belongs to the technical field of electric automation intelligent control.
Background
Belt conveyor length is long, and is in large quantity, and the check point is many and difficult inspection and judgement, and the mode inefficiency is patrolled and examined in the tradition manual work, and some projects are difficult for accurate judgement, nevertheless owing to have important function in production, must effectively patrol and examine. The belt conveyor bears the important task of transportation, but along with the gradual aging of relevant equipment of the belt conveyor system, the faults are obviously increased, and operators need to regularly inspect the belt conveyor equipment to check whether the belt conveyor system is normal in operation, whether cracking, deviation, carrier rollers, material leakage, smoke, fire, abnormal temperature, safety protection devices and the like exist. Because the environment in the conveying belt is severe, the distance is long, the space is limited, and equipment and various potential safety hazards exist. Under the current manual inspection mode, hidden dangers and various accidents are difficult to find in time. For improving the quality of patrolling and examining the belt feeder, reduce the number of workers, improve working environment, guarantee personnel's life safety, guarantee equipment safety in utilization, go out the requirement of "mechanized people changing, automatic subtracting the people". The robot is adopted to inspect the coal conveying equipment, and has important significance for reducing inspection personnel and improving inspection efficiency and quality. Therefore, a robot device for monitoring the running state of the belt conveyor equipment is urgently needed.
Disclosure of Invention
The invention provides a robot with an intelligent inspection early warning function, which aims at solving the problems in the prior art, wherein when a belt is cracked, deviated, supported rollers, leaked materials, smoke, fire and abnormal temperature conditions occur, abnormal condition warning information detected by the robot is fed back to a monitoring background, a warning device is started by the monitoring background, a warning signal lamp flickers to whistle to give a warning, and a maintainer can solve the problem of faults in the operation of the existing belt according to data report information generated by the monitoring background.
In order to achieve the purpose, the technical scheme of the invention is that the robot with the intelligent patrol early warning function comprises a monitoring background and a robot body; a display screen on the monitoring background displays real-time monitoring pictures of a high-definition camera in the robot body and feeds back equipment temperature rise detection data of an infrared thermal imager in the robot body; the monitoring background checks a manual robot remote control panel of the robot body and a self-state panel of the robot, a directional MIC is installed in the robot body, the real-time position of the robot can be inquired in the monitoring background in real time, a statistical log for graphical image analysis and identification and historical data inquiry is generated by the monitoring background according to an equipment operation picture fed back by the robot body and data detected by an infrared thermal imager on the temperature rise of the equipment, an analysis record for collecting a data report is carried out by the monitoring background, and a real-time alarm condition is fed back by the monitoring background according to fault abnormal phenomena such as equipment thermal defect, environmental abnormality and the like detected by the robot body.
The belt inspection robot comprises a running track system, a running control system, a running positioning system, a visual perception detection system, a wireless network communication system and a data analysis master control system, wherein the running track system controls the running track of the belt inspection robot, the running control system controls the front, the back, the left and the right of the belt inspection robot, the upper, the lower, the magnification and the reduction are performed, the running positioning system provides the position of the belt inspection robot, the position of a fault problem point, the visual perception detection system realizes image acquisition by the belt inspection robot through a visual perception sensor, the wireless network communication system is a transmission and connection device for each control signal, the data analysis master control system is a computer host part, various acquired data are subjected to background processing through programs, and a final command is sent.
As an improvement of the invention, the operation track system comprises a vehicle body, a track operation driving mechanism, a battery charging system and the like, the robot has a climbing capability of 30 degrees, wherein a track cleaning device, a track obstacle avoidance detection sensor and a joint axis mechanical arm are arranged on the robot body, a camera holder is arranged on the mechanical arm, and the camera holder can rotate in the horizontal direction and perform pitching motion in the vertical direction; the mechanical arm is provided with a running channel obstacle avoidance detection sensor; the robot running track is laid in an overhead manner, the track is arranged according to actual conditions on site and is used for running the robot, detecting the running conditions of carrier rollers at the left side and the right side of the belt, detecting the running conditions of a driving motor, a torque-limiting hydraulic coupler and a speed reducer, detecting the temperature and vibration of the belt, deviating the belt, tearing, layering a joint, burrs, bulges, slipping the belt and the like; the up-slope section of the running track is provided with a running rack to prevent the robot from slipping up and down; the battery supplies power to the running track system, the motion control system, the running positioning system and the visual perception detection system by the charging system; the fixed position installation fills electric pile on the orbit, patrols and examines the robot when non-operating condition and charges, or patrols and examines will move automatically to the position of charging when robot self automated inspection electric quantity is not enough and charge.
As an improvement of the invention, the operation control system comprises board cards comprising a programmable controller, a communication board card, an I/O board card, a signal acquisition board and the like, wherein the communication board card mainly provides information communication, and a wireless communication network is adopted in the scheme; the I/O board card is a wireless remote control module and mainly has driving functions of driving the robot with the functions of routing inspection and early warning to walk, monitor and operate and the like; the signal acquisition board is an acquisition, collection and analysis module of various sensors of the robot with the intelligent patrol early warning function.
The running and the positioning of the inspection robot, the expansion and the retraction of a joint shaft mechanical arm, the rotation of a camera cloud deck and the like are controlled by a programmable controller program; therefore, unattended operation and automatic operation of the monitoring system can be realized, and the production labor force is reduced better.
As an improvement of the invention, the robot operation positioning system comprises an RFID chip reader-writer, a positioning detection sensor and an absolute value encoder, wherein the robot body is provided with the positioning RFID chip reader-writer, the positioning detection sensor and the absolute value encoder, so that the robot positioning function is realized; arranging an RFID chip and a group of position detection marks at the position of each two groups of carrier roller supports and each group of lower carrier rollers on the running track; and on the running track, an RFID chip and a group of position detection marks are respectively arranged at the positions of the driving motor, the torque-limiting type hydraulic coupler and the speed reducer.
As an improvement of the invention, the visual perception and detection system comprises a visual identification camera, a temperature measurement type thermal infrared imager and a vibration detector, wherein the visual identification camera (the belt linear velocity is 2.512m/s, the roller diameter is 133mm), the online temperature measurement type thermal infrared imager and the vibration detector are arranged on a holder matched with the camera; the hardware part of the detection system is arranged in the sealing box, is opened for detection when in work, is sealed and dustproof when not in work, and has protection grade IP 65; the end of each conveying carrier roller is stuck with a reflective mark. As an improvement of the present invention, the wireless network communication system is specifically as follows: the inspection robot and the data analysis and master control system adopt a gigabit wireless network bridge mode for data transmission and mutual communication, a wireless network bridge is installed on an inspection robot body and a data processing background, and a certain number of fixed base stations are installed at the positions without obstacles according to the specific conditions on site.
As an improvement of the invention, the data analysis master control system comprises a server computer and a software analysis system which are connected with the wireless network communication system. And the monitoring background displays the early warning information and the fault information detected by the robot, automatically generates various fault reports and sends the fault reports to related personnel in time, and the related personnel process the reports according to the responsibilities.
Compared with the prior art, the invention has the advantages that 1) the technical scheme is that the equipment running state monitoring robot is installed on the belt conveyor, and system software carries out deep processing, intelligent analysis and early warning display archiving on the data acquired on site, so that the monitoring robot is visual and rapid. The monitoring rate of abnormal phenomena of equipment such as carrier roller falling, jamming, chute material leakage, material blockage, belt deviation and the like is up to 65% in the first stage and 80% in the second stage, the predictive maintainability of the equipment is improved, the timeliness of fault treatment is ensured, and the running state degradation of the equipment is avoided; 2) through the main fault analysis of the operation of the belt conveyor equipment, the intelligent patrol robot is developed, and the operation temperature change of the carrier roller and the operation state of the carrier roller are monitored through thermal infrared rays, so that the dynamic comparison, the dynamic analysis and the automatic early warning of images are gradually achieved. The functions are as follows: the manual inspection is carried out for 12 hours/time, and the inspection can be carried out for 4 hours/time after the robot is replaced. Originally, through artifical the inspection judgement equipment running state, the error is great. After the robot is successfully developed, the AI data accumulation model is used for resolving, and the abnormal state change of the equipment is sensed, so that the fault can be quickly and accurately judged. The original manual inspection needs to be in multi-party contact when finding problems, and the equipment failure processing is delayed. The robot can realize intelligent tracking and real-time point-to-point alarming. The original manual inspection is limited by the field space, and the safety risk is higher. The robot can realize accurate location, and the error accuracy is less than 5mm, and can auto-induction and avoid the barrier.
Drawings
FIG. 1 is a functional diagram of a robotic inspection system;
FIG. 2 is a diagram of the belt inspection robot and its operation status;
in the figure: 1. the robot comprises a monitoring background, 2, a robot body, 3, a robot manual remote control panel, 4, a robot self state panel, 5, inspection task editing and management, 6, a robot real-time position, 7, graphic image analysis and identification, 8, historical data query and statistics, 9, data report summarization, 10, real-time alarm, 11, a high-definition visible light camera, 12, an infrared thermal imager, 13, directional MIC,14 and a loudspeaker.
The specific implementation mode is as follows:
for the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.
Example 1: referring to fig. 1, a robot with an intelligent patrol early warning function comprises a monitoring background 1 and a robot body 2; a display screen on the monitoring background 1 displays a real-time monitoring picture of a high-definition camera 11 in the robot body 2 and feeds back equipment temperature rise detection data of an infrared thermal imager 12 in the robot body 2; meanwhile, the monitoring background 1 checks a robot manual remote control panel 3 and a robot self state panel 4 of the robot body 2, a directional MIC13 is installed in the robot body, the real-time position 6 of the robot can be inquired in the monitoring background 1 in real time, the monitoring background 1 generates a graphic image analysis and identification 7 and a historical data inquiry and statistics 8 log according to an equipment operation picture fed back by the robot body 2 and data detected by the infrared thermal imager 12 on the temperature rise of the equipment, the monitoring background 1 carries out analysis and recording of a data report summary 9, and the monitoring background 1 feeds back a real-time alarm 10 condition according to fault abnormal phenomena such as equipment thermal defect, environmental abnormality and the like detected by the robot body 2.
The belt inspection robot comprises a running track system, a running control system, a running positioning system, a visual perception detection system, a wireless network communication system and a data analysis master control system, wherein the running track system controls the running track of the belt inspection robot, the running control system controls the front, the back, the left and the right of the belt inspection robot, the upper, the lower, the magnification and the reduction are performed, the running positioning system provides the position of the belt inspection robot, the position of a fault problem point, the visual perception detection system realizes image acquisition by the belt inspection robot through a visual perception sensor, the wireless network communication system is a transmission and connection device for each control signal, the data analysis master control system is a computer host part, various acquired data are subjected to background processing through programs, and a final command is sent.
As an improvement of the invention, the operation track system comprises a vehicle body, a track operation driving mechanism, a battery charging system and the like, the robot has a climbing capability of 30 degrees, wherein a track cleaning device, a track obstacle avoidance detection sensor and a joint axis mechanical arm are arranged on the robot body, a camera holder is arranged on the mechanical arm, and the camera holder can rotate in the horizontal direction and perform pitching motion in the vertical direction; the mechanical arm is provided with a running channel obstacle avoidance detection sensor; the robot running track is laid in an overhead manner, the track is arranged according to actual conditions on site and is used for running the robot, detecting the running conditions of carrier rollers at the left side and the right side of the belt, detecting the running conditions of a driving motor, a torque-limiting hydraulic coupler and a speed reducer, detecting the temperature and vibration of the belt, deviating the belt, tearing, layering a joint, burrs, bulges, slipping the belt and the like; the up-slope section of the running track is provided with a running rack to prevent the robot from slipping up and down; the battery supplies power to the running track system, the motion control system, the running positioning system and the visual perception detection system by the charging system; the fixed position installation fills electric pile on the orbit, patrols and examines the robot when non-operating condition and charges, or patrols and examines will move automatically to the position of charging when robot self automated inspection electric quantity is not enough and charge.
As an improvement of the invention, the operation control system comprises board cards comprising a programmable controller, a communication board card, an I/O board card, a signal acquisition board and the like, wherein the communication board card mainly provides information communication, and a wireless communication network is adopted in the scheme; the I/O board card is a wireless remote control module and mainly has driving functions of driving the robot with the functions of routing inspection and early warning to walk, monitor and operate and the like; the signal acquisition board is an acquisition, collection and analysis module of various sensors of the robot with the intelligent patrol early warning function. The running and the positioning of the inspection robot, the expansion and the retraction of a joint shaft mechanical arm, the rotation of a camera cloud deck and the like are controlled by a programmable controller program;
as an improvement of the invention, the robot operation positioning system comprises an RFID chip reader-writer, a positioning detection sensor and an absolute value encoder, wherein the robot body is provided with the positioning RFID chip reader-writer, the positioning detection sensor and the absolute value encoder, so that the robot positioning function is realized; arranging an RFID chip and a group of position detection marks at the position of each two groups of carrier roller supports and each group of lower carrier rollers on the running track; and on the running track, an RFID chip and a group of position detection marks are respectively arranged at the positions of the driving motor, the torque-limiting type hydraulic coupler and the speed reducer.
As an improvement of the invention, the visual perception and detection system comprises a visual identification camera, a temperature measurement type thermal infrared imager and a vibration detector, wherein the visual identification camera (the belt linear velocity is 2.512m/s, the roller diameter is 133mm), the online temperature measurement type thermal infrared imager and the vibration detector are arranged on a holder matched with the camera; the hardware part of the detection system is arranged in the sealing box, is opened for detection when in work, is sealed and dustproof when not in work, and has protection grade IP 65; the end of each conveying carrier roller is stuck with a reflective mark. As an improvement of the present invention, the wireless network communication system is specifically as follows: the inspection robot and the data analysis and master control system adopt a gigabit wireless network bridge mode for data transmission and mutual communication, a wireless network bridge is installed on an inspection robot body and a data processing background, and a certain number of fixed base stations are installed at the positions without obstacles according to the specific conditions on site.
As an improvement of the invention, the data analysis master control system comprises a server computer and a software analysis system which are connected with the wireless network communication system. And the monitoring background displays the early warning information and the fault information detected by the robot, automatically generates various fault reports and sends the fault reports to related personnel in time, and the related personnel process the reports according to the responsibilities.
According to the scheme, an intelligent inspection robot system is built to replace manpower to complete inspection work of a material conveying belt; the inspection robot system has the characteristics of dust resistance, moisture resistance and severe environment resistance, and has the functions of flat road walking, climbing, turning and the like; the video data transmission system has the advantages that the video data transmission system has all-round coverage of wireless signals, wireless data transmission capacity and enough bandwidth for video data transmission; the system has video monitoring, image snapshot, heat source acquisition, fault positioning and remote transmission early warning capability and data acquisition capability; monitoring and alarming abnormal conditions such as material leakage, material blockage, carrier roller falling and the like; the system has the capability of presetting and tracking routing inspection key points, and can carry out real-time monitoring and fault alarming on the site in a remote centralized control center. The inspection robot can carry out all-round, multi-functional monitoring and make timely early warning to equipment during equipment operation, and is significant to guarantee equipment normal operating, guarantee workman life safety, reduce electromechanical accident, improve production efficiency. Therefore, it is a necessary trend to use the inspection robot to replace the manual inspection of the large-scale equipment. The belt inspection robot adopts intelligent sensing, fault diagnosis, automatic control and information communication technologies, and adopts an intelligent inspection system and the like to replace fixed personnel for inspection, so that intelligent monitoring and control of a conveying system are realized, and personnel are reduced. The robot is adopted to inspect the belt conveyor, and firstly the robot is required to reach equipment to be detected or an equipment detection point, so that the form and the walking mechanism of the inspection robot are the primary task and the key point of the inspection robot. The belt conveyor body is long, the hanger rail type inspection robot can effectively solve the problem of inspection of belt conveyor equipment, and the problems that the ground mobile robot is limited in movement and monitoring range can be overcome. And the advantage of the track can be fully utilized, the reasonable routing inspection can be carried out according to the preset laying route without considering the road condition, and meanwhile, the visual field advantage is good. The intelligent inspection robot for the hanger rail type belt conveyor can erect space rails capable of passing through each detection position in spaces on two sides of the belt conveyor according to installation layout, structural characteristics and detection positions of the belt conveyor, and the detection robot moves along the rails and detects, monitors and warns equipment. The operation is stable, patrols and examines in succession, intelligent identification, accurate location, regularly monitors, in time reports to the police.
The working principle is as follows: referring to fig. 1-2, a robot with an intelligent inspection early warning function sequentially numbers detection positions such as a belt conveying carrier roller detection position, a driving motor, a torque-limiting hydraulic coupler, a speed reducer belt front detection position, a belt back detection position and the like, and writes the numbers into an RFID chip on a track by an RFID chip reader-writer; a group of position detection marks are arranged at detection positions such as each belt conveying carrier roller, each driving motor, each torque-limiting hydraulic coupler, each speed reducer, each belt front side detection position, each belt back side detection position and the like; when in detection, the robot walks along the annular track under the control of the robot running and motion control system (the detection time can be set to be timing detection and random detection);
when a positioning detection sensor on the robot operation positioning system detects a position detection mark on a track, the robot operation positioning system decelerates and stops positioning, and an RFID chip reader-writer on the robot operation positioning system automatically reads data of an RFID chip on the track so as to identify detection positions such as a belt conveying carrier roller, a driving motor, a torque-limiting type hydraulic coupler, a speed reducer, a belt front detection position, a belt back detection position and the like;
the robot operation and motion control system calls motion and action parameters of corresponding positions, controls the joint shaft mechanical arm to expand according to a specified program, and controls the cloud deck matched with the camera to rotate to corresponding positions;
a visual recognition camera shoots the rotary identification of the conveying carrier roller, and an online temperature measurement type thermal infrared imager shoots the position of a bearing of the conveying carrier roller;
when the RFID chip data is identified at the position of the driving motor or the torque-limiting hydraulic coupler or the speed reducer, the robot operation and motion control system calls motion and action parameters of a corresponding position, a cradle head matched with a joint shaft mechanical arm and a camera rotates to a corresponding position, an online temperature-measuring thermal infrared imager thermally images the driving motor or the torque-limiting hydraulic coupler or the speed reducer, and a vibration detector detects vibration of the driving motor or the torque-limiting hydraulic coupler or the speed reducer;
when the RFID chip data identifies the position of the belt front detection position or the belt back detection position, the robot operation and motion control system calls the motion and action parameters of the corresponding position, the cradle head matched with the joint shaft mechanical arm and the camera rotates to the corresponding position, and the visual identification camera respectively shoots the front side or the back side of the belt (shoots the belt to rotate for one circle or two circles);
after each position is detected, the data and the detection pictures are sent to a background server of the data analysis and master control system through a wireless network communication system, and the background server processes the data;
after the detection is finished, the robot operation and motion control system and the robot operation positioning system control the robot to automatically operate to the next position detection identification point to start detection;
sequentially detecting until all detection points are completely detected;
after all the detection is finished, the robot operation and motion control system controls the robot to operate to a fixed position, stop and charge;
the robot running and motion control system detects the running channel and the obstacles on the track according to the running channel obstacle avoidance detection sensor and the track obstacle avoidance detection sensor in the running process of the robot, and once the obstacles are found, the robot and the robot vision perception and detection system stop running and send out alarm signals;
the track cleaning device cleans the track on the advancing road in the running process of the robot;
fixed point detection: carrying out fixed point detection on the conveying carrier roller which is found to be possibly faulty, manually sending a fixed point detection instruction and a conveying carrier roller position number to a robot through a wireless network communication system in a data analysis and master control system, automatically running the robot to the conveying carrier roller position designated by the data analysis and master control system through a robot running positioning system, automatically detecting by a robot visual perception and detection system, sending position data and photos of each point position to a data analysis and master control system background server through the wireless network communication system after detection is finished, and processing the data by the background server;
the data analysis and master control system analyzes the pictures of the visual recognition camera and judges whether the conveying carrier roller has a fault according to whether the conveying carrier roller rotates and whether the rotating speed changes remarkably or not relatively normally;
the data analysis and master control system analyzes the pictures of the online temperature measurement type thermal infrared imager and judges whether the bearing is damaged or not according to the temperature of the bearing of the conveying roller;
the data analysis and master control system analyzes the on-line temperature measurement type thermal infrared imager photo and judges whether the temperature rise of the driving motor, the torque-limiting hydraulic coupler and the speed reducer is too high or not according to the temperatures of the driving motor, the torque-limiting hydraulic coupler and the speed reducer;
the data analysis and master control system analyzes the detection data of the vibration detector and judges whether the vibration of the driving motor, the torque-limiting hydraulic coupler and the speed reducer is too large;
the data analysis and master control system analyzes the photo of the visual recognition camera to judge whether the belt has the phenomena of deviation, tearing, joint rise, burrs, bulges, belt slippage and the like;
the data analysis and master control system analyzes the data and the photo, sends early warning information to the found fault, confirms suspected faults manually, or requires fixed-point detection again or confirms the faults or confirms no faults, and sends fixed-point detection information to the inspection robot through the wireless network communication system which requires fixed-point detection again;
automatically generating an analysis report after each detection and analysis;
generating a timing report according to requirements;
generating a file record of the operation of the online equipment;
and the monitoring background displays the early warning information and the fault information detected by the robot, automatically generates various fault reports and sends the fault reports to related personnel in time, and the related personnel process the reports according to the responsibilities.
The rotation condition of each carrier roller on the belt conveyor, the infrared imaging acquisition temperature and the like are acquired through the inspection robot and the field vision, transmitted to the data analysis and master control system through a wireless network, and analyzed by background software of the data analysis and master control system to send carrier roller damage early warning information.
The temperature of the driving motor, the torque-limiting hydraulic coupler and the speed reducer is acquired through infrared imaging on site by adopting the inspection robot, the temperature is transmitted to the data analysis and master control system through a wireless network, and after the data analysis and master control system background software analyzes the data analysis and master control system background software, the temperature early warning information of the driving motor, the torque-limiting hydraulic coupler and the speed reducer is sent out.
Through adopting the inspection robot, carry out visual inspection to conveyor belt positive and negative both sides and shoot, the belt photo passes through wireless network transmission to data analysis and total control system, is carried out the back by data analysis and total control system backstage software and is analyzed, sends the belt and damages early warning information.
The specific contents and technical routes of implementation are as follows:
(1) a set of intelligent inspection robot system is built to replace the manual work to complete the operation state monitoring work of the material conveying belt equipment.
(2) The inspection robot system has the characteristics of dust resistance, moisture resistance and severe environment resistance;
(3) the device has the capabilities of walking on a flat road, climbing at 45 degrees and turning, can automatically sense and avoid obstacles, and has the capability of video monitoring;
(4) the system has the advantages of omnibearing coverage of wireless signals, wireless data transmission capacity and enough bandwidth for video data transmission;
(5) the system has AI data acquisition and accumulation functions, realizes the updating and perfection of a background database, and establishes an equipment running state model;
(6) monitoring and alarming abnormal conditions such as material scattering, carrier roller falling and the like;
(7) the system has the capability of presetting and tracking routing inspection key points, and can carry out real-time monitoring and fault alarming on the site in a remote centralized control center;
(8) the robot has self-detection alarm capability;
(9) an expansion interface is reserved, and expansion equipment including a laser scanner, a thermal infrared imager, other sensors needed in the future and the like can be added on the inspection robot.
It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and all equivalent modifications and substitutions based on the above-mentioned technical solutions are within the scope of the present invention as defined in the claims.
Claims (8)
1. A robot with an intelligent inspection early warning function is characterized by comprising a monitoring background and a robot body; a display screen on the monitoring background displays real-time monitoring pictures of a high-definition camera in the robot body and feeds back equipment temperature rise detection data of an infrared thermal imager in the robot body; meanwhile, a monitoring background checks a manual robot remote control panel of the robot body and a self-state panel of the robot, a directional MIC13 is installed in the robot body to inquire the real-time position of the robot in the monitoring background in real time, a monitoring background 1 generates a graphic image analysis identification and historical data inquiry statistical log according to an equipment running picture fed back by the robot body and data detected by an infrared thermal imager on equipment temperature rise, the monitoring background analyzes and records a data report summary, and the monitoring background feeds back real-time alarm conditions according to fault abnormal phenomena such as equipment thermal defects, environmental abnormalities and the like detected by the robot body.
2. The robot with the intelligent patrol inspection early warning function according to claim 1, wherein the belt patrol inspection robot comprises a running track system, a running control system, a running positioning system, a visual perception detection system, a wireless network communication system and a data analysis master control system, the running track system controls the running track of the belt patrol inspection robot, the running control system controls the front, back, left and right of the belt patrol inspection robot, the up and down, magnification and reduction of the running positioning system provide the position of the belt patrol inspection robot, the position of a fault point, the visual perception detection system realize image acquisition by the belt patrol inspection robot through a visual perception sensor, the wireless network communication system is a transmission and communication device of each control signal, the data analysis master control system is a computer host part and carries out background processing on various acquired data through a program, and issuing a final instruction.
3. The robot with the intelligent inspection early warning function according to claim 2, wherein the operation track system comprises a vehicle body, a track operation driving mechanism and a battery charging system, the robot has a climbing capability of 30 degrees, a track cleaning device, a track obstacle avoidance detection sensor and a joint axis mechanical arm are arranged on the robot body, a camera holder is arranged on the mechanical arm, and the camera holder can rotate in the horizontal direction and perform pitching motion in the vertical direction; the mechanical arm is provided with a running channel obstacle avoidance detection sensor; the robot running track is laid in an overhead manner, the track is arranged according to actual conditions on site and is used for running the robot, detecting the running conditions of carrier rollers at the left side and the right side of the belt, detecting the running conditions of a driving motor, a torque-limiting hydraulic coupler and a speed reducer, detecting the temperature and vibration of the belt, deviating the belt, tearing, layering a joint, burrs, bulges, slipping the belt and the like; the up-slope section of the running track is provided with a running rack to prevent the robot from slipping up and down; the battery supplies power to the running track system, the motion control system, the running positioning system and the visual perception detection system by the charging system; the fixed position installation fills electric pile on the orbit, patrols and examines the robot when non-operating condition and charges, or patrols and examines will move automatically to the position of charging when robot self automated inspection electric quantity is not enough and charge.
4. A robot having intelligent patrol inspection early warning function according to claim 3, wherein the operation control system comprises boards including a programmable controller, a communication board, an I/O board, a signal acquisition board and the like, the communication board mainly provides information communication and adopts a wireless communication network; the I/O board card is a wireless remote control module and mainly has driving functions of driving the robot with the functions of routing inspection and early warning to walk, monitor and operate and the like; the signal acquisition board is an acquisition, collection and analysis module of various sensors of the robot with the intelligent patrol early warning function; the operation and the positioning of the inspection robot, the expansion and the retraction of the joint shaft mechanical arm and the rotation of the camera holder are controlled by a programmable controller program.
5. A robot with intelligent patrol inspection early warning function according to claim 3 or 4, wherein the robot operation positioning system comprises an RFID chip reader-writer, a positioning detection sensor and an absolute value encoder, the robot body is provided with the positioning RFID chip reader-writer, the positioning detection sensor and the absolute value encoder, and the robot positioning function is realized; arranging an RFID chip and a group of position detection marks at the position of each two groups of carrier roller supports and each group of lower carrier rollers on the running track; and on the running track, an RFID chip and a group of position detection marks are respectively arranged at the positions of the driving motor, the torque-limiting type hydraulic coupler and the speed reducer.
6. A robot with intelligent inspection early warning function according to claim 5, wherein the visual perception detection system comprises a visual recognition camera, a temperature measurement type thermal infrared imager and a vibration detector, and the visual recognition camera, the online temperature measurement type thermal infrared imager and the vibration detector are mounted on a holder equipped with the camera; the hardware part of the detection system is arranged in the sealing box, is opened for detection when in work, is sealed and dustproof when not in work, and has protection grade IP 65; the end of each conveying carrier roller is stuck with a reflective mark.
7. The robot with the intelligent patrol inspection early warning function according to claim 6, wherein the wireless network communication system specifically comprises the following components: the inspection robot and the data analysis and master control system adopt a gigabit wireless network bridge mode for data transmission and mutual communication, a wireless network bridge is installed on an inspection robot body and a data processing background, and a certain number of fixed base stations are installed at the positions without obstacles according to the specific conditions on site.
8. A robot with intelligent patrol inspection early warning function according to claim 6, wherein the data analysis master control system comprises a server computer and a software analysis system which are connected with the wireless network communication system, the monitoring background displays early warning information and fault information detected by the robot, various fault reports are automatically generated and sent to relevant personnel in time, and the relevant personnel process the fault reports according to duties.
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| CN117607162A (en) * | 2023-11-23 | 2024-02-27 | 合肥巨阙电子有限公司 | LCD screen automatic inspection monitoring system and method based on Yolo v5 algorithm |
| CN118329127A (en) * | 2024-06-12 | 2024-07-12 | 常州百年智能科技有限公司 | Underground pipe gallery dynamic monitoring device |
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