CN115107050A - Track type fan inspection robot and inspection maintenance method thereof - Google Patents
Track type fan inspection robot and inspection maintenance method thereof Download PDFInfo
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- CN115107050A CN115107050A CN202210729936.2A CN202210729936A CN115107050A CN 115107050 A CN115107050 A CN 115107050A CN 202210729936 A CN202210729936 A CN 202210729936A CN 115107050 A CN115107050 A CN 115107050A
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- 238000007689 inspection Methods 0.000 title claims abstract description 67
- 238000012423 maintenance Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 15
- 239000000523 sample Substances 0.000 claims abstract description 13
- 238000007405 data analysis Methods 0.000 claims abstract description 10
- 230000006870 function Effects 0.000 claims abstract description 6
- 238000012806 monitoring device Methods 0.000 claims abstract description 6
- 238000013500 data storage Methods 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 18
- 239000004519 grease Substances 0.000 claims description 14
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- 238000004458 analytical method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
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- 238000002372 labelling Methods 0.000 claims description 5
- 238000013528 artificial neural network Methods 0.000 claims description 4
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- 238000001914 filtration Methods 0.000 description 4
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- 238000009529 body temperature measurement Methods 0.000 description 1
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- 238000009826 distribution Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides a rail type fan inspection robot and an inspection maintenance method thereof. Wherein, the robot includes: the robot guide rail module enables the robot to automatically move to a designated position; the controller module has data storage and analysis functions and can perform AI intelligent judgment on the image; the sensor module comprises a track monitoring device, an infrared camera, a sound collecting probe, a vibration monitoring and collecting device, an ultrasonic probe positioned on the mechanical arm and a camera positioned on the mechanical arm; a robot arm for automatically performing a simple maintenance work; and the communication module is used for transmitting the data and the image to a technician. The invention also comprises the robot and the inspection maintenance method. The robot replaces manual boarding to patrol and maintain.
Description
Technical Field
The invention relates to the technical field of rail type inspection robots, in particular to a rail type fan inspection robot and an inspection maintenance method thereof.
Background
Along with the development of the wind power industry, the operation and maintenance of fan equipment is still in maintenance engineers' regular period, dynamic maintenance, annual scheduled inspection and development of inspection and maintenance, the maintenance engineers are mostly newly-advanced college students, the maintenance experience is few, inspection is carried out through the manual work, most uncertain factors are increased, in addition, the operation and maintenance personnel are few, the number of fans is large, and the regular inspection and maintenance of each fan can not be well guaranteed. In order to ensure that maintenance personnel are not allowed to check boarding by the maintenance personnel during operation of fan equipment, especially in a windy season and when a fan runs for a long time under full load, the inspection of the rotating part of a large part of the equipment is particularly important, inspection is carried out by a maintenance engineer, and the inspection part and the judgment standard are not completely unified and have certain deviation.
However, the temperature measurement of the current equipment can only measure the temperature of the installation point through a PT100 temperature sensor. The vibration monitoring of present equipment is also to fixed position monitoring, can't accomplish through vision, temperature, the omnidirectional multi-angle of sound, judges the state of equipment under test. Moreover, some regular maintenance items are simple, high in repeatability, large in quantity and long in required time, such as terminal block fastening, bolt fastening and the like. In addition, the maintenance personnel only need to make one on-off switch in a large amount of time, which wastes manpower and takes long time.
Therefore, how to inspect the maintenance and analysis robot through one fan and integrate the mechanical arm to perform maintenance work, how to perform intelligent monitoring through the AI algorithm of the camera, and issue an analysis report on an inspection result are technical problems to be solved at present.
Disclosure of Invention
The invention provides a track type fan inspection robot, which is applied to a fan cabin, and comprises:
and the robot module enables the robot to automatically move to a designated position and comprises a robot chassis, a track, wheels and a driving shaft. The robot can obtain the specific position of the robot on the track through the magnetic stripe information on the track. The chassis may carry the various modules thereon. The driving shaft is connected with two front wheels and two rear wheels and is fixed below the bottom 2. The drive shaft and the connection of the two front and rear wheels is flexible, allowing the front and rear wheels to be steered.
The controller module has data storage and analysis functions, consists of a microcomputer and related circuits thereof, has a GPU (graphic processing unit) and can perform AI intelligent judgment on the image.
The sensor module comprises a track monitoring device, an infrared camera, a sound collecting probe, a vibration monitoring collecting device, an ultrasonic probe and a camera, wherein the ultrasonic probe is positioned on the mechanical arm, the camera is positioned on the mechanical arm, signal lines of the sensors are connected to the controller module, and collected data and images are transmitted to the controller module.
The robot automatically carries out simple maintenance work, including base, transmission shaft, revolving cylinder, head revolving cylinder, manipulator and pneumatic circuit, the controller module can move the place that the space is little through pneumatic circuit control manipulator and monitor, carry out fastening bolt and fastening terminal row wiring.
The communication module transmits data and images to the monitoring background server in real time, has an optical fiber communication function, and enables terminal equipment of technicians to communicate with the robot through the background server and the communication module.
Correspondingly, the invention also provides a routing inspection maintenance method of the rail-mounted fan routing inspection robot, which is applied to the rail-mounted fan routing inspection robot, can automatically or manually control routing inspection maintenance of equipment in a fan cabin, and reduces the workload and labor cost of manual routing inspection maintenance, and the method comprises the following steps:
automatically customizing a routing inspection route, or manually remotely controlling and monitoring, and moving to a designated position for charging according to the electric quantity condition;
performing visual routine inspection on cabin equipment, acquiring data and images, and maintaining the equipment;
processing data and images, judging working states, forming reports and determining whether to give an early warning;
and transmitting the data and the image to a monitoring background server through communication, and analyzing historical data to obtain the full-period state monitoring of the equipment.
The robot acquires corresponding data and images through monitoring detected equipment;
monitoring a multi-axis mechanical arm of the robot at different angles to acquire images;
the robot has the advantages that the robot can automatically fasten bolts and fasten terminal row wiring, and the PLC is simple in maintenance work of halting, cutting off and restarting.
Processing data and images, judging working states, forming reports, and determining whether to early warn comprises the following steps:
acquiring the temperature of a fan coupler, an abnormal vibration value and abnormal sound, and the suction and exhaust sound of a fan;
acquiring images of corresponding cabins, and judging whether oil levels, oil pressures, oil quantities, cooling water pressures, oil filling and grease discharging of cabin oil filling equipment are normal or not;
according to the images of the flange shaft head and the blowoff valve, AI intelligent judgment is respectively carried out;
and forming a report and determining whether to carry out early warning.
According to the image of flange spindle nose and blowoff valve, carry out AI intelligence respectively and judge, include:
performing big data analysis of storage, labeling, classification and cleaning on the images of the flange shaft head and the blowoff valve;
and carrying out automatic image processing through deep learning and neural network modeling.
Therefore, under the thought, the track type fan inspection robot can carry out intelligent monitoring through AI algorithms of the sensor and the camera according to the inspection maintenance method, provide an analysis report for an inspection result, and carry out maintenance through the mechanical arm, so that the robot replaces manual boarding inspection maintenance, the workload and the cost of labor for manual inspection maintenance are reduced, and the maintenance cost of the fan is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a block diagram of the orbital fan inspection robot of the present invention;
FIG. 2 illustrates a schematic view of a robotic arm of the orbital fan inspection robot of the present invention;
fig. 3 is an external view of a robot arm according to an embodiment of the present invention;
fig. 4 shows a schematic flow chart of an inspection maintenance method of a track type fan inspection robot according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating the application of the AI learning technique of the camera of the present invention;
fig. 6 shows a picture processing effect diagram of a pointer instrument panel in an existing fan nacelle.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the application provides a robot is patrolled and examined to rail mounted fan is applied to in the fan cabin, as shown in fig. 1, the robot includes:
the robot guide rail module enables the robot to automatically move to a specified position and comprises a robot chassis 2, a track 3 with a magnetic strip, wheels 4 and a driving shaft 5.
The robot module 1 comprises a robot chassis 2, a track 3, wheels 4 and a driving shaft 5.
The wheels 4 are magnetic wheels and may be fixed or run on the track 3.
The track 3 is provided with magnetic stripe information, so that the robot can obtain the specific position of the robot on the track through the magnetic stripe information.
The chassis 2 is a thin plate that can carry the various modules located thereon.
The drive shaft 5 connects the two front wheels and the two rear wheels and is fixed under the chassis 2. The drive shaft 5 and the connection of the two front and rear wheels is flexible, allowing the front and rear wheels to be steered. Both the front and rear wheels are of the same construction as the wheels 4.
Thus, the robot can move to a designated position by the robot guide module.
A controller module 19 having data storage and analysis functions, comprising:
the controller module 19 is located in the middle of the upper surface of the chassis 2 and is connected with each sensor through a signal line.
According to the images of the rotating parts of the engine room input by the camera 7 and the program set in the controller module 19, the oil level, the oil pressure, the grease amount and the pressure of cooling water of oil filling equipment of the engine room are judged, whether oil seepage and water seepage exist or not, whether grease is normally and automatically added and drained or not is judged, whether early warning is needed or not is determined, and a real-time report is issued.
The controller module 19 may store the data and images input by the sensors as a historical data record, automatically analyze the historical data record, and issue a historical analysis report, a routing inspection report, and a maintenance plan work order.
The controller module 19 may be composed of a microcomputer and related circuits, the sensor inputs signals to the microcomputer through the related circuits, the microcomputer controls the movement of the trolley and the opening and closing and movement of the mechanical arm 11 through a pneumatic circuit, and the controller module has a gpu (graphic processing unit) and can perform AI intelligent judgment on images.
Specifically, the GPU may be a GPU named Jetson Nano, derived from NVIDIA.
The sensor module comprises a track monitoring device 6, an infrared camera 7, a sound collecting probe 8, a vibration monitoring and collecting device 9, an ultrasonic probe 10 positioned on the mechanical arm and a camera positioned on the mechanical arm 11.
The track monitoring devices 6 are located right above the tracks 3, 3 on each side of the chassis 2. The track monitoring device 6 can collect the magnetic stripe information on the track 3 to obtain the specific position of the robot on the track.
The vibration monitoring and collecting device 6 comprises a filtering device, a vibration monitoring probe and a collecting device, vibration signals pass through the filtering device from the vibration monitoring probe to the collecting device, so that normal vibration values can be filtered by the filtering device, and the collecting device collects abnormal vibration values.
The infrared camera 7 is positioned on the upper part of the connecting rod on the chassis 2. The infrared imaging module obtains an infrared image by converting infrared light into an electric signal. The infrared image contains the temperature distribution in the environment.
The head of the robot arm 11 is provided with a camera as shown in fig. 2.
And obtaining an environment humidity value through the environment humidity measuring module.
And obtaining a vibration value through the vibration monitoring module.
The signal lines of the sensors are connected to the controller module, and the acquired data and images are transmitted to the controller module.
Therefore, the monitoring of the fan coupler, lubricating oil, the flange shaft head, the drain valve and the like can be realized through the controller module and the sensor module.
The robot arm 11, which allows the robot to automatically perform a simple maintenance work, includes a base 12, a transmission shaft 13, a transmission shaft 14, a rotary cylinder 15, a rotary cylinder 16, a head rotary cylinder 17, and a robot arm 18, as shown in fig. 2.
The base 12 is not shown in fig. 1.
The robot arm 11 has 4 degrees of freedom, i.e., can move back and forth and up and down, by the rotation of the rotary cylinder 15 and the rotary cylinder 16, and the head rotary cylinder 17 can enable the robot arm 18 to rotate more accurately in a smaller range.
Therefore, the robot 18 at the front end can move to a place where the space is small.
The robot 18 has an extraction cylinder and a vacuum sensor, and the controller module 19 can determine whether the robot 18 grips an article based on an input signal of the vacuum sensor, and automatically control opening and closing of the robot 18.
The robotic arm 11 may have a pneumatic circuit to allow a gas source to pass through the gas source processing element, the solenoid valve, and to the rotary cylinder. The controller module 19 controls the rotation direction and rotation degree of the rotary cylinder 15, the rotary cylinder 16 and the head rotary cylinder 17, and controls the rotation of the transmission shafts 13 and 14 and the movement of the robot 18 by controlling the on and off of the solenoid valves.
And a manipulator 18 mounted with a camera and connected to the controller module 19 through a signal line so that the controller module 19 can automatically control the moving position of the manipulator 18 according to a preset program.
Therefore, the robot arm 11 can perform simple maintenance work of fastening bolts, fastening terminal block wiring, and restarting the PLC from a dead halt.
Therefore, the state monitoring and early warning of the whole life cycle can be carried out on the monitoring equipment.
The communication module 20 can transmit data and images to the monitoring background server, and includes:
the communication module 20 and the controller module 19 are connected by a signal line.
The communication module 20 has an optical fiber communication function, and transmits data and images acquired by the sensor module to the monitoring background server in real time, so that terminal equipment of technicians can communicate with the robot through the background server and the communication module 20.
Therefore, the technician can observe the transmitted data and images in real time and control the robot movement and the movement and opening and closing of the robot hand.
The embodiment of the application also provides an inspection maintenance method for the rail-mounted fan inspection robot, which is applied to the rail-mounted fan inspection robot, and as shown in figure 1, the method comprises the following steps:
first step, automatic customization patrols and examines the route, perhaps artifical remote control and supervision move the assigned position simultaneously according to the electric quantity condition and charge, specifically do:
according to a preset program, the robot can automatically customize an inspection route to a specified position for routine inspection.
Meanwhile, technicians can control the movement of the trolley through monitoring the communication modules of the background server and the robot.
When the technician performs manual remote control and monitoring, the preset program of the trolley does not run any more.
When the electric quantity of the trolley is smaller than the designated electric quantity, the trolley automatically stops the current action and moves to the designated position for charging.
The second step, through carrying out visual conventional inspection to cabin equipment, data and image are gathered to maintain equipment, specifically do:
the robot acquires corresponding data and images through monitoring detected equipment;
monitoring a multi-axis mechanical arm of the robot at different angles to acquire images;
the robot has the advantages that the robot can automatically fasten bolts and fasten terminal row wiring, and the PLC is simple in maintenance work of halting, cutting off and restarting.
The visual routine inspection is a process of acquiring data and images.
The robot acquires corresponding data and images through monitoring detected equipment, and specifically comprises the following steps:
the robot obtains the temperature of the fan coupler, an abnormal vibration value and abnormal sound through the infrared camera, the vibration monitoring and collecting device and the sound collecting probe.
The robot acquires the abnormal sound of air suction and exhaust of the fan through the sound acquisition probe.
Therefore, the robot can monitor the rotating parts in the fan cabin through the sensor. Technicians can observe the condition of the alarm point in real time by monitoring the image of the background server, and the effect of making conventional routing inspection visual is achieved.
The mechanical arm of the robot monitors at different angles to acquire images, and specifically comprises the following steps:
the camera on the mechanical arm is used for automatically monitoring the oil level, the oil pressure, the grease amount, the pressure of cooling water, whether grease is normally added or not and whether grease is normally discharged or not at different angles, and obtaining corresponding images of the engine room.
The oil level, the oil pressure, the grease amount, the pressure of cooling water, whether grease is normally added or not and whether grease is normally discharged or not have different color signals, and whether abnormity occurs or not is indicated.
And if the robot fails to automatically monitor or a control signal of a technician is provided, stopping automatic monitoring and waiting for the operation of the technician.
Technicians can communicate with the robot on the terminal equipment, monitor images of the robot, control the robot and monitor the robot from different angles.
Therefore, the multi-axis mechanical arm of the robot can monitor the rotating parts of the wind turbine cabin in multiple directions and can monitor places with small space.
The periodic maintenance includes:
the manipulator automatically fastens a bolt and a terminal strip wiring and enables the PLC to be halted, powered off and restarted through a camera, an extraction cylinder and a vacuum sensor on the manipulator.
Technicians can observe the running state of the manipulator in real time by monitoring images of the background server and control the manipulator.
Thirdly, processing the data and the image, judging the working state, forming a report, and determining whether to perform early warning, specifically comprising the following steps:
acquiring the temperature, abnormal vibration value and abnormal sound of a fan coupler and the abnormal sound of air suction and exhaust of a fan;
acquiring images of corresponding cabins, and judging whether oil levels, oil pressures, oil quantities, cooling water pressures, oil filling and grease discharging of cabin oil filling equipment are normal or not;
according to the images of the flange shaft head and the blowoff valve, AI intelligent judgment is respectively carried out;
and forming a report and determining whether to perform early warning.
The method comprises the following steps of obtaining the temperature of a fan coupler, an abnormal vibration value and abnormal sound of the fan coupler, and the abnormal sound of air suction and exhaust of a fan, and specifically comprises the following steps:
when the temperature of the fan coupler is higher than 75 ℃, and abnormal vibration value and abnormal sound exist, data are recorded, and an alarm signal is given out.
When the fan inhales and exhausts the abnormal sound, the data is recorded and an alarm signal is given.
Acquiring an image of a corresponding engine room, and judging whether the oil level, the oil pressure, the grease amount, the pressure of cooling water, the grease adding and the grease discharging of oil filling equipment of the engine room are normal or not, wherein the method specifically comprises the following steps:
when the oil level, the oil pressure, the oil quantity, the pressure of cooling water, the oil filling and the oil discharging are abnormal, the color of the signal changes and can be detected by a camera, and the robot records data and gives an alarm signal.
According to the image of flange spindle nose and blowoff valve, carry out AI intelligence respectively and judge, as shown in fig. 4, specifically do:
performing big data analysis of storage, labeling, classification and cleaning on the images of the flange shaft head and the blowoff valve;
carrying out automatic image processing through deep learning and neural network modeling;
and judging whether to record data and giving an alarm signal.
Wherein, carry out storage, mark, categorised and abluent big data analysis to the image of flange spindle nose and blowoff valve, specifically do:
the method comprises the steps of storing acquired images of the flange shaft head and the blow-down valve and images of the existing flange shaft head and the blow-down valve into a controller module in a file mode, building a database after reading in pictures, matching templates, graying, median filtering and binaryzation, labeling and classifying the characteristics of the images in the database, and removing useless images through cleaning.
Specifically, an existing deep learning network model is loaded, the preprocessed image is input for reasoning, a classification result of the image is obtained through reasoning, and the classification result is converted into a data format supported by TensorFlow.
And the characteristic marking and classifying are to mark the picture of leakage of the flange shaft head and the picture of accumulated water of the drain valve and classify the images according to different environments, the characteristics of the flange shaft head and the drain valve.
Through deep learning and neural network modeling, carry out image automated processing, specifically be:
training a target image model by adopting open source framework Tensorflow of Google company and according to a transfer learning method, putting the cleaned image and an existing original image model in a transfer learning system;
and inputting the picture to be detected into the target image model, and carrying out automatic image processing to obtain a processing result of whether the flange shaft head leaks and whether the drain valve accumulates water.
Automatically generating a patrol inspection report, and determining whether to give an early warning, specifically:
and judging whether to record data and give an alarm signal according to the processing result of whether the flange shaft head leaks and whether the drain valve accumulates water.
It should be noted that the AI intelligent determination method provided in the embodiment of the present invention is disclosed in the patent cn109344820a, and is also applicable to parameter reading of a pointer instrument panel in a nacelle of a wind turbine. The picture after big data analysis for storing, labeling, classifying and cleaning the image in the picture reading process is shown in fig. 6.
Forming a report, and determining whether to perform early warning, specifically:
and forming a report according to the recorded data and the alarm signal, and carrying out early warning.
And fourthly, transmitting the data and the image to a monitoring background server through communication, analyzing historical data, and obtaining the state monitoring of the equipment in a full period, which specifically comprises the following steps:
and storing the data and the images acquired by the conventional inspection as historical data records, automatically analyzing the historical data records, and issuing a historical analysis report, an inspection report and a maintenance plan work order.
Therefore, the state monitoring and early warning of the whole life cycle can be carried out on the monitoring equipment.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A robot is patrolled and examined to rail mounted fan includes:
a robot guide rail module which enables the robot to automatically move to a designated position;
the controller module has data storage and analysis functions;
the sensor module comprises a track monitoring device, an infrared camera, a sound collecting probe, a vibration monitoring and collecting device, an ultrasonic probe positioned on the mechanical arm and a camera positioned on the mechanical arm;
a robot arm for automatically performing a simple maintenance work;
and the communication module is used for transmitting the data and the image to the monitoring background server in real time.
2. The orbital fan inspection robot according to claim 1, wherein the robot guide module, which automatically moves the robot to a designated location, includes:
the robot guide rail module comprises a robot chassis, a track with a magnetic strip, wheels and a driving shaft;
the robot obtains the specific position of the robot on the track through the magnetic stripe information on the track.
3. The orbital fan inspection robot according to claim 1, wherein the controller module, having data storage and analysis capabilities, includes:
the controller module consists of a microcomputer and related circuits thereof;
the microcomputer has a GPU (graphic processing unit) and intelligently judges the AI of the image.
4. The orbital blower inspection robot according to claim 1, wherein the robotic arm, which enables the robot to automatically perform simple maintenance work, includes:
the mechanical arm comprises a base, a transmission shaft, a rotary cylinder, a head rotary cylinder, a mechanical arm and a pneumatic circuit;
the manipulator is positioned at the front end of the mechanical arm and is provided with an extraction cylinder and a vacuum sensor, a pneumatic circuit is arranged on the mechanical arm, an air source is enabled to pass through an air source processing element and an electromagnetic valve to a rotary cylinder, and the rotation of the rotary cylinder and the head rotary cylinder can be controlled by the switch of the electromagnetic valve, and the rotation of the transmission shaft and the movement of the manipulator are controlled.
5. A routing inspection maintenance method of a track type fan routing inspection robot comprises the following steps:
automatically customizing a routing inspection route, or manually remotely controlling and monitoring, and moving to a designated position for charging according to the electric quantity condition;
performing visual routine inspection on cabin equipment, acquiring data and images, and maintaining the equipment;
processing data and images, judging working states, forming reports and determining whether to give an early warning;
and transmitting the data and the image to a monitoring background server through communication, and analyzing historical data to obtain the full-period state monitoring of the equipment.
6. An inspection maintenance method for an orbital fan inspection robot according to claim 5 wherein the automated customization of the inspection path, or manual remote control and monitoring while moving to a designated location for charging based on the charge, includes:
according to a preset program, the robot can automatically customize an inspection route to a specified position for routine inspection;
meanwhile, technicians can control the movement of the trolley through monitoring the communication modules of the background server and the robot;
when a technician performs manual remote control and monitoring, the preset program of the trolley does not run any more;
when the electric quantity of the trolley is smaller than the designated electric quantity, the trolley automatically stops the current action and moves to the designated position for charging.
7. An inspection maintenance method for an orbital fan inspection robot according to claim 5 wherein the acquiring data and images and maintaining equipment by visual routine inspection of cabin equipment includes:
the robot acquires corresponding data and images through monitoring detected equipment;
monitoring a multi-axis mechanical arm of the robot at different angles to acquire images;
and the mechanical arm of the robot automatically fastens the bolt and fastens the terminal row for wiring and enables the PLC to be halted, powered off and restarted.
8. An inspection maintenance method according to claim 5, wherein processing the data and images to determine the operational status, form a report, and determine whether to forewarn comprises:
acquiring the temperature, abnormal vibration value and abnormal sound of a fan coupler and the abnormal sound of air suction and exhaust of a fan;
acquiring images of corresponding cabins, and judging whether oil levels, oil pressures, oil quantities, cooling water pressures, oil filling and grease discharging of cabin oil filling equipment are normal or not;
according to the images of the flange shaft head and the blowoff valve, AI intelligent judgment is respectively carried out;
and forming a report and determining whether to perform early warning.
9. An inspection maintenance method according to claim 8, wherein AI intelligent determinations are made based on the images of the flange shaft head and the blowoff valve, respectively, including:
performing big data analysis of storage, labeling, classification and cleaning on the images of the flange shaft head and the blowoff valve;
and carrying out automatic image processing through deep learning and neural network modeling.
10. An inspection maintenance method according to claim 5, wherein the data and images are communicated to a monitoring background server, historical data are analyzed, and full-cycle state monitoring of the equipment is obtained, including:
and storing the data and the images acquired by the conventional inspection as historical data records, automatically analyzing the historical data records, and issuing a historical analysis report, an inspection report and a maintenance plan work order.
Priority Applications (1)
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