CN113936352A - Method and system for inspecting working environment of fuel conveying belt and track robot - Google Patents
Method and system for inspecting working environment of fuel conveying belt and track robot Download PDFInfo
- Publication number
- CN113936352A CN113936352A CN202010651461.0A CN202010651461A CN113936352A CN 113936352 A CN113936352 A CN 113936352A CN 202010651461 A CN202010651461 A CN 202010651461A CN 113936352 A CN113936352 A CN 113936352A
- Authority
- CN
- China
- Prior art keywords
- information
- conveying belt
- working environment
- processor
- fuel
- 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.)
- Withdrawn
Links
- 239000000446 fuel Substances 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 47
- 238000001931 thermography Methods 0.000 claims description 38
- 238000007689 inspection Methods 0.000 claims description 28
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 11
- 229910052782 aluminium Inorganic materials 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 230000000306 recurrent effect Effects 0.000 claims description 4
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 description 7
- 239000003245 coal Substances 0.000 description 6
- 239000000779 smoke Substances 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000011410 subtraction method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method and a system for patrolling the working environment of a fuel conveying belt and a track robot, wherein the track robot comprises a processor and at least one camera; the camera is used for collecting monitoring video information corresponding to the working environment of the fuel conveying belt and sending the monitoring video information to the processor; the processor is used for obtaining current image information of a current frame image in the monitoring video information, judging whether foreign matters enter a preset dangerous working area or not according to the current image information, and if so, generating first alarm information. According to the invention, the working environment of the fuel conveying belt is automatically inspected in real time through the rail robot, foreign matters in the working environment can be timely identified to enter a dangerous working area, personnel in the current working environment do not wear a safety helmet, and alarm information is sent to remind the personnel in the field, so that the safety and reliability of the fuel conveying belt are improved while the personal safety is ensured.
Description
Technical Field
The invention relates to the technical field of power plant inspection, in particular to an inspection method and an inspection system for a working environment of a fuel conveying belt and a track robot.
Background
Fuel transfer belt refers to a connection device for transferring coal to a power plant through a closed-cycle belt, which is an important component of a fuel system device of a power plant and is one of the irreplaceable devices. Once the coal conveying belt breaks down, the coal resources can not be conveyed to the designated position directly, and therefore the generation of electric energy is influenced. Routine inspection and protection of the coal belt is therefore an important maintenance task for the fuel system of the power plant.
Because of the restriction of the factors of large dust on site, high humidity (the cleaning equipment is basically washed by water), wide range and the like, the use of the automatic inspection equipment is greatly limited (the service life of the electric equipment is greatly reduced and the failure rate is greatly increased due to the influence of the dust and the water), and the conventional belt inspection, routing inspection and the like are basically realized by manually.
However, in the operation process of the coal conveying belt, the method is limited by factors such as large range of a fuel system, few personnel, bad environment and the like, and the routing inspection personnel often have low arrival rate and poor routing inspection quality. And because the high-speed motor runs for a long time, the potential safety hazard of people around the belt exists for a long time. In addition, in the daily work of maintenance operators, the working environment of a closed coal conveying belt interval is severe, but often, events that the maintenance operators do not wear safety helmets according to the working requirements, leave foreign matters on the belt or enter the running area of the belt or the foreign matters enter safety production rules occur, and therefore, a plurality of potential safety hazards exist in the fuel conveying belt inspection process.
Disclosure of Invention
The invention aims to overcome the defects of low arrival rate, poor inspection quality and multiple potential safety hazards of manual inspection of a fuel conveying belt in the prior art, and provides an inspection method and an inspection system for a working environment of the fuel conveying belt and a track robot.
The invention solves the technical problems through the following technical scheme:
the invention provides a track robot for inspecting the working environment of a fuel conveying belt, which comprises a processor and at least one camera;
the camera is electrically connected with the processor;
the camera is used for collecting monitoring video information corresponding to the working environment of the fuel conveying belt and sending the monitoring video information to the processor;
the processor is used for obtaining current image information of a current frame image in the monitoring video information, judging whether foreign matters enter a preset dangerous working area or not according to the current image information, and if so, generating first alarm information.
Preferably, the processor is further configured to determine whether an operator is in the current frame image according to the current image information, determine whether the operator wears a safety helmet if the operator is in the current frame image, and generate second alarm information if the operator does not wear the safety helmet.
Preferably, the processor is configured to obtain historical image information of each historical frame image in a historical set time period according to the monitoring video information, and calibrate objects at different positions in the working environment according to a plurality of pieces of historical image information to obtain the preset dangerous working area.
Preferably, the processor is configured to calculate the historical image information of a plurality of historical frame images in the same scene to obtain reference image information;
the processor is further configured to calculate a first difference between the current image information of the current frame image and the reference image information in the scene, determine whether the first difference is greater than a first set threshold, determine that a foreign object in the scene enters the preset dangerous work area if the first difference is greater than the first set threshold, and generate the first alarm information.
Preferably, the processor is configured to calculate a second difference between current image information of the current frame image and historical image information of a previous historical frame image in the same scene, and determine whether the second difference is greater than a second set threshold, if so, determine that a foreign object in the scene enters a preset dangerous work area, and generate the first alarm information.
Preferably, the processor is configured to process the current image information by using a recurrent neural network algorithm and obtain a processing result, and when the processing result represents and identifies a human body, it is determined that an operator exists in the current image;
the processor is further configured to determine whether the current image information includes set color information, and if not, determine that an operator in the current image does not wear a safety helmet, and generate the second alarm information;
if yes, acquiring position information corresponding to the set color information, and judging whether the position information represents that the position information is worn on the head of an operator, and if yes, determining that the operator in the current frame image wears a safety helmet; otherwise, determining that the operator in the current frame image does not wear a safety helmet, and generating the second alarm information.
Preferably, when the fuel conveying belt is provided with an infrared thermal imaging device and the infrared thermal imaging device is electrically connected with the processor, the processor is configured to acquire thermal imaging video information corresponding to the fuel conveying belt in the infrared thermal imaging device and acquire thermal imaging frame image information of a thermal imaging frame image in the thermal imaging video information;
the processor is further used for extracting target color information in the thermal imaging frame image information, judging whether the target color information is larger than a third set threshold value or not, if so, determining that the fuel conveying belt is over-temperature, and generating third alarm information.
Preferably, the orbital robot further comprises an aluminum housing structure, the processor being disposed within the aluminum housing structure.
Preferably, the track robot further comprises a wireless charging device;
the wireless charging equipment is used for wirelessly supplying power to the track robot.
The invention also provides an inspection system, which comprises the track robot for inspecting the working environment of the fuel conveying belt;
the inspection system also comprises an alloy aluminum track;
the processor is used for controlling the track robot to run along the aluminum alloy track.
The invention also provides a method for inspecting the working environment of the fuel conveying belt in the power plant, which is realized by adopting the track robot for inspecting the working environment of the fuel conveying belt, and comprises the following steps:
collecting monitoring video information corresponding to the working environment of the fuel conveying belt;
acquiring current image information of a current frame image in the monitoring video information;
and judging whether foreign matters enter a preset dangerous working area or not according to the current image information, and if so, generating first alarm information.
Preferably, the step of obtaining the current image information of the current frame image in the monitoring video information further includes:
and judging whether an operator exists in the current image according to the current image information, if so, judging whether the operator wears a safety helmet, and if not, generating second alarm information.
The positive progress effects of the invention are as follows:
according to the invention, the working environment of the fuel conveying belt is automatically inspected in real time by the rail robot, so that the situation that foreign matters (such as people or other sundries) enter a dangerous working area in the current working environment can be analyzed in time according to a monitoring video collected in a camera, alarm information is sent out, and field workers are reminded in time; whether a person wears the safety helmet in the current working environment can be analyzed in time, alarm information is sent out when the person does not wear the safety helmet, the person can be reminded to wear the safety helmet in time, abnormal situations occurring on the scene can be analyzed in time and effectively, and the alarm information is provided, so that personal injury and other unnecessary accidents are avoided; in addition, the working temperature of equipment in the fuel conveying belt can be monitored, and an alarm signal is generated when the temperature is over-high, so that the equipment can be conveniently checked for faults in advance, and the running safety and reliability of the fuel conveying belt are improved.
Drawings
Fig. 1 is a schematic structural view of a track robot for inspecting a working environment of a fuel transfer belt according to embodiment 1 of the present invention.
Fig. 2 is a schematic flow chart of a method for inspecting a working environment of a fuel conveyor belt in a power plant according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the track robot for inspecting a working environment of a fuel transfer belt of the present embodiment includes a processor 1, an aluminum housing structure 2, a wireless charging apparatus 3, and at least one camera 4.
Wherein, every camera is 360 degrees all-round shootings, and track robot traveles along setting for the track route, and 360 degrees around the route of traveling all belong to the monitoring range (wide-angle coverage monitoring range) of camera, realize carrying out three-dimensional control to the control area promptly, avoided effectively taking place through the not comprehensive and untimely condition of control that personnel appear fatigue, lacked etc. and cause when artificially patrolling and examining, guaranteed the reliability of patrolling and examining.
In addition, the rail robot can continuously and stereoscopically monitor 24 hours a day, thereby ensuring that the information at any moment in the field working environment can be continuously monitored, further ensuring the inspection efficiency and the inspection quality and effectively ensuring the monitoring quality of the working environment of the conveying belt.
A plurality of preset points are preset in the working environment of the fuel conveying belt, the preset points refer to preset monitoring target areas or positions for key inspection, and the camera performs key inspection when reaching the preset points. In addition, the automatic stopping and monitoring analysis positions of the track robot can be set in advance according to the actual conditions of the site, and the monitoring mode and the monitoring path can be planned in advance according to actual requirements so as to achieve a better site inspection effect.
The camera 4 is used for collecting monitoring video information corresponding to the working environment of the fuel conveying belt and sending the monitoring video information to the processor 1;
the processor 1 is configured to obtain current image information of a current frame image in the monitoring video information, determine whether a foreign object enters a preset dangerous work area according to the current image information, and generate first alarm information if the foreign object enters the preset dangerous work area.
Wherein, the foreign matter includes human trunk, staff at the instrument of site operation or other debris etc. if not discover the foreign matter in time, after fuel conveying belt drive, probably cause the fuel to carry the skin operation to break down, the foreign matter takes place to damage, even causes the accident of personal safety.
The first alarm information includes but is not limited to sound alarm, image alarm and text alarm.
In addition, when the first alarm signal is sent out, the current frame image and the video stream are synchronously intercepted and stored, so that the evidence can be conveniently stored or used by other subsequent processes.
The processor 1 is configured to obtain historical image information of each historical frame image in a historical set time period according to the monitoring video information, and calibrate objects at different positions in a working environment according to the plurality of historical image information to obtain a preset dangerous working area, that is, to finish division of a safe production area and a dangerous working area in the working environment of the fuel conveying belt in advance.
Specifically, the processor may identify whether a foreign object enters the current frame image in the following two ways:
(1) background subtraction method: the processor 1 is used for calculating historical image information of a plurality of historical frame images in the same scene to obtain reference image information; the processor 1 is further configured to calculate a first difference between current image information of the current frame image and reference image information in the scene, determine whether the first difference is greater than a first set threshold, determine that a foreign object in the scene enters a preset dangerous work area if the first difference is greater than the first set threshold, and generate first alarm information.
The method comprises the steps of calculating the average value of historical image information of a plurality of historical frame images of the same scene in a certain time period to obtain a background model corresponding to the scene, wherein the background model is used for judging whether the scene has changed reference image information; the current image information of the current frame image is compared with the reference image information in real time, and whether foreign matters enter a preset dangerous working area or not is recognized in the scene.
(2) And (3) an interframe difference method: the processor 1 is configured to calculate a second difference between current image information of a current frame image and historical image information of a previous historical frame image in the same scene, determine whether the second difference is greater than a second set threshold, determine that a foreign object in the scene enters a preset dangerous work area if the second difference is greater than the second set threshold, and generate first alarm information. Namely, whether foreign matters enter a preset dangerous working area of the scene is identified by comparing image information of adjacent frame images.
In addition, in an actual inspection scene, a background difference method and an inter-frame difference method can be combined to improve the accuracy of identifying the field abnormal condition.
The processor 1 is further used for judging whether an operator is in the current frame image according to the current image information, if so, judging whether the operator wears a safety helmet, and if not, generating second alarm information;
wherein, the second alarm information includes but not limited to sound alarm, image alarm, text alarm.
In addition, when a second alarm signal is sent out, the current frame image and the video stream are synchronously intercepted and stored, so that the evidence can be conveniently stored or used by other subsequent processes.
Specifically, the processor 1 is configured to process current image information by using a recurrent neural network algorithm and obtain a processing result, and when the processing result represents and identifies a human body, it is determined that an operator exists in a current frame image; in addition, other algorithms capable of identifying the human body in the image can be adopted, and the details are not repeated here.
The processor 1 is further configured to determine whether the current image information includes set color information, and if not, determine that an operator in the current image does not wear a safety helmet, and generate second alarm information; if yes, acquiring position information corresponding to the set color information, judging whether the position information represents that the safety helmet is worn on the head of an operator, and if yes, determining that the safety helmet is worn on the operator in the current frame image; otherwise, determining that the operator in the current frame image does not wear the safety helmet, and generating second alarm information.
And if the safety helmet is not actually worn and the judgment result is that the safety helmet is worn, the image is corrected by mistake to avoid the situation of false alarm, so that the accuracy of identifying the field abnormal situation is improved.
In addition, the on-site light source is adjusted regularly to ensure the definition of the monitoring picture, and the monitoring efficiency and quality are further ensured.
In addition, when the fuel conveying belt is provided with the infrared thermal imaging device, and the infrared thermal imaging device is electrically connected with the processor 1, the processor 1 is used for collecting thermal imaging video information corresponding to the fuel conveying belt in the infrared thermal imaging device and acquiring thermal imaging frame image information of a thermal imaging frame image in the thermal imaging video information;
the processor 1 is further configured to extract target color information in the thermal imaging frame image information, determine whether the target color information is greater than a third set threshold, determine that an over-temperature occurs in the fuel conveying belt if the target color information is greater than the third set threshold, and generate third alarm information.
In particular, infrared thermal imaging devices can be respectively arranged at the two ends of the fuel conveying belt, and by utilizing the technical principle of infrared thermal imaging, the infrared radiation of the surface of a detected target object is converted into a video signal by receiving the infrared ray emitted by the object (an infrared monitoring head receives the infrared heat energy radiated by the detected target, namely the medium-wave and long-wave infrared energy, and converts the infrared heat energy into a real-time thermal imaging image of the surface of the object reflecting the target characteristics), the monitoring is realized by combining the functions of image monitoring, temperature measurement early warning and the like, keeping temperature monitoring on main equipment such as a motor, a gear box, a roller and the like in a fuel conveying belt, designing high-temperature protection limit, when the temperature of certain equipment represented by a thermal imaging image is higher than the set high-temperature protection limit, an alarm signal is automatically sent out to prejudge that the equipment in the fuel conveying belt has a fault so as to ensure the reliability and safety of the operation of the fuel conveying belt.
In addition, a smoke detector, a temperature and humidity detector and the like can be arranged in the working environment of the fuel conveying belt and are in communication connection with the processor respectively to acquire the smoke condition and the temperature and humidity condition of the site, identify whether a fire disaster occurs on the site according to the smoke condition, and determine whether the site is too humid or too hot according to the temperature and humidity condition so as to take further measures in time.
The track robot of this embodiment still has the advantage that positioning accuracy is high (the error is less than 5cm), realizes the accurate positioning control to operational environment, has further ensured the reliability of the operational environment control to fuel conveyor belt.
The track robot of this embodiment adopts purpose-made tow chain cable, contains track robot's power input and signal output. Because the dust is very big in the on-the-spot environment of power plant, there is a large amount of sparge water, adopts traditional wiping line probably to cause the emergence of dangerous condition. Therefore, a specially-made flexible towline cable is developed according to actual conditions, so that the dustproof requirement on the site is met, and the smooth movement of the track robot under various temperature conditions on the site is realized.
Aluminium system shell structure 2 has waterproof and dustproof function, and under conveyor belt routine maintenance's washing and the state of spraying, the track robot can be under the operating mode that keeps normal radiating, protects and keeps the normal steady operation of track robot effectively.
The wireless charging equipment 3 not only effectively solves the potential safety hazard possibly brought by charging, but also monitors the electric quantity of the battery of the track robot in real time, and ensures the safe use of the track robot.
Specifically, the wireless charging technology has the characteristics of charging, long product service time, high safety factor and the like, and can be widely applied to actual use scenes in various production fields. The wireless charging equipment saves the use of a cable, realizes the binding of a robot without a cable, does not generate electric spark, can safely and freely run, and provides higher safety under special field environment. In addition, this embodiment can adopt the wireless charging equipment who has explosion-proof wireless function of charging according to the actual demand, has further ensured the security of patrolling and examining the environment.
The track robot of this embodiment can last automatic cruise under various temperatures and adverse circumstances to ensured that fuel conveyor belt's operational environment is by real time monitoring, in time analyze out the abnormal conditions that the scene takes place effectively and send alarm information, in order to guarantee to conveyor belt patrol and examine efficiency and patrol and examine the quality, reduced fuel conveyor belt in very big degree because of the possibility that external factor broke down (protected fuel conveyor belt promptly), improved the reliability of fuel conveyor belt operation, ensured that the power plant can continuously produce the electric energy.
In the embodiment, the working environment of the fuel conveying belt is automatically inspected in real time through the rail robot, so that the situation that foreign matters enter a dangerous working area in the current working environment and send alarm information can be analyzed in time according to monitoring videos collected in the camera, and field workers are reminded in time; whether a person wears the safety helmet in the current working environment can be analyzed in time, and alarm information is sent out under the condition that the person does not wear the safety helmet to remind the person on site to wear the safety helmet in time so as to avoid personal injury and other unnecessary accidents; in addition, the working temperature of equipment in the fuel conveying belt can be monitored, and an alarm signal is generated when the temperature is over-high, so that the equipment can be conveniently checked for faults in advance, and the running safety and reliability of the fuel conveying belt are improved.
Example 2
The inspection system of the embodiment comprises the rail robot and the aluminum alloy rail for inspecting the working environment of the fuel conveying belt of the embodiment 1;
the processor 1 is used for controlling the track robot to run along the aluminum alloy track.
Wherein, the climbing slope smaller than the set gradient (such as the fuel conveying belt with the maximum climbing slope angle of 20 degrees) can be designed according to the actual situation.
In addition, the adopted alloy aluminum track has the advantages of lightness, firmness and the like, and is convenient for on-site hoisting.
In this embodiment, automatic working environment to fuel conveyor belt patrols and examines in real time through the track robot that adopts in the system of patrolling and examining, can discern that there is the foreign matter (like people or other debris) to get into dangerous work area in the current working environment to and discern the condition that personnel did not wear the safety helmet in the current working environment, and send alarm information respectively in order to provide field personnel, when having ensured personal safety, improved fuel conveyor belt's operation security and reliability.
Example 3
The method for inspecting the working environment of the fuel conveying belt in the power plant of the embodiment is implemented by using the rail robot for inspecting the working environment of the fuel conveying belt in embodiment 1.
As shown in fig. 2, the method for inspecting the working environment of the fuel conveying belt in the power plant of the embodiment includes:
s101, collecting monitoring video information corresponding to the working environment of a fuel conveying belt;
s102, obtaining current image information of a current frame image in the monitoring video information;
s103, judging whether foreign matters enter a preset dangerous working area or not according to the current image information, and if so, generating first alarm information.
Wherein, the foreign matter includes human trunk, staff at the instrument of site operation or other debris etc. if not discover the foreign matter in time, after fuel conveying belt drive, probably cause the fuel to carry the skin operation to break down, the foreign matter takes place to damage, even causes the accident of personal safety.
The first alarm information includes but is not limited to sound alarm, image alarm and text alarm.
In addition, when the first alarm signal is sent out, the current frame image and the video stream are synchronously intercepted and stored, so that the evidence can be conveniently stored or used by other subsequent processes.
The method comprises the steps of obtaining historical image information of each historical frame image in a historical set time period according to monitoring video information, calibrating objects at different positions in a working environment according to a plurality of historical image information to obtain a preset dangerous working area, namely completing the division of a safe production area and a dangerous working area in the working environment of a fuel conveying belt in advance.
Specifically, whether a foreign object enters the current frame image can be identified in the following two ways:
(1) background subtraction method: calculating historical image information of a plurality of historical frame images in the same scene to obtain reference image information; and calculating to obtain a first difference value between the current image information and the reference image information of the current frame image in the scene, judging whether the first difference value is greater than a first set threshold value, if so, determining that foreign matters enter a preset dangerous working area in the scene, and generating first alarm information.
The method comprises the steps of calculating the average value of historical image information of a plurality of historical frame images of the same scene in a certain time period to obtain a background model corresponding to the scene, wherein the background model is used for judging whether the scene has changed reference image information; the current image information of the current frame image is compared with the reference image information in real time, and whether foreign matters enter a preset dangerous working area or not is recognized in the scene.
(2) And (3) an interframe difference method: and calculating to obtain a second difference value between the current image information of the current frame image and the historical image information of the previous historical frame image in the same scene, judging whether the second difference value is greater than a second set threshold value, if so, determining that foreign matters in the scene enter a preset dangerous working area, and generating first alarm information. Namely, whether foreign matters enter a preset dangerous working area of the scene is identified by comparing image information of adjacent frame images.
In addition, in an actual inspection scene, a background difference method and an inter-frame difference method can be combined to improve the accuracy of identifying the field abnormal condition.
And S104, judging whether an operator exists in the current image according to the current image information, if so, judging whether the operator wears a safety helmet, and if not, generating second alarm information.
Wherein, the second alarm information includes but not limited to sound alarm, image alarm, text alarm.
In addition, when a second alarm signal is sent out, the current frame image and the video stream are synchronously intercepted and stored, so that the evidence can be conveniently stored or used by other subsequent processes.
Specifically, processing current image information by adopting a recurrent neural network algorithm and acquiring a processing result, and determining that an operator exists in a current frame image when the processing result represents and identifies a human body; in addition, other algorithms capable of identifying the human body in the image can be adopted, and the details are not repeated here.
Judging whether the current image information comprises set color information or not, if not, determining that an operator does not wear a safety helmet in the current image, and generating second alarm information; if yes, acquiring position information corresponding to the set color information, judging whether the position information represents that the safety helmet is worn on the head of an operator, and if yes, determining that the safety helmet is worn on the operator in the current frame image; otherwise, determining that the operator in the current frame image does not wear the safety helmet, and generating second alarm information.
And if the safety helmet is not actually worn and the judgment result is that the safety helmet is worn, the image is corrected by mistake to avoid the situation of false alarm, so that the accuracy of identifying the field abnormal situation is improved.
In addition, the on-site light source is adjusted regularly to ensure the definition of the monitoring picture, and the monitoring efficiency and quality are further ensured.
In addition, when the fuel conveying belt is provided with the infrared thermal imaging device, acquiring thermal imaging video information corresponding to the fuel conveying belt in the infrared thermal imaging device, and acquiring thermal imaging frame image information of a thermal imaging frame image in the thermal imaging video information;
and extracting target color information in the thermal imaging frame image information, judging whether the target color information is greater than a third set threshold value, if so, determining that the fuel conveying belt is over-temperature, and generating third alarm information.
In particular, infrared thermal imaging devices can be respectively arranged at the two ends of the fuel conveying belt, and by utilizing the technical principle of infrared thermal imaging, the infrared radiation of the surface of a detected target object is converted into a video signal by receiving the infrared ray emitted by the object (an infrared monitoring head receives the infrared heat energy radiated by the detected target, namely the medium-wave and long-wave infrared energy, and converts the infrared heat energy into a real-time thermal imaging image of the surface of the object reflecting the target characteristics), the monitoring is realized by combining the functions of image monitoring, temperature measurement early warning and the like, keeping temperature monitoring on main equipment such as a motor, a gear box, a roller and the like in a fuel conveying belt, designing high-temperature protection limit, when the temperature of certain equipment represented by a thermal imaging image is higher than the set high-temperature protection limit, an alarm signal is automatically sent out to prejudge that the equipment in the fuel conveying belt has a fault so as to ensure the reliability and safety of the operation of the fuel conveying belt.
In addition, a smoke detector, a temperature and humidity detector and the like can be arranged in the working environment of the fuel conveying belt and are in communication connection with the processor respectively to acquire the smoke condition and the temperature and humidity condition of the site, identify whether a fire disaster occurs on the site according to the smoke condition, and determine whether the site is too humid or too hot according to the temperature and humidity condition so as to take further measures in time.
The track robot of this embodiment can last automatic cruise under various temperatures and adverse circumstances to ensured that fuel conveyor belt's operational environment is by real time monitoring, in time analyze out the abnormal conditions that the scene takes place effectively and send alarm information, in order to guarantee to conveyor belt patrol and examine efficiency and patrol and examine the quality, reduced fuel conveyor belt in very big degree because of the possibility that external factor broke down (protected fuel conveyor belt promptly), improved the reliability of fuel conveyor belt operation, ensured that the power plant can continuously produce the electric energy.
In the embodiment, the working environment of the fuel conveying belt is automatically inspected in real time through the rail robot, so that the situation that foreign matters enter a dangerous working area in the current working environment and send alarm information can be analyzed in time according to monitoring videos collected in the camera, and field workers are reminded in time; whether a person wears the safety helmet in the current working environment can be analyzed in time, and alarm information is sent out under the condition that the person does not wear the safety helmet to remind the person on site to wear the safety helmet in time so as to avoid personal injury and other unnecessary accidents; in addition, the working temperature of equipment in the fuel conveying belt can be monitored, and an alarm signal is generated when the temperature is over-high, so that the equipment can be conveniently checked for faults in advance, and the running safety and reliability of the fuel conveying belt are improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (12)
1. A track robot for inspecting a working environment of a fuel conveying belt, characterized by comprising a processor and at least one camera;
the camera is electrically connected with the processor;
the camera is used for collecting monitoring video information corresponding to the working environment of the fuel conveying belt and sending the monitoring video information to the processor;
the processor is used for obtaining current image information of a current frame image in the monitoring video information, judging whether foreign matters enter a preset dangerous working area or not according to the current image information, and if so, generating first alarm information.
2. The track robot for inspecting the working environment of the fuel conveying belt according to claim 1, wherein the processor is further configured to determine whether there is an operator in the current frame image according to the current image information, and if so, determine whether the operator wears a safety helmet, and if not, generate a second alarm message.
3. The track robot for inspecting the working environment of the fuel-conveying belt according to claim 1, wherein the processor is configured to obtain historical image information of each historical frame image in a historical set time period according to the monitoring video information, and calibrate objects at different positions in the working environment according to a plurality of historical image information to obtain the preset dangerous working area.
4. The orbital robot for inspecting the working environment of the fuel-conveying belt according to claim 3, wherein the processor is configured to calculate the historical image information for a plurality of the historical frame images in the same scene to obtain reference image information;
the processor is further configured to calculate a first difference between the current image information of the current frame image and the reference image information in the scene, determine whether the first difference is greater than a first set threshold, determine that a foreign object in the scene enters the preset dangerous work area if the first difference is greater than the first set threshold, and generate the first alarm information.
5. The track robot for inspecting the working environment of the fuel conveying belt according to claim 3, wherein the processor is configured to calculate a second difference between the current image information of the current frame image and the historical image information of the previous historical frame image in the same scene, determine whether the second difference is greater than a second set threshold, determine that a foreign object in the scene enters a preset dangerous working area if the second difference is greater than the second set threshold, and generate the first alarm information.
6. The orbital robot for inspecting the working environment of the fuel-conveying belt according to claim 2, wherein the processor is configured to process the current image information using a recurrent neural network algorithm and obtain a processing result, and determine that there is an operator in the current image when the processing result indicates that a human body is recognized;
the processor is further configured to determine whether the current image information includes set color information, and if not, determine that an operator in the current image does not wear a safety helmet, and generate the second alarm information;
if yes, acquiring position information corresponding to the set color information, and judging whether the position information represents that the position information is worn on the head of an operator, and if yes, determining that the operator in the current frame image wears a safety helmet; otherwise, determining that the operator in the current frame image does not wear a safety helmet, and generating the second alarm information.
7. The track robot for inspecting the working environment of the fuel conveying belt according to claim 1, wherein when an infrared thermal imaging device is arranged on the fuel conveying belt and electrically connected with the processor, the processor is configured to collect thermal imaging video information corresponding to the fuel conveying belt in the infrared thermal imaging device and acquire thermal imaging frame image information of a thermal imaging frame image in the thermal imaging video information;
the processor is further used for extracting target color information in the thermal imaging frame image information, judging whether the target color information is larger than a third set threshold value or not, if so, determining that the fuel conveying belt is over-temperature, and generating third alarm information.
8. The orbital robot for inspecting the working environment of the fuel-conveying belt according to any one of claims 1 to 7, further comprising an aluminum housing structure, wherein the processor is disposed within the aluminum housing structure.
9. The orbital robot for inspecting the working environment of the fuel-conveying belt according to any one of claims 1 to 7, further comprising a wireless charging device;
the wireless charging equipment is used for wirelessly supplying power to the track robot.
10. An inspection system, characterized in that the inspection system comprises the track robot for inspecting a working environment of a fuel transporting belt according to any one of claims 1 to 9;
the inspection system also comprises an alloy aluminum track;
the processor is used for controlling the track robot to run along the aluminum alloy track.
11. A method for inspecting a working environment of a fuel transfer belt in a power plant, the method being implemented using the track robot for inspecting a working environment of a fuel transfer belt according to any one of claims 1 to 9, the method comprising:
collecting monitoring video information corresponding to the working environment of the fuel conveying belt;
acquiring current image information of a current frame image in the monitoring video information;
and judging whether foreign matters enter a preset dangerous working area or not according to the current image information, and if so, generating first alarm information.
12. A method for routing inspection of a working environment of a fuel delivery belt in a power plant as claimed in claim 11, wherein the step of obtaining current image information of a current frame image in the surveillance video information further comprises:
and judging whether an operator exists in the current image according to the current image information, if so, judging whether the operator wears a safety helmet, and if not, generating second alarm information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010651461.0A CN113936352A (en) | 2020-07-08 | 2020-07-08 | Method and system for inspecting working environment of fuel conveying belt and track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010651461.0A CN113936352A (en) | 2020-07-08 | 2020-07-08 | Method and system for inspecting working environment of fuel conveying belt and track robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113936352A true CN113936352A (en) | 2022-01-14 |
Family
ID=79272806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010651461.0A Withdrawn CN113936352A (en) | 2020-07-08 | 2020-07-08 | Method and system for inspecting working environment of fuel conveying belt and track robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113936352A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114879655A (en) * | 2022-03-24 | 2022-08-09 | 慧之安信息技术股份有限公司 | Intelligent robot inspection method for underground coal mine conveyor belt |
| CN116486503A (en) * | 2023-04-06 | 2023-07-25 | 中冶南方（武汉）自动化有限公司 | Rapid inspection method and system for comprehensive pipe rack |
| CN117437598A (en) * | 2023-12-13 | 2024-01-23 | 山东大莱龙铁路有限责任公司 | Intelligent protection system for construction safety of adjacent business line |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204489903U (en) * | 2015-03-13 | 2015-07-22 | 宁夏广天夏电子科技有限公司 | Band conveyor safety detection protective device |
| CN106295551A (en) * | 2016-08-05 | 2017-01-04 | 南京理工大学 | A kind of personal security cap wear condition real-time detection method based on video analysis |
| CN106845346A (en) * | 2016-12-16 | 2017-06-13 | 北京无线电计量测试研究所 | A kind of image detecting method for airfield runway foreign bodies detection |
| 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 |
| CN108267172A (en) * | 2018-01-25 | 2018-07-10 | 神华宁夏煤业集团有限责任公司 | Mining intelligent robot inspection system |
| CN109230351A (en) * | 2018-08-30 | 2019-01-18 | 山西精英科技股份有限公司 | A kind of recognition methods that belt conveyor is operating abnormally |
-
2020
- 2020-07-08 CN CN202010651461.0A patent/CN113936352A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204489903U (en) * | 2015-03-13 | 2015-07-22 | 宁夏广天夏电子科技有限公司 | Band conveyor safety detection protective device |
| CN106295551A (en) * | 2016-08-05 | 2017-01-04 | 南京理工大学 | A kind of personal security cap wear condition real-time detection method based on video analysis |
| CN106845346A (en) * | 2016-12-16 | 2017-06-13 | 北京无线电计量测试研究所 | A kind of image detecting method for airfield runway foreign bodies detection |
| 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 |
| CN108267172A (en) * | 2018-01-25 | 2018-07-10 | 神华宁夏煤业集团有限责任公司 | Mining intelligent robot inspection system |
| CN109230351A (en) * | 2018-08-30 | 2019-01-18 | 山西精英科技股份有限公司 | A kind of recognition methods that belt conveyor is operating abnormally |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114879655A (en) * | 2022-03-24 | 2022-08-09 | 慧之安信息技术股份有限公司 | Intelligent robot inspection method for underground coal mine conveyor belt |
| CN114879655B (en) * | 2022-03-24 | 2022-12-02 | 慧之安信息技术股份有限公司 | Intelligent robot inspection method for underground coal mine conveyor belt |
| CN116486503A (en) * | 2023-04-06 | 2023-07-25 | 中冶南方（武汉）自动化有限公司 | Rapid inspection method and system for comprehensive pipe rack |
| CN117437598A (en) * | 2023-12-13 | 2024-01-23 | 山东大莱龙铁路有限责任公司 | Intelligent protection system for construction safety of adjacent business line |
| CN117437598B (en) * | 2023-12-13 | 2024-02-27 | 山东大莱龙铁路有限责任公司 | Intelligent protection system for construction safety of adjacent business line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113936352A (en) | Method and system for inspecting working environment of fuel conveying belt and track robot | |
| CN105056457B (en) | A kind of mobile fire-fighting fire extinguishing method for electric power tunnel | |
| KR101949525B1 (en) | Safety management system using unmanned detector | |
| CN205486332U (en) | Nobody system of patrolling and examining of intelligence | |
| CN205910570U (en) | Need not people intelligent monitoring system of transformer substation that always falls on duty | |
| CN107590876A (en) | Pipe gallery crusing robot and pipe gallery cruising inspection system | |
| CN205021584U (en) | Power equipment inspection robot and power equipment inspection robot system | |
| CN108663090A (en) | A kind of cable tunnel intelligent checking system | |
| CN112288984A (en) | Three-dimensional visual unattended substation intelligent linkage system based on video fusion | |
| CN104538899A (en) | Wireless-transmission-based unmanned aerial vehicle platform for power line inspection | |
| CN209312194U (en) | A kind of power control cabinet security system | |
| CN211087009U (en) | Contact net inspection device based on aircraft | |
| CN205333126U (en) | Transformer substation valve room hangs rail and patrols and examines robot | |
| CN112869278A (en) | A safety helmet detecting system for building site | |
| CN106647813A (en) | Intelligent vehicle-mounted dual-light inspection system expert diagnosing and abnormity processing method | |
| CN110944150A (en) | Special external damage prevention intelligent identification method for electric power | |
| CN110666814A (en) | Power distribution network inspection robot | |
| CN108375962A (en) | Offshore boosting station patrols control system | |
| CN105978144A (en) | Infrared monitoring system for automatic cruise transformer station based on APP platform alarm | |
| CN211878460U (en) | Intelligent comprehensive monitoring system for distribution transformer environment | |
| CN112865307A (en) | Auxiliary monitoring system for traction substation | |
| CN212635748U (en) | Power distribution network inspection robot | |
| CN113858194A (en) | A other robot that stands for job site auxiliary management | |
| CN107499859A (en) | The security protection system and its method of work that a kind of anti-people of ribbon conveyer does harm to due to wound | |
| CN202748428U (en) | On-line monitoring apparatus for equipment of power supply and distribution 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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220114 |