CN113816096A - Coal conveying belt inspection method, device and system and storage medium - Google Patents

Coal conveying belt inspection method, device and system and storage medium Download PDF

Info

Publication number
CN113816096A
CN113816096A CN202110969341.XA CN202110969341A CN113816096A CN 113816096 A CN113816096 A CN 113816096A CN 202110969341 A CN202110969341 A CN 202110969341A CN 113816096 A CN113816096 A CN 113816096A
Authority
CN
China
Prior art keywords
inspection
belt
target
task
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110969341.XA
Other languages
Chinese (zh)
Other versions
CN113816096B (en
Inventor
魏永利
刘亚平
李延伟
关云龙
卢戬
邢旭光
郝秉迎
朱潘鑫
王凯杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qinyang Power Generation Branch Of State Power Investment Group He'nan Electric Power Co ltd
Shanghai Power Equipment Research Institute Co Ltd
Original Assignee
Qinyang Power Generation Branch Of State Power Investment Group He'nan Electric Power Co ltd
Shanghai Power Equipment Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qinyang Power Generation Branch Of State Power Investment Group He'nan Electric Power Co ltd, Shanghai Power Equipment Research Institute Co Ltd filed Critical Qinyang Power Generation Branch Of State Power Investment Group He'nan Electric Power Co ltd
Priority to CN202110969341.XA priority Critical patent/CN113816096B/en
Publication of CN113816096A publication Critical patent/CN113816096A/en
Application granted granted Critical
Publication of CN113816096B publication Critical patent/CN113816096B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/04—Bulk
    • B65G2201/045—Sand, soil and mineral ore
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the invention discloses a coal conveying belt inspection method, a device, a system and a storage medium. The method is applied to a coal conveying belt inspection system, the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the method comprises the following steps: the polling management platform acquires the working state information of the belt from the coal conveying program control system; the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot; and the target inspection robot executes the corresponding target inspection task according to the received target task information. By adopting the technical scheme, the embodiment of the invention can enable the inspection management platform to correspondingly generate different inspection tasks according to different working states of the belt by acquiring the working state information of the belt from the coal conveying program control system, thereby achieving the technical effect that the inspection robot autonomously inspects according to the corresponding inspection tasks.

Description

Coal conveying belt inspection method, device and system and storage medium
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to a coal conveying belt inspection method, a coal conveying belt inspection device, a coal conveying belt inspection system and a storage medium.
Background
The safety production of power plants is the most important, and all power generation enterprises pay great attention to the safety production. The coal conveying system is an accident high-rise system of a coal-fired power plant, and the coal conveying corridor has a special environment, and has a long coal conveying line, a poor environment and more pulverized coal, so that a fire disaster is easy to happen.
At present, the mode of the artifical inspection that coal fired power plant generally adopted examines coal conveying belt, in view of above-mentioned reason, requires that the operation personnel carry out frequent patrolling and examining to coal conveying line, in time discovers the problem, and it is big to have intensity of labour, and operational environment is abominable, patrols and examines problems such as effect unstability. In order to reduce labor cost, the existing coal conveying belt inspection robot can replace manual inspection to a certain extent, however, the inspection mode of the existing coal conveying belt inspection robot has the problems of poor flexibility and the like, and needs to be improved.
Disclosure of Invention
The embodiment of the invention provides a coal conveying belt inspection method, a device, a system and a storage medium, which can optimize the existing coal conveying belt inspection scheme based on a coal conveying belt inspection robot.
In a first aspect, an embodiment of the present invention provides a coal belt inspection method, which is applied to a coal belt inspection system, where the coal belt inspection system includes an inspection management platform and an inspection robot, and the method includes:
the polling management platform acquires the working state information of the belt from the coal conveying program control system;
the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot;
and the target inspection robot executes a corresponding target inspection task according to the received target task information.
In a second aspect, an embodiment of the present invention provides a coal belt inspection device, which is integrated in a coal belt inspection system, where the coal belt inspection system includes an inspection management platform and an inspection robot, the device includes a belt information acquisition module and an inspection task information sending module configured in the inspection management platform, and further includes an inspection task execution module configured in the inspection robot, where:
the belt information acquisition module is used for acquiring the working state information of the belt from the coal conveying program control system;
the inspection task information sending module is used for determining a target inspection robot and a corresponding target inspection task according to the belt working state information and sending target task information corresponding to the target inspection task to the target inspection robot;
and the inspection task execution module is used for executing the corresponding target inspection task according to the received target task information.
In a third aspect, an embodiment of the present invention provides a coal belt inspection system, including an inspection management platform and an inspection robot, where the inspection management platform and the inspection robot include a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the coal belt inspection method provided in the embodiment of the present invention is implemented.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements a coal belt inspection method as provided by embodiments of the present invention.
According to the coal conveying belt inspection scheme provided by the embodiment of the invention, by adopting the technical scheme, the coal conveying belt inspection method can be applied to a coal conveying belt inspection system, the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the inspection management platform acquires the working state information of the belt from a coal conveying program control system; then the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot; and the target inspection robot executes the corresponding target inspection task according to the received target task information. By adopting the technical scheme, the embodiment of the invention can enable the inspection management platform to correspondingly generate different inspection tasks according to different working states of the belt by acquiring the working state information of the belt from the coal conveying program control system, thereby achieving the technical effect that the inspection robot autonomously inspects according to the corresponding inspection tasks.
Drawings
FIG. 1 is a schematic flow chart of a coal belt inspection method according to an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of another method for inspecting a coal belt according to an embodiment of the present invention;
FIG. 3 is a block diagram of a coal belt inspection device according to an embodiment of the present invention;
fig. 4 is a block diagram of a coal belt inspection system according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a schematic flow diagram of a coal belt inspection method according to an embodiment of the present invention, which may be implemented by a coal belt inspection device, wherein the device may be implemented by software and/or hardware, and may be generally integrated in a coal belt inspection system.
Before thermal power generation, fuel needs to be transported, and China has abundant coal resources, so coal combustion is generally selected for power generation. During power generation, because more coal is needed, coal conveying belts are generally used for conveying coal, generally a plurality of coal conveying belts are conveyed simultaneously, but in the conveying process, the coal conveying belts may have various situations such as coal blockage at the belt heads, belt damage or belt deviation. Therefore, various states of each belt need to be monitored so as to timely process the coal conveying belt influencing normal work, and the coal conveying belt inspection system can be understood as a related system for monitoring the working state of the belt during coal conveying.
Wherein, defeated coal belt system of patrolling and examining includes patrols and examines management platform and patrols and examines the robot.
Exemplarily, the coal conveying belt inspection system can comprise a plurality of functional modules, for example, a video monitoring functional module, an infrared temperature measurement functional module, an audio detection functional module, an environment temperature measurement functional module, an audio and video remote transmission functional module, a positioning functional module, an anti-collision functional module, an automatic inspection functional module, a manual remote control inspection functional module, a two-way voice talkback functional module, a robot self-inspection functional module, a personnel intrusion detection functional module, a foreign matter identification functional module and the like.
For example, the inspection robot may be configured to perform a corresponding inspection task through one or more of the functional modules, and generally, the number of the inspection robots is multiple, and the specific number is not limited herein.
Specifically, as shown in fig. 1, the coal belt inspection method provided by the embodiment of the invention includes:
s110, the patrol inspection management platform acquires the working state information of the belt from the coal conveying program control system.
The coal conveying program control system is also called a coal conveying program control system, can be used for coal conveying control in power generation of a power plant, and can comprise coal feeding program control, coal blending program control, upper computer monitoring and the like. The embodiment of the present invention does not limit the specific type of the coal-conveying program Control System, and includes, for example, a Distributed Control System (DCS), a Programmable Logic Controller (PLC), or a plant-level monitoring System (SIS).
In the related technology, the coal conveying program control system and the coal conveying belt inspection system work independently, no communication relation exists, the coal conveying belt inspection system executes an inspection task according to inherent inspection logic of the coal conveying belt inspection system, periodic inspection is generally carried out by adopting fixed frequency, the type, the content and the like of the inspection task are fixed, the working state of the belt cannot be considered, and therefore inspection opportunity, inspection frequency and the like cannot be adapted to the working state of the belt, and flexibility is poor.
In the embodiment of the invention, the inspection management platform can be communicated with the coal conveying program control system, so that the working state information of the belt is acquired from the coal conveying program control system, and the follow-up targeted inspection task is conveniently executed. The belt operating status information includes, but is not limited to, a normal operating status, a fault status, a stop status, and the like. The time or frequency for obtaining the belt working state information is not limited, for example, the belt working state information can be obtained in the coal feeding program control stage and the coal blending program control stage, and for example, the belt working state information can be obtained in real time. The specific existence form of the belt working state information is not limited, and for example, the coal conveying belt working state information may be a coal conveying belt operation signal (for example, a pulse signal) output by the coal conveying program control system to the inspection management platform, and at this time, the inspection management platform and the coal conveying program control system may communicate based on a wired manner. Of course, the patrol inspection management platform and the coal conveying program control system can also communicate in a wireless mode, and the specific communication mode is not limited.
S120, the inspection management platform determines the corresponding target inspection robot and the target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot.
For example, each inspection robot may inspect a specified number of belts, or a fixed number of inspection robots may inspect belts in a specified area. Each belt can correspondingly generate different working states, the inspection management platform can determine that the inspection robot corresponding to the current belt is the target inspection robot according to the working state information of the current belt, the inspection task corresponding to the working state information of the current belt is executed as the target inspection task, and the inspection management platform can send target task information corresponding to the target inspection task to the target inspection robot. Optionally, the corresponding relationship between the different belt working state information and the inspection robot and the inspection task may be pre-established, and after the belt working state information is obtained, the corresponding target inspection robot and the target inspection task are determined by inquiring the corresponding relationship.
The target inspection task can be understood as an inspection task which is executed by the target inspection robot and needs to be controlled by the inspection management platform under different working states of the belt.
Further, the target task information corresponding to the target inspection task may be understood as corresponding information obtained when the target inspection robot executes the inspection task, and may be, for example, a code of the target inspection task or specific task content in the target inspection task. The task content can include, for example, inspection opportunity, inspection frequency, an area to be inspected, a belt to be inspected, a point to be inspected, inspection content and the like, and the inspection content can include, for example, image acquisition, infrared temperature measurement, meter reading, audio detection, environment monitoring, foreign matter detection, coal chute blockage detection, coal conveying belt deviation detection, belt tearing detection, personnel intrusion detection and the like, and is not particularly limited.
For example, when the working state information of the belt a is normal, the target inspection task of the target inspection robot corresponding to the current belt may be to periodically inspect the belt a, and the corresponding target task information may be to detect the working temperature of the belt a, detect the temperature of the power box corresponding to the belt a, obtain the ground sanitation condition of the head of the belt a, perform foreign object detection on the belt a, and the like.
In the working process of the belt, various faults can occur, such as belt deviation, and the belt deviation can be divided into slight deviation, moderate deviation and severe deviation according to the deviation degree of the belt. The belt is slight off tracking, and the influence to the normal during operation of belt is not big, if for moderate off tracking or severe off tracking will produce the influence to belt coal conveying effect, for example, the coal conveying effect is relatively poor, needs revise the belt this moment, consequently needs the target to patrol and examine the running state that the robot patrolled and examined the belt to patrol and examine the information feedback that obtains to patrolling and examining management platform with it for the operator makes clear and makes clear up the actual state of belt.
For example, when the belt operating state information is belt fault information, the target inspection task of the target inspection robot corresponding to the current belt may be to inspect the faulty belt, for example, the inspection task is to inspect the faulty belt B.
When the working state information of the belt B is belt fault information, the target inspection task of the target inspection robot corresponding to the current belt can be inspection of the fault belt B, and the corresponding target task information can comprise position information, belt fault types and the like of the inspection of the fault belt B. The fault type can be belt coal blockage, light fault of a train sampling machine or heavy fault of the train sampling machine and the like. The inspection content can comprise the collection of images of a deviation switch or the collection of images of the appearance of a train sampler and the like.
For example, the condition that the information of the working states of a plurality of belts detected by the same inspection robot is inconsistent may exist, and the current inspection robot can perform inspection according to the priority sequence of the task emergency degree. For example, if the belt to be inspected of the current inspection robot is detected to be in a normal working state and is detected to be in a belt fault state, the inspection of the belt in the fault state is preferentially carried out, and then inspection task information corresponding to the belt in the normal working state is inspected.
Optionally, when a fixed number of inspection robots inspect belts in a designated area, the inspection robots may monitor that belts in the same area have different working states, and an inspection priority may be set for the inspection robots in the fixed number, for example, when a belt in a fault state exists in the current area, the inspection management platform preferably designates the inspection robot X to autonomously inspect an inspection task corresponding to the belt in the fault state; if a plurality of belt faults exist, the inspection robot X, the inspection robot Y and the inspection robot Z are appointed to perform inspection tasks corresponding to the inspection fault state belt in a self-service mode according to the priority sequence, and the rest inspection robots perform corresponding inspection tasks in the normal work state of the belt.
It should be noted that, the embodiment of the present invention does not limit the setting manner of the priorities of the inspection robot and the inspection event.
S130, the target inspection robot executes the corresponding target inspection task according to the received target task information.
Illustratively, the target inspection robot executes a corresponding target inspection task according to target task information sent by the inspection management platform, and sends related data information acquired in the process of the executed target inspection task to the inspection management platform, so that the inspection management platform can count or analyze the actual state and related data of each belt, and a worker can remotely acquire the related information of the belt through the inspection management platform to perform corresponding processing in a targeted manner.
The coal conveying belt inspection method provided by the embodiment of the invention is applied to a coal conveying belt inspection system, wherein the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the inspection management platform acquires the working state information of a belt from a coal conveying program control system; then the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot; and the target inspection robot executes the corresponding target inspection task according to the received target task information. By adopting the technical scheme, the embodiment of the invention can enable the inspection management platform to correspondingly generate different inspection tasks according to different working states of the belt by acquiring the working state information of the belt from the coal conveying program control system, thereby achieving the technical effect that the inspection robot autonomously inspects according to the corresponding inspection tasks.
Example two
The embodiment of the invention is further optimized on the basis of the embodiment, optimizes the condition that when the belt working state information contains belt starting information, the patrol inspection management platform determines the corresponding target patrol inspection robot and the target patrol inspection task according to the belt working state information, and comprises the following steps: when the inspection management platform acquires the belt starting information, the target inspection robot is determined to be an inspection robot used for periodic inspection, and the corresponding target inspection task is determined to be a running period periodic inspection task. The advantage that sets up like this lies in making the target patrol and examine the robot and can in time start the periodic task of patrolling and examining of operating period after the belt starts for it has pertinence and flexibility to patrol and examine the robot and patrol and examine the task.
The target inspection robot executes a corresponding target inspection task according to the received target task information, and the method comprises the following steps: when the target inspection robot receives target task information corresponding to the running period periodic inspection task, the running period periodic inspection task is executed at a first preset frequency from the current moment. The advantage that sets up like this lies in that the target patrols and examines the robot and can carry out periodic autonomic patrolling and examining, has pertinence to the belt operating period and has carried out the patrolling and examining of assorted frequency, strengthens patrolling and examining the frequency of patrolling and examining the robot.
Fig. 2 is a schematic flow chart of another coal belt inspection method according to an embodiment of the present invention, specifically, the method includes the following steps:
s210, the patrol inspection management platform acquires belt starting information from the coal conveying program control system.
And when the working state information of the belt is in a starting state, the patrol inspection management platform acquires the starting information of the belt from the coal conveying program control system.
When the belt starting information is acquired, the embodiment of the invention provides a preferable scheme, after the inspection management platform acquires the belt starting information and waits for a first preset time, the inspection management platform sends target task information corresponding to the periodic inspection task in the running period to the target inspection robot.
The reason why the patrol inspection management platform sends the target task information corresponding to the operation period periodic patrol inspection task to the target patrol inspection robot after acquiring the belt starting information and waiting for the first preset time is that the belt can be started and stopped in a short time when being started for the first time, the target task information corresponding to the operation period periodic patrol inspection task is sent to the target patrol inspection robot after the belt needs to be started for short-time belt adjustment, and the problem that the patrol inspection result is inaccurate and patrol inspection robot resources are wasted due to the fact that the patrol inspection robot patrols in the starting and stopping test process is avoided.
Wherein, the first preset time length is matched with the belt start-stop test time length.
When the patrol inspection management platform acquires belt starting information from the coal conveying program control system, after a belt start-stop test is finished, the patrol inspection management platform controls the target patrol inspection robot to perform a periodic patrol inspection task in an operation period, so that a first preset time length is matched with the belt start-stop test time length, the time range of the first preset time length is 30 seconds to 90 seconds, preferably 60 seconds, and the specific value of the first preset time length is not limited.
S220, according to the belt starting information acquired by the inspection management platform, the target inspection robot is determined to be an inspection robot used for periodic inspection, and the corresponding target inspection task is determined to be a periodic inspection task in the operation period.
The purpose of periodic inspection is that the target inspection robot is regularly inspected in a certain time according to the current state of the belt operation so as to increase the inspection frequency of the target inspection robot.
The periodic inspection time is a fixed time period, namely when the belt runs, the inspection robot periodically and automatically inspects according to a fixed time interval every fixed time period, so that the inspection frequency is increased.
Optionally, the operator may set the fixed time period according to different inspection requirements, for example, the fixed time period may be 1 hour or 2 hours, and the like, which is not limited herein.
When the working state of the belt is a belt starting state, the target inspection robot inspects the current belt in a periodic inspection mode, and the corresponding target inspection task can be periodic autonomous inspection of the belt which is subjected to the start-stop test.
And S230, sending target task information corresponding to the target inspection task to the target inspection robot.
When the target inspection robot performs periodic autonomous inspection, the corresponding target task information may include: the belt 1 is used for removing relevant information such as temperature measurement of a motor of the block machine, temperature measurement of an outer side shaft of a lower carrier roller of the belt 1, temperature measurement of an outer side shaft of a roller at the head of the belt 1, whether coal is dropped at a coal dropping port of a belt car 1, whether a belt deviation switch 1 is started, temperature measurement of a train sampling machine corresponding to the belt 1 and the like.
Correspondingly, after the No. 2 belt start-stop test is finished, the target inspection robot can also perform related inspection on the No. 2 belt. Wherein, the robot is patrolled and examined to the target can be a plurality of, can carry out periodic patrolling and examining to the belt under a plurality of starting condition simultaneously.
S240, when the target inspection robot receives target task information corresponding to the running period periodic inspection task, the running period periodic inspection task is executed at a first preset frequency from the current moment.
The first preset frequency can be 1 hour, namely when the belt runs, the inspection robot conducts periodic autonomous inspection at intervals of every 1 hour, and the specific periodic inspection time is subject to the actual working state and is not limited.
Alternatively, when the target inspection robot is plural, each target inspection robot may perform the run-time periodic inspection task at the first preset frequency at different time periods. For example, the first target inspection robot periodically inspects the current time period according to the target inspection task at a first preset frequency, and after the first target inspection robot inspects the current time period (for example, half an hour), the second target inspection robot periodically inspects the current time period according to the target inspection task at the first preset frequency. The advantage that sets up like this can make the target patrol and examine the robot and patrol and examine the relevant information of belt at different time quantums respectively to make the data under the belt operating condition of obtaining more comprehensive, the control is more accurate.
An optional embodiment is further optimized on the basis of the embodiment, and when the belt working state information contains belt fault information, the coal conveying belt inspection method comprises the following steps:
a) and the patrol management platform acquires the belt fault information from the coal conveying program control system.
The belt failure may be a failure state at the time of starting the belt or a failure state in a period of normal operation after starting, and the specific belt failure mode is not limited herein.
When a belt fault is monitored, the patrol inspection management platform acquires belt fault information from the coal conveying program control system, wherein the fault information can be specific belt fault and corresponds to name information of the belt, for example, the belt A fault, and the name information is information corresponding to all coal conveying belts one to one.
When the belt fault information is acquired, the embodiment of the invention provides a preferable scheme, and the inspection management platform sends target task information corresponding to the fault inspection task to the target inspection robot after acquiring the belt fault information and waiting for a second preset time.
The reason why the polling management platform sends the target task information corresponding to the fault polling task to the target polling robot after acquiring the belt fault information and waiting for the second preset time is to prevent the coal conveying program control system from sending an error signal to the polling management platform so that the target polling robot executes the corresponding error task, and therefore, the polling management platform waits for the second preset time after acquiring the belt fault information and then sends the target task information corresponding to the fault polling task to the target polling robot.
And the second preset time length is less than the first preset time length.
Generally, the time range of the second preset time period is preset to be 2 seconds to 5 seconds, preferably 3 seconds, and the setting of the specific second time period is not limited herein.
The target task information corresponding to the fault polling task may include fault specific location information corresponding to the polling fault belt and a fault type corresponding to the current fault location information.
b) When the inspection management platform acquires the belt fault information, the type and the position of the fault are determined according to the belt fault information, the target inspection robot is determined according to the position of the fault, and the corresponding target inspection task is determined to be the fault inspection task.
When determining the fault type according to the belt fault information, the fault type comprises the following steps: the fault type can only judge the major factors of the current belt fault, such as the belt A coal blockage, the belt A deviation, the belt A tearing or the fire mining device fault corresponding to the belt A. It needs to know that, contain a plurality of subsections in same belt, it can't know which concrete subsection of current fault condition belt breaks down to patrol and examine the management platform, consequently need patrol and examine the robot and carry out further patrol and examine.
When the routing inspection management platform acquires that the fault information corresponding to the fault belt contains name information, the position information of the fault belt can be known.
According to the coal conveying belt inspection method provided by the embodiment of the invention, when the inspection management platform acquires the belt fault information, the specific position of the current fault belt can be obtained, the target inspection robot can be determined according to the specific position of the fault belt in a mode, the inspection robot closest to the fault occurrence position is determined as the target inspection robot by judging the current inspection position information of each inspection robot, and the fault inspection task is taken as the target inspection task.
c) And the inspection management platform sends target task information which comprises a fault occurrence position and a fault type and corresponds to the fault inspection task to the target inspection robot.
The inspection management platform sends a fault inspection task to the target inspection robot: for example, if the belt A is blocked, the target inspection robot can know that the fault occurrence position is 'belt A' and the fault type is 'coal blockage', and then the target inspection robot inspects the belt A by taking 'belt A coal blockage' as target task information.
d) The target inspection robot extracts a fault occurrence position and a fault type from the received target task information, automatically positions the fault occurrence position, determines inspection contents according to the fault type, and executes a corresponding fault inspection task based on the inspection contents.
The target inspection robot automatically positions to a fault occurrence position according to the acquired belt fault information, and determines inspection contents such as 'belt A coal blockage', the fault type is 'coal blockage', and the fault inspection task of the target inspection robot is to inspect which section of the belt A coal blockage occurs.
Optionally, can be equipped with video monitoring function and accurate positioning function on the target patrols and examines the robot, the target patrols and examines the robot and can learn a section chute blockage through patrolling and examining trouble belt A, then can adopt the video monitoring function to shoot relevant photo and with the positional information transmission of a section to the management platform of patrolling and examining with a section chute blockage condition for the specific situation that the trouble takes place and the specific fault position of trouble belt are made clear to the operation personnel.
For example, if the belt a fails, the target inspection robot performs a corresponding fault inspection task based on inspection contents, and the inspection result may include: coal blockage at the section a of the belt A, deviation at the section b of the belt A, slippage at the section c of the belt A or faults of a fire extraction device corresponding to the belt A and the like. In addition, the target inspection robot can also send related data such as image data, environment monitoring data and the like to the inspection management platform.
In another optional embodiment, the embodiment of the present invention is further optimized on the basis of the above embodiment, and when the belt operating state information includes belt stop information, the coal conveying belt inspection method includes:
a) and the patrol management platform acquires the belt stop information from the coal conveying program control system.
When the working state of the belt is in a stop state, it indicates that the current belt is not running, the obtained stop information of the belt includes the information of the belt currently in the stop state, the information of the belt stop may be name information of the belt currently in the stop state, for example, the belt a stops, and the name information is information corresponding to each other in all the coal conveying belts.
b) When the inspection management platform acquires the belt stop information, the target inspection robot is determined to be an inspection robot for periodic inspection, and the corresponding target inspection task is determined to be a periodic inspection task in a shutdown period.
When the working state of the belt is a belt stop state, the target inspection robot inspects the current belt in a periodic inspection mode.
The corresponding target inspection task is a periodic inspection task in an outage period, and the inspection task of the current target inspection robot can comprise the belt states of all the belts in a stopped state, the belt wear degrees and the like.
On the one hand, the purpose of patrolling and examining the belt state of each belt that is in the stall state is, before the belt normally starts for the running state of each belt is normal operating, prevents the condition that the belt off tracking appears after the belt normally starts, in order to influence belt transmission efficiency. On the other hand, the purpose of inspecting the belt wear degree of each belt in a stop state is to replace the belt in heavy wear in time so as to prevent the belt from breaking due to serious wear after the belt is normally started.
c) The target inspection robot executes the periodic inspection task in the running period at a second preset frequency after receiving target task information corresponding to the periodic inspection task in the outage period, wherein the second preset frequency is lower than the first preset frequency.
The second predetermined frequency may be periodically polling the stopped belt every 4 hours, 6 hours, or 8 hours.
Optionally, the periodic inspection mode may be once a day, and the like, and is not limited herein.
The coal conveying belt inspection method provided by the embodiment of the invention comprises the following steps of: the belt starting information, the belt fault information, the belt stopping information and other conditions determine different inspection tasks for the inspection robot according to different conditions, so that the inspection tool of the inspection robot is pointed and flexible. And through introducing the management platform of patrolling and examining, can strengthen the robot of patrolling and examining and patrol and examine the frequency, trigger simultaneously and patrol and examine the robot and independently patrol and examine for the data of patrolling and examining are more comprehensive.
The application also provides an optional embodiment, and the inspection content that the task corresponds is patrolled and examined to the target includes image acquisition, infrared temperature measurement, meter reading, audio frequency detection, environmental monitoring, foreign matter detection, coal breakage pipe chute blockage detect, coal conveying belt off tracking detects, belt tear detects and personnel intrusion detection in at least one.
When the inspection content comprises infrared temperature measurement, the inspection robot can accurately analyze whether the temperatures of various monitoring points are abnormal or not by acquiring infrared image data of the monitoring points based on an infrared temperature measurement technology when executing an inspection task, and real-time monitoring comprises the surface temperature of a belt, the surface temperature of a carrier roller, the temperature of coal on the belt and the like. The infrared temperature measurement function of the inspection robot comprises an infrared general measurement function and an accurate temperature measurement function: 1) the infrared general survey means that the robot carries out whole regional scanning formula temperature acquisition to all equipment surface temperature fields in the visual field scope at the in-process of walking based on infrared general survey technique, carries out infrared detection and infrared hot diagnosis work to equipment, can effectively avoid regional equipment to be omitted, helps fortune dimension personnel in time to discover equipment defect and unusual hidden danger, provides the basis for the overhaul of the equipments. Under the infrared general survey mode, the robot can carry out regional infrared scanning formula general survey at the walking in-process, parks every 20 meters and gathers infrared thermal imaging picture to equipment, detects the peak in the field of vision scope in real time, effectively keeps the historical image of patrolling and examining for equipment general survey patrolling and examining work, guarantees that when any equipment takes place unusually, all can carry out data tracing back through historical detection data record. 2) The accurate temperature measurement means that the robot carries out temperature tracking detection of multiple angles and multiple point positions on certain equipment according to preset inspection point positions, collected infrared images are subjected to area correction through an equipment positioning algorithm based on feature matching, so that the temperature of the equipment is accurately detected, and whether the equipment has an overheating fault or not is judged according to an equipment temperature detection result.
When the inspection content comprises environment monitoring, the inspection robot can monitor the gas concentration (such as oxygen, carbon monoxide, hydrogen sulfide, methane and other gases), temperature, humidity, smoke and other environmental information in the inspection site through the self-carried environment monitoring module when executing the inspection task. Environmental information acquired by the inspection robot in real time is transmitted to the inspection management platform in real time, and field environmental information is provided for operators. When the inspection robot monitors that the environmental information is abnormal, the inspection management platform gives an alarm to remind an operator to process in time.
When the inspection content comprises image acquisition, the inspection robot can complete the video image acquisition of the field environment and equipment through a high-definition visible light camera carried by the inspection robot when executing an inspection task. Meanwhile, the inspection robot is provided with a light supplement lamp, when the condition that the ambient light is insufficient appears on the spot, the light supplement lamp is automatically turned on, the adaptability of inspection in a low-illumination environment is improved, and the accuracy of video data acquisition is ensured. Based on visible light image data, an operator can check monitoring videos in a background interface and judge whether the conditions of belt head coal blockage, belt deviation, belt abrasion, belt cracking and the like exist on the site.
When the inspection content comprises audio detection, the inspection robot acquires audio information such as field environment sound and equipment running sound through high-sensitivity sound acquisition equipment carried by the inspection robot when executing an inspection task, wherein the high-sensitivity sound acquisition equipment can rotate along with the holder. The system adopts an international leading audio noise reduction algorithm, reduces the interference of environmental noise, enhances the accuracy and reliability of audio information, simultaneously stores and plays audio data after processing, and a background system can display an audio frequency spectrogram, so that operators can listen to audio frequency at the background and check the spectrogram to judge whether field equipment (such as a motor) is abnormal or not.
In addition, the inspection robot can also have an audio and video remote transmission function, can transmit collected information such as visible light images, infrared heat images and field real-time audio of coal conveying belt related equipment and the environment to a background server in real time through a communication system for storage, and transmits the information to a client side through forwarding, and displays the information in a background management interface, so that an operator can check real-time monitoring information through the inspection management platform interface and judge whether the field equipment and the environment are abnormal or not.
In addition, the inspection robot also has an accurate positioning function, can realize accurate positioning by combining a mileage code disc with Radio Frequency Identification (RFID) and other devices, and displays the position of the inspection robot in a map of an inspection management platform system interface in real time. The mileage code disc automatically detects the walking distance of the robot by calculating the number of rotation turns of the tire of the robot, the walking distance is the distance between the inspection robot and the initial position of the inspection robot, so that the position of the inspection robot is positioned, meanwhile, radio frequency identification is used for position calibration at some key point positions (such as an entrance and an exit of a ramp and a curve, a fireproof door area and a charging station area), and the positioning error of the mileage code disc is eliminated.
In addition, the robot of patrolling and examining still can possess the anticollision function, be equipped with the laser detection radar around the robot of patrolling and examining, can detect the barrier of 1.5 meters within range, in the operation process, in case there is the barrier to follow tracks promptly in finding the direction of advance 1.5 meters, park immediately and send out the reputation and report an emergency and ask for help or increased vigilance when the barrier gets into 0.5 meters within range, remind the field personnel to notice, and simultaneously, flexible protection device (crashproof protection switch) on the cooperation structure can reduce the impact when the accident takes place, effectively ensure property and personal safety.
When the inspection robot executes a periodic inspection task, the inspection robot can automatically inspect a path according to a preset planning path, and the automatic inspection mode mainly comprises the following steps: routine polling, special polling, etc., various modes support switching between each other. The inspection robot carries various detection devices such as a high-definition camera, an infrared thermal imager and a pickup, finishes the inspection activities such as visible light photographing, meter reading, infrared temperature measurement and environment monitoring of all devices in an inspection area according to a set rule, automatically transmits inspection data to a background management system for storage, and generates a detection analysis report.
In addition, the inspection robot can also have a manual remote inspection function, namely, the robot can be remotely controlled in real time in a manual remote inspection mode besides automatic inspection. The mode is suitable for the situation that operation personnel and management units need to lock and monitor the state of certain equipment, especially when detecting that equipment and environmental state are abnormal and giving an alarm to the operation personnel in the robot autonomous inspection process, the operation personnel can use the manual remote control interface of the background management system at the first time, the operation personnel quickly reach the position of the abnormal equipment, and check and verify alarm information of the abnormal equipment in time so as to rapidly formulate a response strategy.
In addition, the inspection robot can also have a bidirectional voice talkback function, the inspection robot system carries a bidirectional voice system, and an emergency broadcast speaker and a monitoring microphone are mounted on the inspection robot and used for bidirectional talkback of a monitoring center and field workers. The two-way voice talkback of the inspection robot is combined with the real-time field image acquisition of the inspection robot, so that the remote monitoring and commanding of a monitoring center to the field can be realized. The monitoring center can broadcast audio to the site through the robot audio equipment, can play preset warning audio and can shout in real time to remind workers to handle related events. Meanwhile, the intercom device is used for carrying out real-time communication, and field affairs are efficiently processed.
In addition, the inspection robot can also have a self-checking function, the inspection robot can perform self-checking in the processes of starting and executing tasks, and the self-checking content comprises whether components such as an infrared thermal imager, a high-definition camera, a motor, a holder, a battery, internal storage and various sensors are normal or not. If the part is found to be abnormal, an abnormal state indication is given, and abnormal information is uploaded to the background management system, so that operators can find the robot fault in time conveniently, the processing time is shortened, and the fault solving efficiency is improved. For power-on self-inspection, the ground laser navigation robot is used as a main body of the inspection system and carries main detection equipment to collect various data information at the front end. In order to guarantee the development of the daily work of the robot, the robot can carry out self-checking before starting and patrolling, and the self-checking content comprises an infrared thermal imager, a high-definition camera, a motor, a cradle head, a battery, internal storage, various sensors and the like. If the part is found to be abnormal, an abnormal state indication is given, and system abnormal information is uploaded to the monitoring background, so that operation and maintenance personnel can find the fault in time conveniently, the processing time is shortened, and the fault solving efficiency is improved. For real-time auto. The inspection robot can detect the states of the carrying equipment and the inspection robot in real time in the task execution process, judge the environmental conditions of the scene where the robot is located in real time and determine the site adaptability of the robot. When an abnormality occurs, the robot gives abnormal state knowledge in time, and transmits abnormal information to the monitoring background to remind operation and maintenance personnel to process the abnormal information in time, so that timely elimination of the fault and normal implementation of inspection work are guaranteed.
When the inspection content comprises personnel intrusion detection, the inspection management platform establishes a personnel intrusion identification model, and the inspection management platform trains through a large number of visible light images and infrared images of field workers to realize the detection of the inspection robot on the intrusion of the field workers. During the in-service use, at the manual intrusion detection (acquiescence close) that opens in the backstage, the system uses machine vision identification technique to the real-time visible light video in scene, the infrared video of patrolling and examining the robot collection and carry out the analysis, judges that the on-the-spot region has the personnel through the infrared recognition mode that adds the visible light combination, discovers that personnel get into and patrols and examines the regional then patrols and examines the robot body and send acousto-optic warning, and backstage department sends acousto-optic warning simultaneously reminds staff to notice.
When the inspection content comprises foreign matter detection, the inspection robot can perform image analysis and identification on a coal scattering phenomenon in the running process of the coal conveying belt based on a computer vision identification technology when performing an inspection task, and an identification result is given in an inspection system.
When the inspection robot executes the inspection task, the inspection contents corresponding to the various inspection tasks can be executed at the same time, and the inspection contents corresponding to the specific inspection task are determined according to the working state of the belt, which is not limited herein.
According to the coal conveying belt inspection method provided by the embodiment of the invention, the target inspection task executed by the inspection robot according to different working states of the belt comprises the following steps: the periodic inspection task and the fault inspection task are characterized by comprising the following steps: the operation period periodic polling task and the shutdown period periodic polling task. When the polling task is periodic polling, the coal conveying belt operation signal is acquired through the coal conveying program control system, the robot polling management system is introduced, and the polling frequency of the polling robot is enhanced, so that the aim of detecting the state of the coal conveying belt in the operation period or the outage period is fulfilled. When the polling task is a fault polling task, the fault information of the coal conveying belt is acquired through the coal conveying program control system, and due to the fact that the fault information is diverse and uncertain, the polling robot can be rapidly triggered to carry out corresponding polling work according to different fault types and fault positions according to the obtained fault types and fault positions, and flexibility is high.
EXAMPLE III
Fig. 3 is a block diagram of a coal belt inspection device according to an embodiment of the present invention, which may be implemented by software and/or hardware, and may be generally integrated in a coal belt inspection system such as a server, and may perform coal belt inspection by executing a coal belt inspection method. As shown in fig. 3, the apparatus includes: a belt information acquiring module 31 and an inspection task information sending module 32 configured in the inspection management platform, and further comprising an inspection task executing module 33 configured in the inspection robot, wherein:
the belt information acquisition module 31 is used for acquiring the working state information of the belt from the coal conveying program control system;
the inspection task information sending module 32 is configured to determine a target inspection robot and a corresponding target inspection task according to the belt working state information, and send target task information corresponding to the target inspection task to the target inspection robot;
and the inspection task execution module 33 is configured to execute a corresponding target inspection task according to the received target task information.
The coal conveying belt inspection device provided by the embodiment of the invention is applied to a coal conveying belt inspection system, the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the inspection management platform acquires the working state information of a belt from a coal conveying program control system; then the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot; and the target inspection robot executes the corresponding target inspection task according to the received target task information. By adopting the technical scheme, the embodiment of the invention can enable the inspection management platform to correspondingly generate different inspection tasks according to different working states of the belt by acquiring the working state information of the belt from the coal conveying program control system, thereby achieving the technical effect that the inspection robot autonomously inspects according to the corresponding inspection tasks.
When the belt operating state information acquired by the belt information acquiring module 31 includes belt starting information;
the inspection task information sending module 32 is further configured to determine that the target inspection robot is an inspection robot used for periodic inspection when the inspection management platform obtains the belt starting information, and determine that the corresponding target inspection task is a periodic inspection task in a running period.
The inspection task execution module 33 is further configured to execute the operation period periodic inspection task at a first preset frequency from the current moment when the target inspection robot receives target task information corresponding to the operation period periodic inspection task.
Optionally, the patrol inspection management platform sends target task information corresponding to the periodic patrol inspection task in the operating period to the target patrol inspection robot after acquiring the belt starting information and waiting for a first preset time, wherein the first preset time is matched with the belt start-stop test time, and the range of the first preset time is 30-90 seconds.
Optionally, the apparatus further comprises: a target task information sending module; when the belt working state information acquired by the belt information acquiring module 31 contains belt fault information;
patrol and examine task information sending module 32, still be used for when patrolling and examining management platform and obtaining belt fault information, according to belt fault information confirms fault type and trouble position of occuring, according to the trouble position of occuring confirms the target and patrols and examines the robot, confirms that the corresponding target patrols and examines the task and patrol and examine the task for the trouble, wherein, the fault type includes: coal blockage at a coal drop port, deviation and tearing of a coal conveying belt;
the target task information sending module is used for sending target task information which comprises the fault occurrence position and the fault type and corresponds to the fault inspection task to the target inspection robot by the inspection management platform;
the inspection task execution module 33 is further configured to extract the fault occurrence position and the fault type from the received target task information, automatically locate the fault occurrence position, determine inspection content according to the fault type, and execute a corresponding fault inspection task based on the inspection content.
Optionally, the inspection management platform sends target task information corresponding to the fault inspection task to the target inspection robot after acquiring belt fault information and waiting for a second preset time, wherein the second preset time is shorter than the first preset time, and the second preset time is in a range of 2-5 seconds.
Alternatively, when the belt operating state information acquired by the belt information acquiring module 31 includes belt stop information;
the inspection task information sending module 32 is further configured to determine that the target inspection robot is an inspection robot used for periodic inspection when the inspection management platform obtains the belt stop information, and determine that the corresponding target inspection task is a periodic inspection task in a period of outage;
the inspection task execution module 33 is further configured to execute the operation period periodic inspection task at a second preset frequency after the target inspection robot receives target task information corresponding to the operation period periodic inspection task, where the second preset frequency is lower than the first preset frequency.
Optionally, the coal conveying program control system includes a distributed control system DCS, a programmable logic control PLC, or a plant-level monitoring system SIS; the inspection content corresponding to the target inspection task comprises at least one of image acquisition, infrared temperature measurement, meter reading, audio detection, environment monitoring, foreign matter detection, coal chute blockage detection, coal conveying belt deviation detection, belt tearing detection and personnel intrusion detection.
Example four
The embodiment of the invention provides a coal conveying belt inspection system, which can be integrated with the coal conveying belt inspection device provided by the embodiment of the invention. Fig. 4 is a block diagram of a coal belt inspection system according to an embodiment of the present invention. The coal belt inspection system 400 may include: the system comprises an inspection management platform 410 and an inspection robot 420, wherein the inspection management platform and the inspection robot comprise a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the processor executes the computer program to realize the coal conveying belt inspection method according to the embodiment of the invention.
The coal conveying belt inspection system provided by the embodiment of the invention can be implemented, and has the corresponding functional modules and beneficial effects for implementing the method.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a coal conveyor belt inspection method for a coal conveyor belt inspection system, the coal conveyor belt inspection system including an inspection management platform and an inspection robot, the method including:
the polling management platform acquires the working state information of the belt from the coal conveying program control system;
the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot;
and the target inspection robot executes a corresponding target inspection task according to the received target task information.
Storage medium-any of various types of memory systems or storage systems. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the embodiments of the present invention provide a storage medium containing computer-executable instructions, which are not limited to the above-described coal belt inspection operation, but may also perform related operations in the coal belt inspection method provided by any of the embodiments of the present invention.
The coal conveying belt inspection device, the coal conveying belt inspection system and the storage medium which are provided in the embodiments can execute the coal conveying belt inspection method provided by any embodiment of the invention, and have corresponding functional modules and beneficial effects for executing the method. Reference is made to the coal belt inspection method provided in any of the embodiments of the present invention for technical details not described in detail in the above embodiments.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. The coal conveying belt inspection method is applied to a coal conveying belt inspection system, the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the method comprises the following steps:
the polling management platform acquires the working state information of the belt from the coal conveying program control system;
the inspection management platform determines a corresponding target inspection robot and a target inspection task according to the belt working state information, and sends target task information corresponding to the target inspection task to the target inspection robot;
and the target inspection robot executes a corresponding target inspection task according to the received target task information.
2. The method of claim 1, wherein the belt operating status information comprises belt start information;
patrol and examine management platform according to the target that belt operating condition information confirmed corresponds patrols and examines robot and target and patrol and examine the task, include:
when the inspection management platform acquires the belt starting information, determining that a target inspection robot is an inspection robot for periodic inspection, and determining that a corresponding target inspection task is a periodic inspection task in an operating period;
the target inspection robot executes a corresponding target inspection task according to the received target task information, and the method comprises the following steps:
when the target inspection robot receives target task information corresponding to the running period periodic inspection task, the running period periodic inspection task is executed at a first preset frequency from the current moment.
3. The method according to claim 2, wherein the inspection management platform sends target task information corresponding to the periodic inspection task in the running period to the target inspection robot after acquiring belt start information and waiting for a first preset time, wherein the first preset time is matched with a belt start-stop test time, and the range of the first preset time is 30-90 seconds.
4. The method of claim 3, wherein the belt operating status information comprises belt fault information;
patrol and examine management platform according to the target that belt operating condition information confirmed corresponds patrols and examines robot and target and patrol and examine the task, include:
when the inspection management platform acquires the belt fault information, determining a fault type and a fault occurrence position according to the belt fault information, determining a target inspection robot according to the fault occurrence position, determining a corresponding target inspection task as a fault inspection task, wherein the fault type comprises: coal blockage at a coal drop port, deviation and tearing of a coal conveying belt;
the inspection management platform sends target task information corresponding to the target inspection task to the target inspection robot, and the method comprises the following steps:
the inspection management platform sends target task information which corresponds to a fault inspection task and comprises the fault occurrence position and the fault type to the target inspection robot;
the target inspection robot executes a corresponding target inspection task according to the received target task information, and the method comprises the following steps:
the target inspection robot extracts the fault occurrence position and the fault type from the received target task information, automatically positions the fault occurrence position, determines inspection content according to the fault type, and executes a corresponding fault inspection task based on the inspection content.
5. The method according to claim 4, wherein the inspection management platform sends target task information corresponding to the fault inspection task to the target inspection robot after acquiring the belt fault information and waiting for a second preset time, wherein the second preset time is shorter than the first preset time, and the range of the second preset time is 2-5 seconds.
6. The method of claim 3, wherein the belt operating status information includes belt stop information;
patrol and examine management platform according to the target that belt operating condition information confirmed corresponds patrols and examines robot and target and patrol and examine the task, include:
when the inspection management platform acquires the belt stop information, the target inspection robot is determined to be an inspection robot for periodic inspection, and the corresponding target inspection task is determined to be a periodic inspection task in the outage period;
the target inspection robot executes a corresponding target inspection task according to the received target task information, and the method comprises the following steps:
and after receiving target task information corresponding to the periodic inspection task in the outage period, the target inspection robot executes the periodic inspection task in the operation period at a second preset frequency, wherein the second preset frequency is lower than the first preset frequency.
7. The method of any one of claims 1 to 6, wherein the coal handling programmable system comprises a Distributed Control System (DCS), a Programmable Logic Control (PLC) or a plant-level monitoring system (SIS); the inspection content corresponding to the target inspection task comprises at least one of image acquisition, infrared temperature measurement, meter reading, audio detection, environment monitoring, foreign matter detection, coal chute blockage detection, coal conveying belt deviation detection, belt tearing detection and personnel intrusion detection.
8. The utility model provides a coal conveying belt inspection device, its characterized in that, integrated in coal conveying belt inspection system, coal conveying belt inspection system is including patrolling and examining management platform and patrolling and examining the robot, the device including dispose in patrol and examine the belt information acquisition module in the management platform and patrol and examine task information sending module, still including dispose in patrol and examine the task execution module of patrolling and examining in the robot, wherein:
the belt information acquisition module is used for acquiring the working state information of the belt from the coal conveying program control system;
the inspection task information sending module is used for determining a target inspection robot and a corresponding target inspection task according to the belt working state information and sending target task information corresponding to the target inspection task to the target inspection robot;
and the inspection task execution module is used for executing the corresponding target inspection task according to the received target task information.
9. A coal belt inspection system, comprising an inspection management platform and an inspection robot, wherein the inspection management platform and the inspection robot comprise a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the computer program is characterized in that the processor implements corresponding steps in the coal belt inspection method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
CN202110969341.XA 2021-08-23 2021-08-23 Coal conveying belt inspection method, device, system and storage medium Active CN113816096B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110969341.XA CN113816096B (en) 2021-08-23 2021-08-23 Coal conveying belt inspection method, device, system and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110969341.XA CN113816096B (en) 2021-08-23 2021-08-23 Coal conveying belt inspection method, device, system and storage medium

Publications (2)

Publication Number Publication Date
CN113816096A true CN113816096A (en) 2021-12-21
CN113816096B CN113816096B (en) 2023-06-09

Family

ID=78913451

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110969341.XA Active CN113816096B (en) 2021-08-23 2021-08-23 Coal conveying belt inspection method, device, system and storage medium

Country Status (1)

Country Link
CN (1) CN113816096B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114873191A (en) * 2022-05-17 2022-08-09 成都双流国际机场股份有限公司 Emergency control device for luggage system and luggage emergency processing system

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5329195A (en) * 1976-08-30 1978-03-18 Nittetsu Mining Co Ltd Metal piece detector for belt conveyer installing copper wire
KR20090103617A (en) * 2008-03-28 2009-10-01 현대제철 주식회사 Apparatus for controlling a conveyor
CN104670842A (en) * 2015-01-19 2015-06-03 唐山开诚电控设备集团有限公司 Mine belt conveyor inspection robot control system and method
CN107043000A (en) * 2017-06-15 2017-08-15 西安科技大学 A kind of belt conveyer safe and intelligent safeguards system based on machine vision
CN108537913A (en) * 2018-06-15 2018-09-14 浙江国自机器人技术有限公司 A kind of cruising inspection system
CN109941700A (en) * 2019-03-06 2019-06-28 湖北凯瑞知行智能装备有限公司 Coal handling system Intelligent unattended cruising inspection system
CN111476921A (en) * 2020-04-10 2020-07-31 宁波思高信通科技有限公司 Intelligent inspection system for machine room
CN111498425A (en) * 2020-03-08 2020-08-07 太原理工大学 Steel wire rope traction type coal mine underground belt conveyor circulation detection system
CN213239483U (en) * 2020-11-19 2021-05-18 武汉瑞丽森智能设备有限公司 Coal conveying inspection robot system
CN112929613A (en) * 2021-03-08 2021-06-08 华录智达科技股份有限公司 Inspection method and system for equipment operation and maintenance based on image recognition
CN113023293A (en) * 2021-02-08 2021-06-25 精锐视觉智能科技（深圳）有限公司 Inspection method, device, equipment and system for belt conveyor

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5329195A (en) * 1976-08-30 1978-03-18 Nittetsu Mining Co Ltd Metal piece detector for belt conveyer installing copper wire
KR20090103617A (en) * 2008-03-28 2009-10-01 현대제철 주식회사 Apparatus for controlling a conveyor
CN104670842A (en) * 2015-01-19 2015-06-03 唐山开诚电控设备集团有限公司 Mine belt conveyor inspection robot control system and method
CN107043000A (en) * 2017-06-15 2017-08-15 西安科技大学 A kind of belt conveyer safe and intelligent safeguards system based on machine vision
CN108537913A (en) * 2018-06-15 2018-09-14 浙江国自机器人技术有限公司 A kind of cruising inspection system
CN109941700A (en) * 2019-03-06 2019-06-28 湖北凯瑞知行智能装备有限公司 Coal handling system Intelligent unattended cruising inspection system
CN111498425A (en) * 2020-03-08 2020-08-07 太原理工大学 Steel wire rope traction type coal mine underground belt conveyor circulation detection system
CN111476921A (en) * 2020-04-10 2020-07-31 宁波思高信通科技有限公司 Intelligent inspection system for machine room
CN213239483U (en) * 2020-11-19 2021-05-18 武汉瑞丽森智能设备有限公司 Coal conveying inspection robot system
CN113023293A (en) * 2021-02-08 2021-06-25 精锐视觉智能科技（深圳）有限公司 Inspection method, device, equipment and system for belt conveyor
CN112929613A (en) * 2021-03-08 2021-06-08 华录智达科技股份有限公司 Inspection method and system for equipment operation and maintenance based on image recognition

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114873191A (en) * 2022-05-17 2022-08-09 成都双流国际机场股份有限公司 Emergency control device for luggage system and luggage emergency processing system
CN114873191B (en) * 2022-05-17 2024-01-23 成都双流国际机场股份有限公司 Emergency control device for luggage system and luggage emergency treatment system

Also Published As

Publication number Publication date
CN113816096B (en) 2023-06-09

Similar Documents

Publication Publication Date Title
CN110647082A (en) Intelligent inspection system for machine room and working method of intelligent inspection system
CN110262355B (en) Smart mine management system and method based on smart mine management and control platform
CN112213979A (en) Intelligent robot inspection system and method for station
CN109961157B (en) Inspection method and system of solar photovoltaic power generation system
CN109941700A (en) Coal handling system Intelligent unattended cruising inspection system
CN110658830A (en) Power plant inspection system and control method thereof
CN106774322B (en) Photovoltaic power station inspection system and operation method thereof
CN111476921A (en) Intelligent inspection system for machine room
CN112698618A (en) Server alarm recognition system based on machine vision technology
CN110989594A (en) Intelligent robot inspection system and method
CN114104653A (en) Intelligent inspection detection method for coal belt conveyor in coal conveying bin area
CN108375962A (en) Offshore boosting station patrols control system
CN113816096A (en) Coal conveying belt inspection method, device and system and storage medium
CN113771053A (en) Robot with intelligent patrol early warning function
CN112665578A (en) Inspection positioning method and system based on tunnel inspection robot
CN115939996A (en) Automatic inspection system of power inspection robot
CN116824731A (en) Intelligent inspection method and equipment for thermal power plant
CN115056236A (en) Intelligent inspection robot for power plant
CN210605473U (en) Power plant inspection system
CN112486175A (en) Intelligent sensing robot applied to power equipment monitoring
CN113547500A (en) Inspection robot, inspection robot system and inspection method of inspection robot
CN114298340A (en) Tunnel cable inspection method and device, storage medium and electronic equipment
CN113778007A (en) Intelligent monitoring system for pipeline inspection unmanned aerial vehicle
CN117424984A (en) U-shaped wharf inspection closed-loop method based on three-dimensional model and video monitoring
CN114815760B (en) Tracing disposal method of safety production tracing disposal system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant