CN113816096B - Coal conveying belt inspection method, device, system and storage medium - Google Patents

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

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Publication number
CN113816096B
CN113816096B CN202110969341.XA CN202110969341A CN113816096B CN 113816096 B CN113816096 B CN 113816096B CN 202110969341 A CN202110969341 A CN 202110969341A CN 113816096 B CN113816096 B CN 113816096B
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inspection
belt
target
task
information
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CN113816096A (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
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Qinyang Power Generation Branch Of State Power Investment Group He'nan Electric Power Co ltd
Shanghai Power Equipment Research Institute Co Ltd
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Qinyang Power Generation Branch Of State Power Investment Group He'nan Electric Power Co ltd
Shanghai Power Equipment Research Institute Co Ltd
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Publication of CN113816096A publication Critical patent/CN113816096A/en
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    • 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]

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

Abstract

The embodiment of the invention discloses a method, a device, a system and a storage medium for inspecting a coal conveying belt. The method 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 method comprises the following steps: the inspection management platform acquires belt working state information from the coal conveying program control system; the inspection management platform determines a corresponding target inspection robot and a corresponding 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. 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 performs autonomous inspection according to the corresponding inspection tasks.

Description

Coal conveying belt inspection method, device, 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 device, a system and a storage medium.
Background
The safety production of power plants is important, and all power generation enterprises pay great attention to the safety production. The coal conveying system is a high-incidence accident system of the coal-fired power plant, and the coal conveying gallery has special environments, and is long in coal conveying line, poor in environment and high in coal dust and is easy to cause fire.
At present, a coal-fired power plant generally adopts a manual inspection mode to inspect a coal conveying belt, so that operators are required to inspect the coal conveying line frequently for the reasons, problems are found in time, and the problems of high labor intensity, severe working environment, unstable inspection effect and the like exist. In order to reduce the labor cost, the existing coal conveying belt inspection robot can replace manual inspection to a certain extent, however, the existing inspection mode of the 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 method for inspecting a coal conveying belt, which is applied to a coal conveying belt inspection system, where the coal conveying belt inspection system includes an inspection management platform and an inspection robot, and the method includes:
The inspection management platform acquires belt working state information from a coal conveying program control system;
the inspection management platform determines a corresponding target inspection robot and a corresponding 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 conveying belt inspection device, which is integrated in a coal conveying belt inspection system, where the coal conveying belt inspection system includes an inspection management platform and an inspection robot, and the device includes a belt information acquisition module and an inspection task information transmission 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 belt working state information 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 a corresponding target inspection task according to the received target task information.
In a third aspect, an embodiment of the present invention provides a system for inspecting a coal conveyor belt, 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 on the memory and capable of running on the processor, where the processor implements the method for inspecting a coal conveyor belt according to the embodiment of the present invention when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor implements a coal conveyor belt inspection method as provided by the embodiment 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 firstly the inspection management platform acquires belt working state information from a coal conveying program control system; then, the inspection management platform determines a corresponding target inspection robot and a corresponding 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. 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 performs autonomous inspection according to the corresponding inspection tasks.
Drawings
FIG. 1 is a schematic flow chart of a method for inspecting a coal conveyor belt according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for inspecting a coal conveyor belt according to an embodiment of the present invention;
FIG. 3 is a block diagram of a coal conveyor belt inspection device according to an embodiment of the present invention;
fig. 4 is a block diagram of a system for inspecting a coal conveyor belt according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, 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 figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example 1
Fig. 1 is a schematic flow chart of a method for inspecting a coal conveying belt according to an embodiment of the present invention, where the method may be performed by a device for inspecting a coal conveying belt, and the device may be implemented by software and/or hardware, and may be generally integrated in a system for inspecting a coal conveying belt.
Before thermal power generation, fuel is required to be conveyed, and coal resources in China are rich, so coal combustion is generally selected for power generation. When generating electricity, because more coal is needed, coal is transported by using a coal conveying belt, and a plurality of coal conveying belts are generally transported at the same time, but in the process of transportation, the coal conveying belt can have various conditions such as coal blockage at the head of the belt, damage to the belt or belt deviation. Therefore, the monitoring needs to be carried out under various states of each belt so as to timely treat the coal conveying belt affecting normal operation, 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.
The coal conveying belt inspection system comprises an inspection management platform and an inspection robot.
Exemplary, the coal conveying belt inspection system may include various functional modules, such as a video monitoring functional module, an infrared temperature measuring functional module, an audio detecting functional module, an environmental temperature measuring functional module, an audio and video remote transmitting 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 intercom functional module, a robot self-inspection functional module, a personnel intrusion detecting functional module, a foreign matter identifying functional module, and the like.
By way of example, the inspection robot may be used to perform corresponding inspection tasks via one or more of the functional modules described above, and typically the number of inspection robots is plural, and the specific number is not limited herein.
Specifically, as shown in fig. 1, the method for inspecting a coal conveying belt provided by the embodiment of the invention comprises the following steps:
s110, the inspection management platform acquires belt working state information from the coal conveying program control system.
The coal conveying program control system is also called as a coal conveying program control system, and can be used for coal conveying control during power generation of a power plant, and the system can comprise coal feeding program control, coal blending program control, upper computer monitoring and the like. The embodiment of the invention does not limit the specific type of the coal conveying program control system, and comprises a distributed control system (Distributed Control System, abbreviated as DCS), a programmable logic control system (Programmable Logic Controller, abbreviated as PLC) or a factory-level monitoring system (Supervisory Information System in plant level, abbreviated as SIS) and the like.
In the related art, a coal conveying program control system and a coal conveying belt inspection system work independently, no communication relation exists, the coal conveying belt inspection system performs inspection tasks according to inherent inspection logic, generally, periodic inspection is performed by adopting fixed frequency, the types, the contents and the like of the inspection tasks are fixed, the working state of a belt is not considered, so that inspection time, inspection frequency and the like cannot be adapted to the working state of the belt, and the 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 belt working state information is acquired from the coal conveying program control system, and the subsequent targeted execution of the inspection task is facilitated. The belt operating state information includes, but is not limited to, a normal operating state, a fault state, a stop state and the like. The timing or frequency of acquiring the belt working state information is not limited, and for example, the belt working state information can be acquired in the coal feeding program control and the coal blending program control stages, and for example, the belt working state information can be acquired in real time. The specific existence form of the belt working state information is not limited, for example, the belt working state information can be a coal conveying belt running signal (for example, a pulse signal) output by the coal conveying program control system to the inspection management platform, and at the moment, the inspection management platform and the coal conveying program control system can communicate based on a wired mode. Of course, the patrol management platform and the coal conveying program control system can also communicate based on a wireless mode, and the specific communication mode is not limited.
S120, the inspection management platform determines a corresponding target inspection robot and a corresponding 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 inspect belts within 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 a 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 taken as a 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 relation between the different belt working state information and the inspection robot and the inspection task can be established in advance, and after the belt working state information is acquired, the corresponding target inspection robot and the corresponding target inspection task are determined by inquiring the corresponding relation.
The target inspection task can be understood as an inspection task which is executed by the target inspection robot and is required 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, for example, may be a code number of the target inspection task or specific task content in the target inspection task. The task content may include, for example, timing, frequency, area to be inspected, belt to be inspected, position of point to be inspected, inspection content, etc., and the inspection content may include, for example, image acquisition, infrared temperature measurement, meter reading, audio detection, environmental monitoring, foreign matter detection, coal blocking detection of coal dropping pipe, deviation detection of coal conveying belt, belt tearing detection or personnel intrusion detection, etc., without limitation.
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 periodic inspection of the belt a, and the corresponding target task information may be detection of the working temperature of the belt a, detection of the temperature of the power box corresponding to the belt a, acquisition of the head and ground sanitation condition of the belt a, and foreign matter detection for the belt a.
During operation of the belt, various faults may occur, such as belt deviation, which may be classified into slight deviation, medium deviation, and heavy deviation according to the degree of deviation. The belt slightly deviates, the influence to the normal operation of belt is not big, if be moderate off tracking or severe off tracking will produce the influence to the coal effect of belt, for example, the coal effect is relatively poor, need revise the belt this moment, consequently need the target to patrol and examine the running state of robot inspection belt to with its information feedback who patrol and examine management platform that obtains, make the actual state of operator clear and determine the 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 an inspection fault belt, for example, the inspection task is an inspection fault 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 the inspection fault belt B, and the corresponding target task information can comprise position information of the inspection fault belt B, belt fault types and the like. The fault type can be belt coal blockage, light fault of a train sampler or heavy fault of the train sampler, and the like. The inspection content can comprise acquisition of off tracking switch images or acquisition of train sampler appearance images and the like.
For example, there may be a case that the working state information of the plurality of belts detected by the same inspection robot is inconsistent, and the current inspection robot may inspect according to the task emergency priority order. For example, when detecting that the belt to be inspected of the current inspection robot is in a normal working state and is in a belt fault state, the inspection is preferentially performed on the belt in the fault state, and then inspection task information corresponding to the belt in the normal working state is inspected.
Optionally, when the fixed number of inspection robots inspect the belt in the specified area, there is a situation that different working states of the belt in the same area are detected, and an inspection priority can be set for the current fixed number of inspection robots, for example, when the belt in the fault state exists in the current area, the inspection management platform preferably specifies the inspection task corresponding to the belt in the fault state for the inspection robot X to automatically go to the inspection; if a plurality of belt faults exist, the inspection robot X, the inspection robot Y and the inspection robot Z are designated according to the priority order to execute the inspection tasks corresponding to the belt in the inspection fault state in a self-service manner, and the other inspection robots execute the inspection tasks corresponding to the belt in the normal working state, and the like.
It should be noted that, the embodiments of the present invention do not limit the priority setting modes of the inspection robot and the inspection event.
S130, the target inspection robot executes a corresponding target inspection task according to the received target task information.
The target inspection robot executes a corresponding target inspection task according to the target task information sent by the inspection management platform, and sends related data information acquired in the process of executing the target inspection task to the inspection management platform, so that the inspection management platform counts or analyzes the actual state and related data of each belt, and related information of the belt can be obtained remotely by a worker through the inspection management platform, and corresponding processing can be performed in a targeted manner.
The method for inspecting the coal conveying belt is applied to an inspection system of the coal conveying belt, wherein the inspection system of the coal conveying belt comprises an inspection management platform and an inspection robot, and the inspection management platform firstly acquires belt working state information from a coal conveying program control system; then, the inspection management platform determines a corresponding target inspection robot and a corresponding 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. 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 performs autonomous inspection according to the corresponding inspection tasks.
Example two
The embodiment of the invention is further optimized on the basis of the embodiment, when the belt working state information contains the belt starting information, the inspection management platform determines the corresponding target inspection robot and target inspection task according to the belt working state information, and the method comprises the following steps: when the belt starting information is acquired, the inspection management platform determines that the target inspection robot is an inspection robot for periodic inspection, and determines that the corresponding target inspection task is an periodic inspection task in the running period. The advantage of setting up like this is that make the target patrol robot can in time start the periodic task of patrolling and examining of operating period after the belt starts for patrol and examine the robot and patrol and examine the task and have pertinence and flexibility.
The target inspection robot executes a corresponding target inspection task according to the received target task information, and the target inspection robot comprises: and when the target inspection robot receives target task information corresponding to the periodic inspection task in the operation period, executing the periodic inspection task in the operation period at a first preset frequency from the current moment. The advantage of setting up like this lies in that the target inspection robot can carry out periodic independently and patrol and examine, carries out the inspection of assorted inspection frequency to the belt operating period pertinence, strengthens inspection frequency of inspection robot.
Fig. 2 is a schematic flow chart of another method for inspecting a coal conveying belt according to an embodiment of the present invention, specifically, the method includes the following steps:
s210, the patrol management platform acquires belt starting information from the coal conveying program control system.
When the working state information of the belt is in a starting state, the inspection management platform acquires the belt starting information from the coal conveying program control system.
When acquiring the belt starting information, the embodiment of the invention provides a preferable scheme, and after acquiring the belt starting information and waiting for a first preset time length, the inspection management platform sends the target task information corresponding to the periodic inspection task in the running period to the target inspection robot.
The reason why the inspection management platform obtains the belt starting information and waits for the first preset time period, and sends the target task information corresponding to the periodic inspection task in the running period to the target inspection robot is that when the belt is started for the first time, the start-stop test can be carried out in a short time, the belt is required to be started for carrying out the short-time belt adjustment, and then the target task information corresponding to the periodic inspection task in the running period is sent to the target inspection robot, so that the inspection robot is prevented from carrying out inspection in the start-stop test process, the inspection result is inaccurate, and the inspection robot resources are wasted.
The first preset duration is matched with the start-stop test duration of the belt.
When the inspection management platform acquires belt starting information from the coal conveying program control system, after the belt start-stop test is finished, the inspection management platform controls the target inspection robot to carry out periodic inspection tasks in the running period, so that the 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, determining that the target inspection robot is an inspection robot for periodic inspection according to the belt starting information acquired by the inspection management platform, and determining that the corresponding target inspection task is an operation period periodic inspection task.
The periodic inspection aims are that the target inspection robot is regularly inspected within a certain time according to the current running state of the belt, so that the inspection frequency of the target inspection robot is increased.
The periodic inspection time is a fixed time period, namely when the belt runs, the robot performs periodic autonomous inspection at fixed time intervals every time of the fixed time period, so that the inspection frequency is increased.
Alternatively, the operator in the fixed time period may set itself according to the inspection requirement, for example, may be 1 hour or 2 hours, which is not limited herein.
When the belt working state is the 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 independent inspection of the belt subjected to the start-stop test.
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: temperature measurement of a motor of the belt removing bulk machine No. 1, temperature measurement of an outer shaft of a lower carrier roller of the belt No. 1, temperature measurement of an outer shaft of a roller at a head of the belt No. 1, whether coal falling exists at a coal falling port of a belt No. 1 automobile, whether a belt deviation switch of the belt No. 1 is started, temperature measurement of a train sampler corresponding to the belt No. 1 and other related information.
Correspondingly, after the start-stop test of the No. 2 belt is finished, the target inspection robot can also execute related inspection on the No. 2 belt. The target inspection robots can be multiple, and can periodically inspect the belt under multiple starting states.
S240, when the target inspection robot receives target task information corresponding to the periodic inspection task in the operation period, the periodic inspection task in the operation period is executed at a first preset frequency from the current moment.
The first preset frequency may be 1 hour, that is, when the belt runs, the inspection robot performs periodic autonomous inspection at intervals of every 1 hour, and the specific periodic inspection time is based on the actual working state, which is not limited herein.
Alternatively, when there are a plurality of target inspection robots, each target inspection robot may perform the run-time periodic inspection task at the first preset frequency for a different period of time. For example, the first target inspection robot periodically inspects at a first preset frequency according to the target inspection task in the current time period, and after the first target inspection robot inspects for a preset time period (for example, half an hour), the second target inspection robot periodically inspects at the first preset frequency according to the target inspection task in the current time period. The advantage of setting like this is that can make the target patrol and examine the robot and patrol and examine the relevant information of belt respectively at different time quantum to make the data that obtains under the belt operating condition more comprehensive, the control is more accurate.
An optional embodiment of the present invention further optimizes the belt working state information including belt fault information based on the above embodiment, and the method for inspecting the coal conveying belt includes:
a) The inspection management platform acquires belt fault information from the coal conveying program control system.
The belt failure may be a failure state when the belt is started, or may occur in a failure state when the belt is normally operated for a period of time after the belt is started, and the specific belt failure mode is not limited herein.
When the belt fault is monitored, the inspection management platform acquires belt fault information from the coal conveying program control system, the fault information can be specific which belt fault corresponds to the name information of the belt, such as the belt A fault, and the name information is information corresponding to all the coal conveying belts one by one.
When the belt fault information is obtained, the embodiment of the invention provides a preferable scheme, and the inspection management platform sends the target task information corresponding to the fault inspection task to the target inspection robot after obtaining the belt fault information and waiting for a second preset time period.
The reason why the inspection management platform sends the target task information corresponding to the fault inspection task to the target inspection robot after acquiring the belt fault information and waiting for the second preset time period is that the coal conveying program control system is prevented from sending an error signal to the inspection management platform so that the target inspection robot executes the corresponding error task, and therefore the inspection management platform waits for the second preset time period after acquiring the belt fault information and then sends the target task information corresponding to the fault inspection task to the target inspection robot.
The second preset time period is smaller than the first preset time period.
Generally, the time range of the second preset time period is preset to 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 inspection task may include fault specific location information corresponding to the inspection fault belt and a fault type corresponding to the current fault location information.
b) 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, and determining a corresponding target inspection task as a fault inspection task.
When determining the fault type according to the belt fault information, the fault type comprises: the coal dropping port can only judge the major factors of the current belt faults, such as coal blocking of the belt A, coal deviation of the belt A, coal tearing of the belt A or faults of the fire mining device corresponding to the belt A. It is known that the same belt contains a plurality of small sections, and the inspection management platform cannot know which specific small section of the belt has faults in the current fault state, so that the inspection robot is required to conduct further inspection.
When the inspection management platform obtains 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 mode of determining the target inspection robot according to the specific position of the fault belt can be that 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) The inspection management platform sends target task information which corresponds to the fault inspection task and contains the fault occurrence position and the fault type to the target inspection robot.
The inspection management platform sends a fault inspection task to the target inspection robot: for example, 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 blocking", and then the target inspection robot inspects the belt A by taking the "belt A coal blocking" as target task information.
d) 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.
The target inspection robot automatically locates to a fault occurrence position according to the acquired belt fault information, and determines inspection content, such as 'belt A is blocked with coal', according to the fault type, and the fault inspection task of the target inspection robot is to inspect which section of the belt A is blocked with coal.
Optionally, a video monitoring function and an accurate positioning function can be provided on the target inspection robot, the target inspection robot can acquire section a of coal blockage through inspection of the fault belt A, then the section a coal blockage condition can adopt the video monitoring function to take relevant photos and send the position information of the section a to the inspection management platform, so that operators can clearly determine the specific condition of fault occurrence and the specific fault position of the fault belt.
For example, if the belt a fails, the target inspection robot performs a corresponding failure inspection task based on the inspection content, and the inspection result may include: the section a in the belt A is blocked, the section b in the belt A is deviated, the section c in the belt A is slipped, or the fire mining device corresponding to the belt A is failed, etc. 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 alternative embodiment, the embodiment of the present invention is further optimized based on the above embodiment, and when the belt working state information includes the belt stop information, the method for inspecting the coal conveying belt includes:
a) The inspection management platform acquires belt stop information from the coal conveying program control system.
When the working state of the belt is in a stop state, the current belt is not operated, the acquired stop information of the belt comprises the belt information in the stop state, the belt stop information can be the name information of the belt in the stop state, such as the stop of the belt A, and the name information is information corresponding to all the coal conveying belts one by one.
b) When the belt stop information is acquired, the inspection management platform determines that the target inspection robot is an inspection robot for periodic inspection, and determines that the corresponding target inspection task is a periodic inspection task in the off-line period.
When the belt working state is the belt stopping state, the target inspection robot inspects the current belt in a periodic inspection mode.
The periodic inspection task of the corresponding target inspection task in the shutdown period can be understood that the inspection task of the current target inspection robot can comprise inspecting the belt state of each belt in the stopped state, the belt abrasion degree and the like.
On the one hand, the purpose of inspecting the belt state of each belt in the stop state is to enable the running state of each belt to be normal running before the normal start of the belt, and prevent the situation of belt deviation after the normal start of the belt so as to influence the belt transmission efficiency. On the other hand, the aim of inspecting the belt abrasion degree of each belt in the stop state is to replace the belt in heavy abrasion in time so as to prevent the belt from being broken caused by serious abrasion after the normal start of the belt.
c) After receiving target task information corresponding to the periodic inspection task in the off-line period, the target inspection robot executes the periodic inspection task in the running period at a second preset frequency, wherein the second preset frequency is lower than the first preset frequency.
The second preset frequency may be periodic inspection of the belt in a stopped state every 4 hours, 6 hours or 8 hours.
Alternatively, the periodic inspection mode may be once a day, in the morning and evening, etc., which is not limited herein.
The method for inspecting the coal conveying belt provided by the embodiment of the invention comprises the following steps of: the belt start information, the belt fault information, the belt stop information and the like, different inspection tasks are determined for the inspection robot according to different conditions, so that the inspection of the inspection robot has pertinence and flexibility. And by introducing the inspection management platform, the inspection frequency of the inspection robot can be enhanced, and the inspection robot is triggered to conduct autonomous inspection, so that inspection data are more comprehensive.
The application also provides an optional embodiment, and the inspection content that the target inspection task corresponds includes at least one of image acquisition, infrared temperature measurement, meter reading, audio frequency detection, environmental monitoring, foreign matter detection, coal pipe coal blockage detection, coal conveying belt off tracking detection, belt tearing detection and personnel intrusion detection.
When the inspection content comprises infrared temperature measurement, the inspection robot can accurately analyze whether the temperature of various monitoring points is abnormal or not based on the infrared temperature measurement technology when performing the inspection task, and the belt surface temperature, the carrier roller surface temperature, the coal temperature on the belt and the like are monitored in real time through the acquisition of infrared image data of the monitoring points. 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 is that the robot is based on the infrared general survey technology, and performs scanning type temperature acquisition of the whole area on all equipment surface temperature fields in the visual field range in the walking process, and performs infrared detection and infrared thermal diagnosis on the equipment, so that the omission of the equipment in the area can be effectively avoided, the operation and maintenance personnel can be helped to find equipment defects and abnormal hidden dangers in time, and a basis is provided for equipment overhaul. In the infrared general survey mode, the robot can perform regional infrared scanning general survey in the walking process, an infrared thermal imaging image is acquired for equipment every 20 meters of parking, the highest point in the visual field range is detected in real time, historical inspection images are effectively reserved for general inspection work of the equipment, and data tracing can be performed through historical detection data records when any equipment is found to be abnormal. 2) The accurate temperature measurement means that the robot carries out temperature tracking detection of a plurality of angles and a plurality of points on certain equipment according to a preset inspection point, the acquired infrared image carries out area correction through an equipment positioning algorithm based on feature matching, thereby accurately detecting the equipment temperature and judging whether the equipment has overheat faults or not according to the equipment temperature detection result.
When the inspection content comprises environmental 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 an environmental monitoring module carried by the inspection robot when the inspection robot executes an inspection task. Environmental information acquired by the inspection robot in real time is transmitted to the inspection management platform in real time, and on-site 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 operators of timely processing.
When the inspection content comprises image acquisition, the inspection robot can complete video image acquisition of the field environment and equipment through a high-definition visible light camera carried by the inspection robot when the inspection robot executes an inspection task. Meanwhile, the inspection robot is provided with the light supplementing lamp, when the condition of insufficient ambient light appears on site, the light supplementing lamp is automatically started, the adaptability of low-illumination environment inspection is improved, and the accuracy of video data acquisition is ensured. Based on visible light image data, operators can judge whether conditions such as coal blockage at the head of the belt, belt deviation, belt abrasion, belt cracking and the like exist on site or not by checking the monitoring video in a background interface.
When the inspection content comprises audio detection, the inspection robot is used for acquiring audio information such as site environment sound, equipment running sound and the like through high-sensitivity sound acquisition equipment carried by the inspection robot when the inspection robot is used for executing an inspection task, wherein the high-sensitivity sound acquisition equipment can rotate along with the cradle head. The system adopts an international leading audio noise reduction algorithm, reduces the interference of environmental noise, enhances the accuracy and reliability of audio information, stores and plays audio data after being processed, and a background system can display an audio spectrogram, so that operators can listen to audio in 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-video remote transmission function, can transmit the collected information such as visible light images, infrared heat maps, on-site real-time audios and the like of the coal conveying belt related equipment and the environment to a background server for storage through a communication system in real time, and send the information to a client through forwarding and then sending the information to a background management interface for presentation, and an operator can check the real-time monitoring information through the inspection management platform interface to judge whether the on-site equipment and the environment are abnormal or not.
In addition, the inspection robot can also have an accurate positioning function, can realize accurate positioning by adopting a mode of combining an mileage code disc with radio frequency identification (Radio Frequency Identification, RFID for short) and other equipment, and displays the position of the inspection robot in a map of an inspection management platform system interface in real time. The mileage code wheel automatically detects the distance travelled by the robot through calculating the rotation number of the robot tyre, the 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, and meanwhile, the position calibration is carried out on some key points (such as a ramp, an entrance and an exit of a curve, a fireproof door area and a charging station area) by using radio frequency identification, so that the positioning error of the mileage code wheel is eliminated.
In addition, the inspection robot can also have an anti-collision function, the inspection robot is provided with a laser detection radar in front and back, an obstacle within a range of 1.5 meters can be detected, in the operation process, once the obstacle is found to be in a range of 0.5 meter in the advancing direction, tracking is performed, when the obstacle enters the range of 0.5 meter, the inspection robot is immediately stopped and gives out an acousto-optic alarm to remind on-site personnel to pay attention, and meanwhile, the impact can be reduced when the flexible protection device (anti-collision protection switch) on the cooperation structure happens accidentally, so that property and personal safety are effectively ensured.
When the inspection robot executes periodic inspection tasks, the automatic inspection mode can be realized according to a preset planning path, and the automatic inspection mode mainly comprises the following steps: routine inspection, special inspection, etc., and the various modes support switching from one another. The inspection robot is provided with a plurality of detection devices such as a high-definition camera, an infrared thermal imager, a sound pick-up and the like, equipment at each place in an inspection area is finished according to a set rule to carry out visible light photographing, meter reading, infrared temperature measurement, environment monitoring and other inspection activities, inspection data are automatically transmitted to a background management system to be stored, and an inspection analysis report is generated.
In addition, the inspection robot can also have a manual remote control inspection function, namely, the robot can be remotely controlled in real time in a manual remote control inspection mode besides the automatic inspection of the robot. The mode is suitable for the condition that operators and management units need to lock and monitor the states of certain equipment, and particularly for the condition that the equipment and the environment state are abnormal and alarm to the operators in the autonomous inspection process of the robot, the operators can use a manual remote control interface of a background management system at the first time to control the robot to quickly reach the position of the abnormal equipment, and check and verify alarm information on the abnormal equipment in time so as to quickly formulate a response strategy.
In addition, the inspection robot can also have a bidirectional voice intercom function, the inspection robot system is provided with a bidirectional voice system, and an emergency broadcast loudspeaker and a monitoring microphone are arranged on the inspection robot and used for bidirectional intercom between a monitoring center and on-site staff. The remote monitoring command of the monitoring center on the site can be realized by combining the two-way voice intercom of the inspection robot with the real-time on-site image acquisition of the inspection robot. The monitoring center can carry out audio broadcasting to the scene through the robot audio equipment, can play preset warning audio, can carry out real-time shouting, and reminds workers to carry out relevant event treatment. Meanwhile, the field transaction is efficiently processed by communicating the intercom equipment in real time.
In addition, the inspection robot can also have a self-checking function, the inspection robot can perform self-checking in the starting and task execution processes, and the self-checking content comprises whether components such as an infrared thermal imager, a high-definition camera, a motor, a cradle head, a battery, internal storage, various sensors and the like are normal or not. If the component is found to be abnormal, an abnormal state indication is given, and abnormal information is uploaded to a background management system, so that operators can find out the faults of the robot in time, the processing time is shortened, and the fault solving efficiency is improved. For startup self-checking, the ground laser navigation robot is used as a main body of the inspection system, and a main detection device is mounted to collect various data information at the front end. In order to ensure the development of daily work of the robot, the robot can perform self-checking before starting inspection, 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 component is found to be abnormal, an abnormal state indication is given, and system abnormal information is uploaded to a monitoring background, so that operation and maintenance personnel can find faults in time, the processing time is shortened, and the fault solving efficiency is improved. For real-time self-priming. In the process of executing tasks, the inspection robot can detect the states of the carrying equipment and the inspection robot in real time, judge the environmental conditions of the scene where the robot is located in real time, and determine the field adaptability of the robot. When the abnormality occurs, the robot can timely give abnormal state knowledge, and meanwhile, abnormal information is transmitted to a monitoring background to remind operation and maintenance personnel to timely process the abnormal state knowledge, so that timely fault elimination and normal development of inspection work are ensured.
When the inspection content comprises personnel intrusion detection, the inspection management platform establishes a personnel intrusion recognition model, and trains through a large number of visible light images and infrared images of on-site workers to realize the detection of the inspection robot on the intrusion of the on-site workers. During actual use, intrusion detection is started manually in the background (default is closed), the system analyzes the on-site real-time visible light video and infrared video acquired by the inspection robot by using a machine vision recognition technology, whether personnel exist in an on-site area or not is judged by a recognition mode combining infrared and visible light, and when personnel enter the inspection area, the inspection robot body emits audible and visual alarms, and meanwhile, the background emits audible and visual alarms to remind the personnel to pay attention.
When the inspection content comprises foreign matter detection, the inspection robot can perform image analysis and recognition on the coal scattering phenomenon generated in the running process of the coal conveying belt based on a computer vision recognition technology when performing an inspection task, and a recognition result is given in an inspection system.
When the inspection robot executes the inspection tasks, the inspection contents corresponding to the plurality of inspection tasks can be executed at the same time, and the inspection contents corresponding to the specific inspection tasks are determined according to the working state of the belt, so that the inspection robot is not limited.
According to the coal conveying belt inspection method provided by the embodiment of the invention, the inspection robot performs target inspection tasks according to different working states of the belt, and the target inspection tasks comprise: periodic inspection tasks and fault inspection tasks, wherein the periodic inspection tasks include: a periodic inspection task in a running period and a periodic inspection task in a shutdown period. When the inspection task is periodic inspection, the coal conveying belt running signal is acquired through the coal conveying program control system, and the robot inspection management system is introduced, so that the inspection frequency of the inspection robot is enhanced, and the aim of detecting the state of the coal conveying belt in the running period or the off-line period is fulfilled. When the inspection task is a fault inspection task, fault information of the coal conveying belt is acquired through the coal conveying program control system, and the inspection robot can be rapidly triggered to carry out corresponding inspection work according to different fault types and fault positions due to the fact that the fault information has diversity and uncertainty.
Example III
Fig. 3 is a block diagram of a device for inspecting a coal conveying belt according to an embodiment of the present invention, where the device may be implemented by software and/or hardware, and may be generally integrated in a system for inspecting a coal conveying belt, such as a server, and may perform inspection of the coal conveying belt by executing the method for inspecting the coal conveying belt. As shown in fig. 3, the apparatus includes: the belt information acquisition module 31 and the inspection task information transmission module 32 configured in the inspection management platform further include an inspection task execution module 33 configured in the inspection robot, wherein:
The belt information acquisition module 31 is used for acquiring belt working state information from a 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;
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, wherein the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the inspection management platform firstly acquires belt working state information from a coal conveying program control system; then, the inspection management platform determines a corresponding target inspection robot and a corresponding 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. 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 performs autonomous inspection according to the corresponding inspection tasks.
When the belt start information is included in the belt operation state information acquired by the belt information acquisition module 31;
the inspection task information sending module 32 is further configured to determine that the target inspection robot is an inspection robot for periodic inspection when the inspection management platform obtains the belt start information, and determine that the corresponding target inspection task is an periodic inspection task in an operation period.
The inspection task execution module 33 is further configured to execute, when the target inspection robot receives the target task information corresponding to the periodic inspection task in the operation period, the periodic inspection task in the operation period at a first preset frequency from the current time.
Optionally, after acquiring the belt start information and waiting for a first preset time period, the inspection management platform sends target task information corresponding to the periodic inspection task in the running period to the target inspection robot, wherein the first preset time period is matched with the belt start-stop test time period, and the range of the first preset time period is 30-90 seconds.
Optionally, the apparatus further comprises: a target task information sending module; when the belt operating state information acquired by the belt information acquisition module 31 contains belt fault information;
The inspection task information sending module 32 is further configured to determine, when the inspection management platform obtains belt fault information, a fault type and a fault occurrence position according to the belt fault information, determine, according to the fault occurrence position, a target inspection robot, and determine that a corresponding target inspection task is a fault inspection task, where the fault type includes: coal blocking at a coal dropping port, deviation of a coal conveying belt and tearing of the belt;
the target task information sending module is used for sending target task information which corresponds to the fault inspection task and comprises the fault occurrence position and the fault type 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, after obtaining the belt fault information and waiting for a second preset time period, the inspection management platform sends target task information corresponding to the fault inspection task to the target inspection robot, wherein the second preset time period is smaller than the first preset time period, and the range of the second preset time period is 2-5 seconds.
Alternatively, when the belt stop information is included in the belt operation state information acquired by the belt information acquisition module 31;
the inspection task information sending module 32 is further configured to determine that the target inspection robot is an inspection robot 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 shutdown period;
the inspection task execution module 33 is further configured to execute the periodic inspection task in the running period at a second preset frequency after receiving the target task information corresponding to the periodic inspection task in the shutdown period, where the second preset frequency is lower than the first preset frequency.
Optionally, the coal conveying program control system comprises a distributed control system DCS, a programmable logic control system PLC or a factory 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 blocking detection of a coal dropping pipe, deviation detection of a coal conveying belt, belt tearing detection and personnel intrusion detection.
Example IV
The embodiment of the invention provides a coal conveying belt inspection system, and the coal conveying belt inspection device provided by the embodiment of the invention can be integrated in the coal conveying belt inspection system. Fig. 4 is a block diagram of a system for inspecting a coal conveyor belt according to an embodiment of the present invention. The coal conveyor belt inspection system 400 may include: the inspection management platform 410 and the inspection robot 420 comprise a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the inspection method of the coal conveying belt according to the embodiment of the invention when executing the computer program.
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 of implementing the method.
Example five
The embodiment of the invention also provides a storage medium containing computer executable instructions, which when being executed by a computer processor, are used for executing a coal conveying belt inspection method and are used for a coal conveying belt inspection system, wherein the coal conveying belt inspection system comprises an inspection management platform and an inspection robot, and the method comprises the following steps:
The inspection management platform acquires belt working state information from a coal conveying program control system;
the inspection management platform determines a corresponding target inspection robot and a corresponding 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 media-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, rambus (Rambus) RAM, etc.; nonvolatile 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 second, different 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 (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer executable instructions provided by the embodiment of the invention is not limited to the above-mentioned coal conveying belt inspection operation, and the related operations in the coal conveying belt inspection method provided by any embodiment of the invention can be executed.
The coal conveying belt inspection device, the system and the storage medium provided in the embodiment can execute the coal conveying belt inspection method provided by any embodiment of the invention, and have the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in the above embodiments may be referred to the method for inspecting a coal conveying belt according to any embodiment of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (9)

1. The utility model provides a coal conveying belt inspection method which is characterized in that is applied to coal conveying belt inspection system, coal conveying belt inspection system includes inspection management platform and inspection robot, the method includes:
the inspection management platform acquires belt working state information from a coal conveying program control system;
the inspection management platform determines a corresponding target inspection robot and a corresponding 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;
the target inspection robot executes a corresponding target inspection task according to the received target task information;
wherein, the belt working state information comprises belt starting information;
the inspection management platform determines a corresponding target inspection robot and target inspection task according to the belt working state information, and comprises the following steps:
when the belt starting information is acquired, the inspection management platform determines that the target inspection robot is an inspection robot for periodic inspection, and determines that the corresponding target inspection task is an periodic inspection task in the operation period;
the target inspection robot executes a corresponding target inspection task according to the received target task information, and the target inspection robot comprises:
When the target inspection robot receives target task information corresponding to the periodic inspection task in the operation period, the periodic inspection task in the operation period is executed at a first preset frequency from the current moment,
after acquiring the belt starting information and waiting for a first preset duration, the inspection management platform sends target task information corresponding to the periodic inspection task in the running period to the target inspection robot.
2. The method of claim 1, wherein the first predetermined time period is in a range of 30 seconds to 90 seconds, and the first predetermined time period is matched to a belt start-stop test time period.
3. The method of claim 2, wherein the belt operating condition information includes belt fault information;
the inspection management platform determines a corresponding target inspection robot and target inspection task according to the belt working state information, and comprises the following steps:
when the inspection management platform acquires 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, and determining a corresponding target inspection task as a fault inspection task, wherein the fault type comprises: coal blocking at a coal dropping port, deviation of a coal conveying belt and tearing of the 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 the fault inspection task and contains 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 target inspection robot comprises:
and 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.
4. The method of claim 3, wherein the inspection management platform sends target task information corresponding to the fault inspection task to the target inspection robot after obtaining the belt fault information and waiting for a second preset time period, wherein the second preset time period is less than the first preset time period, and the second preset time period ranges from 2 seconds to 5 seconds.
5. The method of claim 2, wherein the belt operating condition information includes belt stop information;
The inspection management platform determines a corresponding target inspection robot and target inspection task according to the belt working state information, and comprises the following steps:
when the belt stop information is acquired, the inspection management platform determines that the target inspection robot is an inspection robot for periodic inspection, and determines that the corresponding target inspection task is a periodic inspection task in the off-line period;
the target inspection robot executes a corresponding target inspection task according to the received target task information, and the target inspection robot comprises:
and after receiving target task information corresponding to the periodic inspection task in the off-line period, the target inspection robot executes the periodic inspection task in the running period at a second preset frequency, wherein the second preset frequency is lower than the first preset frequency.
6. The method according to any one of claims 1-5, wherein the coal conveying program control system comprises a distributed control system DCS, a programmable logic control system 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 blocking detection of a coal dropping pipe, deviation detection of a coal conveying belt, belt tearing detection and personnel intrusion detection.
7. The utility model provides a coal conveying belt inspection device, its characterized in that integrates in coal conveying belt inspection system, coal conveying belt inspection system is including inspection management platform and inspection robot, the device including dispose in belt information acquisition module and the task information transmission module that inspection in the management platform, still including dispose in the task execution module that inspection in the robot, wherein:
the belt information acquisition module is used for acquiring belt working state information 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;
the inspection task execution module is used for executing a corresponding target inspection task according to the received target task information;
when the belt operating state information acquired by the belt information acquisition module contains belt starting information;
the inspection task information sending module is further used for determining that the target inspection robot is an inspection robot for periodic inspection when the inspection management platform acquires belt starting information, and determining that the corresponding target inspection task is a periodic inspection task in an operation period;
The inspection task execution module is further used for executing the periodic inspection task in the operation period with a first preset frequency from the current moment when the target inspection robot receives the target task information corresponding to the periodic inspection task in the operation period;
after acquiring the belt starting information and waiting for a first preset duration, the inspection management platform sends target task information corresponding to the periodic inspection task in the running period to the target inspection robot.
8. A coal conveyor 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 stored on the memory and capable of running on the processor, and the method is characterized in that the processor realizes the corresponding steps in the coal conveyor belt inspection method according to any one of claims 1-6 when executing the computer program.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
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