KR102629321B1 - Filming and sensing device and method for coal conveyor using non-contact power pickup type smart linear transfer robot - Google Patents

Abstract

In the present invention, in order to check the condition of a conventional coal transportation conveyor, in the case of direct visual inspection by a worker, access is unavoidable and the risk of a safety accident is high, and to photograph and detect the presence or absence of device failure in the coal transportation conveyor system, Thermal imaging cameras, CCTV, and infrared approach detection devices have been installed, but they are fixed and located in specific locations, making it difficult to determine the location of the faulty part in real time, and there are insufficient alternatives for maintenance of dozens of kilometers of coal transport conveyors. In addition, since the coal transport conveyor must be continuously transported, in order to improve the problem that the stoppage of the conveyor line due to failure of bearings, rollers, etc. causes fatal economic losses in power plant operation, an inductive current type linear guide rail unit (100 ), a non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot (200), and a remote controller module (300), and can travel tens of kilometers through the non-contact power pickup type smart linear transfer robot and remote controller module. Since it is possible to respond to situations in real time by remotely checking the on-site rotor drive status (idler bearings, rollers) without having to go around the entire coal transportation conveyor line, the possibility of industrial accidents due to accidents is reduced by 60% compared to before. It can be lowered to below, and abnormality detection in the idler bearing and roller is predicted in advance using ultrasonic sensing data transmitted from a non-contact power pickup type smart linear transfer robot from a remote central control server, and thermal imaging data is used. By checking the friction, fires and abnormal stoppages of conveyor lines can be prevented in advance, and since the non-contact power pickup type grooved coil part receives non-contact power through induced current (None Contact Power Pick up), it produces no spark. The purpose is to provide a filming and sensing device and method for coal transport conveyors through a non-contact power pickup type smart linear transport robot that can reduce the risk of fire occurrence to less than 70% compared to the existing one.

Description

Filming and sensing device and method for coal conveyor using non-contact power pickup type smart linear transfer robot}

The present invention is located on the same line as the coal transport conveyor, receives non-contact power pick up and moves in a straight line, thermal imaging, ultrasonic sensing, CCTV photography of the components of the coal transport conveyor, and remote control. It relates to a filming and sensing device and method for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot that can be controlled to transmit thermal imaging data, ultrasonic sensing data, and CCTV filming data to a central control server.

[Assignment identification number]: None

[Assignment number]: 16

[Ministry Name]: Korea Western Power Co., Ltd.

[Project management (professional) organization name]: Korea Western Power Co., Ltd.

[Research project name]: New research and development tasks to be carried out in 2021

[Research project name]: Development of portable and mobile conveyor belt failure diagnosis device based on IoT technology

[Contribution rate] : 1

[Name of project carrying out organization]: SF Technology Co., Ltd.

[Research period]: 2021.08.05 ~ 2023.06.04.

Currently, rotating machines have elements such as gears and bearings that play a role in transmitting power and supporting the rotating shaft, and with industrial development, they are becoming lighter, faster, and more compact and precise.

Among these, bearings are mechanical elements used to minimize power loss due to friction by smoothing the relative movement between the shaft and housing.

Bearings frequently fail during use due to the infiltration of foreign substances or the influence of wear particles.

Therefore, continuous research on condition monitoring of all machines is essential to detect bearing defects early and prevent economic loss and damage due to machine damage.

In particular, the coal transport conveyor that transports Korea Western Power Co., Ltd.'s coal stretches for tens of kilometers, and bearings are installed in the numerous idlers that make up it.

In particular, causes of bearing failure include damage caused by a combination of insufficient lubrication, contamination from the bearing operating environment, and excessive vibration and deformation of the shaft system.

If this happens frequently, the actual calculated lifespan will not be achieved and it must be discarded.

In order to check the condition of the coal transport conveyor, direct visual inspection by workers is unavoidable, increasing the risk of safety accidents.

In addition, thermal imaging cameras, CCTV, and infrared access detection devices were installed to photograph and detect device failures in the coal transportation conveyor system, but they are fixed and located in specific locations, making it difficult to locate the faulty part in real time. There are insufficient alternatives for maintenance of kilometers of coal transport conveyors.

Above all, since coal transport conveyors must be continuously transported, the stoppage of the conveyor line due to failure of bearings, rollers, etc. causes fatal economic losses in power plant operation.

Domestic Registered Utility Model Publication No. 20-0463184

In order to solve the above problems, in the present invention, through a non-contact power pickup type smart linear transport robot and a remote controller module, the on-site rotor driving status (idler bearing, roller) to respond to situations in real time, detect anomalies using ultrasonic sensing data transmitted from a non-contact power pickup type smart linear transfer robot from a remote central control server, and detect abnormalities through thermal imaging data. It is a smart non-contact power pickup type that can prevent fires and abnormal stoppages of conveyor lines by checking the friction generated in idler bearings and rollers, and can reduce the risk of fire occurrence with no spark through non-contact power pickup through induced current. The purpose is to provide imaging and sensing devices and methods for coal transport conveyors using linear transport robots.

In order to achieve the above object, a photographing and sensing device for a coal transport conveyor using a non-contact power pickup type smart linear transport robot according to the present invention is provided.

Located on the same line as the coal transport conveyor, it receives non-contact power pickup and moves in a straight line, taking thermal imaging, ultrasonic sensing, and CCTV photography of the components of the coal transport conveyor, and providing a remote central control server. This is achieved by being configured to control the transmission of thermal imaging data, ultrasonic sensing data, and CCTV filming data.

The imaging and sensing device for coal transport conveyor using the non-contact power pickup type smart linear transport robot is

Located on the same vertical line as the coal transport conveyor idler, the non-contact power pickup type smart linear transport robot is supported to be positioned at the bottom of the upright, and guides it to perform linear movement (= straight reciprocating movement). An induced current-type linear guide rail unit (100) that transmits induced current toward the linear transfer robot,

It is located at the bottom of the induction current type linear guide rail section and is driven according to the control signal of the remote controller module. It receives non-contact power pick up from the induction current type linear guide rail section and is then temporarily charged. With one power source, thermal imaging, ultrasonic sensing, and CCTV shooting are performed while linearly moving (=straight reciprocating movement) along the inductive current type linear guide rail, and sending thermal imaging data, ultrasonic sensing data, and CCTV to a remote central control server. A non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot (200) that transmits shooting data,

It is characterized by being composed of a remote controller module 300 that is connected to a non-contact power pickup type smart linear transfer robot and a short-range wireless communication network and outputs a control signal to control the operation of the non-contact power pickup type smart linear transfer robot.

As described above, in the present invention

First, through the non-contact power pickup type smart linear transport robot and remote controller module, the on-site rotor drive status (idler bearing, roller) can be remotely checked without having to go around the entire coal transport conveyor line of several tens of kilometers, providing real-time status. Since it is possible to respond, the possibility of industrial accidents due to accidents can be reduced to less than 60% compared to before.

Second, detect abnormalities in advance using ultrasonic sensing data transmitted from a non-contact power pickup type smart linear transfer robot from a remote central control server, and inspect friction occurring in idler bearings and rollers through thermal imaging data. This can prevent fires and abnormal stoppages of conveyor lines.

Third, the non-contact power pickup type grooved coil part picks up non-contact power through induced current, so the fire risk rate can be reduced to less than 70% compared to the existing one due to no spark.

Figure 1 is a configuration diagram showing the components of an imaging and sensing device 1 for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot according to the present invention;
Figure 2 is a perspective view showing the components of the imaging and sensing device 1 for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot according to the present invention;
Figure 3 shows that the two-channel Litz wire according to the present invention is formed with two Litz wires and a non-contact power pickup type concave coil portion of a non-contact power pickup type smart linear transfer robot and a customized resonant frequency. In one embodiment,
Figure 4 is a block diagram showing the components of the lower linear guide rail according to the present invention;
5 is a circuit diagram showing the components of the first AC/DC converter unit according to the present invention;
Figure 6 is a circuit diagram showing the components of the first DC/AC inverter unit according to the present invention;
Figure 7 is a block diagram showing the components of a non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot according to the present invention;
Figure 8 is a perspective view showing the components of a non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot according to the present invention;
Figure 9 is a block diagram showing the components of the hanging wheel drive module according to the present invention;
Figure 10 is a perspective view showing the components of the four-channel hanging wheel part according to the present invention;
Figure 11 is a perspective view showing the components of the hanging wheel vertical transmission part according to the present invention;
Figure 12 is a block diagram showing the components of the non-contact power pickup type grooved coil module according to the present invention;
Figure 13 shows that a disc-shaped coil 232c is formed in a two-dimensional structure of the An embodiment showing that non-contact power through current is picked up and temporarily charged to a 6-channel condenser charging unit through a rectifier,
Figure 14 is a block diagram showing the components of the non-contact power pickup type grooved coil unit according to the present invention;
15 is a circuit diagram showing the components of the resonant frequency circuit according to the present invention;
Figure 16 is a block diagram showing the components of the photographing/sensing module according to the present invention;
Figure 17 is a block diagram showing the components of the CCTV camera unit according to the present invention;
Figure 18 is a block diagram showing the components of the subject zoom camera unit according to the present invention;
Figure 19 is a block diagram showing the components of the smart control module according to the present invention;
Figure 20 is a circuit diagram showing the components of the smart control unit according to the present invention;
21 is a block diagram showing the components of the remote controller module according to the present invention;
Figure 22 is a flowchart showing a specific process of the photographing and sensing method for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot according to the present invention.

Hereinafter, a preferred embodiment according to the present invention will be described with accompanying drawings.

Figure 1 is a configuration diagram showing the components of an imaging and sensing device (1) for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot according to the present invention, and Figure 2 is a non-contact power pickup according to the present invention. This is a perspective view showing the components of the imaging and sensing device (1) for the coal transport conveyor using a smart linear transfer robot, which is located on the same line as the coal transport conveyor and picks up non-contact power (None Contact Power Pick up) ) and controls the components of the coal transport conveyor to take thermal imaging, ultrasonic sensing, and CCTV while making a linear reciprocating motion, and transmit thermal imaging data, ultrasonic sensing data, and CCTV shooting data to a remote central control server. This is achieved by being structured as follows.

The imaging and sensing device (1) for the coal transport conveyor includes an inductive current type linear guide rail unit (100), a non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot (200), and a remote controller module (300). ) is composed of.

First, the induced current type linear guide rail unit 100 according to the present invention will be described.

The induced current type linear guide rail unit 100 is located on the same vertical line as the coal transport conveyor idler, supports the non-contact power pickup type smart linear transfer robot to be positioned at the bottom of the upright, and performs linear movement (= straight reciprocation It guides the robot to exercise and delivers induced current to the non-contact power pickup type smart linear transfer robot.

As shown in Figure 2, it consists of a lower linear guide rail 110, a vertical joint frame 120, and an upper linear guide rail 130.

First, the lower linear guide rail 110 according to the present invention will be described.

The lower linear guide rail 110 is connected to the upper linear guide rail through a vertical joint frame, supports the non-contact power pickup type smart linear transfer robot to be mounted, and serves to guide linear movement (= straight reciprocating movement). do.

It is formed on the same vertical line as the coal transport conveyor idler formed in a length of 100 m to 5,000 m, and a two-channel guide rail (110a) is formed on the upper surface, and as shown in Figure 4, 2 on the lower surface. A channel Litz wire 111 is formed along the longitudinal direction, and a first AC/DC converter unit 112 and a first DC/AC inverter are provided on one side of the two-channel Litz wire 111. It is configured to include a unit 113.

Here, the two-channel guide rail (110a) is two guide rails, and the front left hanging wheel and the rear left hanging wheel of the non-contact power pickup type smart linear transfer robot are in contact with one guide rail (=1 piece), and the non-contact power It serves to guide the front right hanging wheel and the rear right hanging wheel of the pickup type smart linear transfer robot so that they come into contact with another guide rail (=1 piece).

[2 channel Litz wire (111)]

As shown in FIG. 3, the two-channel Litz wire 111 consists of two Litz wires, receives the converted resonance frequency through the first inverter unit, and induces a rotating vortex current due to the resonance frequency. , and when in contact with the non-contact power pickup type concave coil part, it serves to transmit an induced current by the resonance frequency.

Here, the resonant frequency is 400V, 80~120kHz.

As shown in FIG. 3, these are two Litz wires, which are formed with a non-contact power pickup type concave coil portion of a non-contact power pickup type smart linear transfer robot and a customized resonant frequency.

That is, two concave grooves are formed on the non-contact power pickup type concave coil, and a disk-shaped coil is formed inside the two concave grooves, and the induced current is transmitted from two Litz wires to receive the non-contact power pickup type. It is delivered to the resonance frequency circuit, rectifier, and 6-channel condenser charging section of the smart linear transfer robot.

The Litz wire is a copper wire made by twisting 5 to 10 strands of ultra-fine enamel-coated wire (diameter: 0.04 mm to 0.05 mm). It forms a rotating eddy current induced by the resonance frequency and is a non-contact power pickup type. When in contact with the grooved coil part, it serves to transmit induced current.

This suppresses the increase in alternating current resistance due to the skin effect and proximity effect unique to high frequencies and prevents the temperature of the coil from rising.

The increase in alternating current resistance due to high frequency is small, and the rise in coil temperature can be suppressed.

In addition, it is flexible and has good winding workability. You can choose the pitch, line width, and player arbitrarily.

For example, 5 lines are set to 0.05mm, 6 lines are set to 0.05mm, 7 lines are set to 0.05mm, 15 lines are set to 0.05mm, and 10 lines are set to 0.04mm.

The 2-channel guide rail and 2-channel Litz wire are variously configured with 3 channels, 4 channels, and 8 channels in addition to 2 channels, depending on the purpose and form of the present invention.

[First AC/DC converter unit (112)]

The first AC/DC converter unit 112 serves to convert AC power to DC power.

In the present invention, AC 220V is converted into DC 310V power.

As shown in FIG. 5, the first bridge rectifier (112a), the first high power factor circuit (112b), the first inrush current control circuit (112c), the first flyback PWM IC (112d), and the first output transformer. It consists of a part 112e.

The first bridge rectifier 112a rectifies and directs the voltage output from the EMI line filter unit and then supplies the voltage to the next circuit.

It consists of a bridge diode.

The first high power factor circuit unit 112b serves to supply stable power to the first flyback PWM IC by improving the power factor at the output terminal of the first bridge rectifier.

It consists of a valley fill high power factor circuit (Valley Fill Passive Current Shaper).

That is, the output terminal of the first bridge rectifier is smoothed through capacitors C5 and C6, and rectified through inductor L1 to increase the power factor to 90%.

When wireless power transmission is activated, the first inrush current control circuit 112c causes a high inrush current to flow in the converter circuit at the moment resonance occurs or the voltage at the DC link capacitor is initially charged. It plays a role in controlling the inrush current to prevent damage to the IC or blowing of the fuse.

This consists of a resistor R2, MOSFET Q10, and a gate driving circuit on one side of the output terminal of the bridge rectifier circuit, uses the MOSFET Q10 element as a bridge diode switching element, and drives MOSFET Q10 in proportion to the charged charge of the smoothing capacitor C26 to achieve the initial When power is supplied to and when the power supply is turned off and then turned on again during operation, the inrush current is suppressed by resistor R2 when the voltage of the smoothing capacitor C26 is sufficient.

The first flyback PWM IC (112d) receives the output voltage of the first bridge rectifier unit through the high power factor circuit unit, and switches between the current flowing in the secondary winding of the first output transformer unit and the current flowing in the first DC/AC inverter unit. It serves to keep the output voltage of the first output transformer constant by PWM (pulse width control) controlling the ON period of the intermittent switching unit.

It consists of System General's SG6858 device and has an input voltage range of 85V to 265V.

The flyback PWM IC according to the present invention realizes ultra-low standby power and built-in synchronization slope compensation, making it possible to more safely supply power to the first DC/AC inverter unit.

In the flyback PWM IC according to the present invention, the output voltage of the first bridge rectifier, whose power factor is improved to 90% through the high power factor circuit, is smoothed through capacitor C2, is sensed by resistors R9, R10, and R11, and is connected to the voltage input terminal. The power supply is input to (Vi), and the switching element MOSFET Q1 is connected to the output terminal (OUT), and the switching element MOSFET Q1 controls the current flowing from the secondary winding of the first output transformer to the first DC/AC inverter unit. The ON period is sent as a PWM (pulse width control) control signal.

That is, the flyback PWM IC according to the present invention receives 220V, a commercial power supply, as a free voltage, and controls it to step down to 60V or 90V through the first output transformer.

Here, the reason why the flyback PWM IC is configured as a free voltage is to supply power to the first DC/AC inverter unit at various levels of 60V or 90V, through the real-wave switching method of the first DC/AC inverter unit. This is to configure the resonance frequency to be converted from 1 to 10Mhz with a variable resistance.

The first output transformer unit 112e functions to step down the input voltage transmitted to the secondary winding by the switching operation of the switching element MOSEFT Q1 to a certain level of voltage and output it to the first DC/AC inverter unit.

This consists of the primary winding being connected to the current generation terminal (Izc) of the flyback PWM IC, and the secondary winding being connected to the connector terminal of MOSFET Q1, a switching element.

Here, stepping down the voltage to a certain level is to receive the power supply of 220V and output it according to the resonance frequency of 1~10Mhz of the first DC/AC inverter unit.

[First DC/AC inverter unit (113)]

The first DC/AC inverter unit 113 serves to convert the DC power converted in the first AC/DC converter unit to a variable resistance of 400 V, 80 to 120 kHz through a real-wave switching method.

This consists of a full-bridge gate driver IC that oscillates the resonance frequency at 400V, 80~120kHz with a variable resistance through a frequency driving method and a real-wave switching method.

That is, as shown in FIG. 6, when the direct current output from the full bridge gate driver IC is applied to the gate terminals of Q1 and Q2 as a gate driving signal, a (+) signal is generated toward the first output terminal (OUT1), and When the direct current output from the full bridge gate driver IC is quickly applied as a gate driving signal to the gate terminals of Q3 and Q4, a negative signal is generated toward the second output terminal (OUT2), generating a resonance frequency of 80 to 120 kHz. .

At this time, AC 400V is charged through 7 condensers consisting of C3, C4, C5, C6, C8, C10, and C11.

And, the AC 400V charged in the 7 condensers is transmitted to the 2-channel Litz wire.

Second, the vertical joint frame 120 according to the present invention will be described.

The vertical joint frame 120 forms an upright vertical structure and is located between the lower linear guide rail and the upper linear guide rail, and serves to connect and support the lower linear guide rail and the upper linear guide rail.

Third, the upper linear guide rail 130 according to the present invention will be described.

The upper linear guide rail 130 is connected to the lower linear guide rail through a vertical joint frame, and serves to position and support the lower linear rail in the upper direction so that it does not shake or deviate due to external pressure.

It is formed in a length of 100m to 5,000m to match the length of the lower linear guide rail.

"형상의 보조프레임에 지지되면서, 석탄 운송 컨베이어 아이들러와 수직의 동일선상에 위치된다.In addition, the lower linear guide rail and the upper linear guide rail according to the present invention are "

“It is supported on a shaped auxiliary frame and is located in the same vertical line as the coal transport conveyor idler.

Next, the non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot 200 according to the present invention will be described.

The non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot 200 is located at the bottom of the inductive current type linear guide rail part and is driven according to the control signal of the remote controller module, After receiving non-contact power pick up from the guide rail and charging it temporarily, the temporarily charged power is used to perform linear movement (= straight reciprocating movement) along the inductive current type linear guide rail, taking thermal imaging and ultrasonic sensing. , It takes CCTV photos and transmits thermal imaging data, ultrasonic sensing data, and CCTV shooting data to a remote central control server.

As shown in FIGS. 7 and 8, the robot body 210, the hanging wheel drive module 220, the non-contact power pickup type groove coil module 230, the shooting/sensing module 240, and the smart control module 250 ) is composed of.

First, the robot body 210 according to the present invention will be described.

The robot body 210 is formed in a hanging box shape and serves to protect and support each device from external pressure.

As shown in FIG. 8, a wheel drive module hanging on one side of the upper part is formed, a non-contact power pickup type groove coil module is formed on the lower side of the hanging wheel drive module, and a box is placed at the bottom of the non-contact power pickup type groove coil module. A smart control module of the shape is formed, and a shooting/sensing module is formed at the bottom of the non-contact power pickup type concave coil module.

Second, the hanging wheel drive module 220 according to the present invention will be described.

The hanging wheel drive module 220 is located on one side of the upper part of the robot body and is guided along the guide rail of the inductive current type linear guide rail part, and reciprocates the robot body in a straight line along the coal transport conveyor idler located on the same line toward the bottom. It plays a role in moving.

As shown in Figure 9, it is composed of a 4-channel hanging wheel part 221, a hanging wheel vertical transmission part 222, and a 4-channel rotation motor part 223.

[4-channel hanging wheel part (221)]

The four-channel hanging wheel part 221 is located on the guide rail of the induction current type linear guide rail part, and rotates and rolls while being guided along the induction current type linear guide rail part.

As shown in Figures 10 and 11, it is composed of a front left hanging wheel 221a, a front right hanging wheel 221b, a rear left hanging wheel 221c, and a rear right hanging wheel 221d.

The front left hanging wheel 221a hangs and supports the entire weight of the robot body at the front left point on the guide rail, and rotates and rolls while being guided along the induced current type linear guide rail.

The front right hanging wheel 221b hangs and supports the entire weight of the robot body at the front right point on the guide rail, and rotates and rolls while being guided along the induced current type linear guide rail.

The rear left hanging wheel 221c hangs and supports the entire weight of the robot body at the rear left point on the guide rail, and rotates and rolls while being guided along the induced current type linear guide rail.

The rear right hanging wheel 221d hangs and supports the entire weight of the robot body at the rear right point on the guide rail, and rotates and rolls while being guided along the induced current type linear guide rail.

[Hanging wheel vertical transmission unit (222)]

The hanging wheel vertical transmission part 222 is formed along the diagonal longitudinal direction at the bottom of the 4-channel hanging wheel part, and transmits the rotational force generated from the 4-channel rotating motor part to the 4-channel hanging wheel part, and the 4-channel hanging wheel part is suspended. It plays a role in supporting the structure.

As shown in FIG. 11, in accordance with the four-channel hanging wheel part, a vertical transmission part 222a for the front left side, a vertical transmission part 222b for the front right side, a vertical transmission part 222c for the rear left side, and a vertical transmission part 222c for the rear right side are provided. It consists of a transmission unit 222d.

The vertical transmission unit 222a for the front left side transmits rotational force to the front left hanging wheel and serves to support the front left hanging wheel so that it has a hanging structure.

As shown in Figure 11, this includes a cover frame for the front left side (222a-1), a drive gear for the front left side (222a-2), a chain rope for the front left side (222a-3), and a driven gear for the front left side (222a-). 4) It consists of:

The cover frame (222a-1) for the front left side protects the drive gear for the front left side, the chain rope for the front left side, and the driven gear for the front left side formed in the internal space with a cover structure, and supports the front left hanging wheel so that it has a hanging structure. It plays a role in providing

The drive gear 222a-2 for the front left side receives rotational force from the first rotation motor of the 4-channel rotary motor unit and transmits it to the chain rope for the front left side.

The chain rope 222a-3 for the front left side receives rotational force from the drive gear for the front left side and transmits it to the driven gear for the front left side.

The driven gear 222a-4 for the front left side is connected to the front left hanging wheel and receives rotational force from the front left chain rope to rotate the front left hanging wheel.

The vertical transmission unit 222b for the front right side transmits rotational force to the front right hanging wheel and serves to support the front right hanging wheel so that it has a hanging structure.

As shown in the figure, the cover frame for the right side (222b-1), the drive gear for the right front side (222b-2), the chain rope for the right front side (222b-3), and the driven gear for the right front side (222b-4) It consists of

The cover frame for the right front end (222b-1) protects the drive gear for the right front end, the chain rope for the right front end, and the driven gear for the right front end formed in the internal space with a cover structure, and supports the hanging wheel on the right front end so that it has a hanging structure. It plays a role in providing

The drive gear 222b-2 for the right front end receives rotational force from the first rotation motor of the 4-channel rotary motor unit and transmits it to the chain rope for the right front end.

The chain rope 222b-3 for the front right side receives rotational force from the drive gear for the right front end and transmits it to the driven gear for the right front end.

The driven gear 222b-4 for the right front end is connected to the hanging wheel for the right front end and receives rotational force from the chain rope for the right front end to rotate the right hanging wheel for the front end.

The rear left vertical transmission unit 222c transmits rotational force to the rear left hanging wheel and serves to support the rear left hanging wheel so that it has a hanging structure.

As shown in Figure 11, this includes a cover frame for the rear left side (222c-1), a drive gear for the rear left side (222c-2), a chain rope for the rear left side (222c-3), and a driven gear for the rear left side (222c-). 4) It consists of:

The rear left cover frame (222c-1) protects the rear left driving gear, rear left chain rope, and rear left driven gear formed in the internal space with a cover structure, and supports the rear left hanging wheel to form a hanging structure. It plays a role in providing

The drive gear 222c-2 for the rear left side receives rotational force from the first rotation motor of the 4-channel rotary motor unit and transmits it to the chain rope for the rear left side.

The chain rope (222c-3) for the rear left side receives rotational force from the rear left driving gear and transmits it to the rear left driven gear.

The rear left driven gear 222c-4 is connected to the rear left hanging wheel and receives rotational force from the rear left chain rope to rotate the rear left hanging wheel.

The vertical transmission unit 222d for the right rear end transmits rotational force to the right rear wheel and serves to support the rear right suspended wheel so that it has a hanging structure.

As shown in Figure 11, this includes a cover frame for the right rear end (222d-1), a drive gear for the right rear end (222d-2), a chain rope for the right rear end (222d-3), and a driven gear for the right rear end (222d-). 4) It consists of:

The rear right cover frame (222d-1) protects the rear right drive gear, rear right chain rope, and rear right driven gear formed in the internal space with a cover structure, and supports the rear right hanging wheel to form a hanging structure. It plays a role in providing

The driving gear 222d-2 for the rear right side receives rotational force from the first rotation motor of the 4-channel rotary motor unit and transmits it to the chain rope for the rear right side.

The chain rope (222d-3) for the rear right side receives rotational force from the drive gear for the rear right side and transmits it to the driven gear for the rear right side.

The rear right driven gear 222d-4 is connected to the rear right hanging wheel and receives rotational force from the rear right chain rope to rotate the rear right hanging wheel.

[4-channel rotation motor unit (223)]

The four-channel rotation motor unit 223 has a four-channel structure and serves to generate rotational force and transmit it to the vertical transmission part of the hanging wheel.

As shown in FIG. 11, it is composed of a rotation motor 223a for the front left side, a rotation motor 223b for the front right side, a rotation motor 223c for the rear left side, and a rotation motor 223d for the rear right side.

The rotation motor 223a for the front left side is connected to the vertical transmission unit for the front left side, and serves to generate a rotational force and transmit it to the vertical transmission unit for the front left side.

The rotation motor 223b for the right front end is connected to the vertical transmission unit for the right front end, and serves to generate rotational force and transmit it to the vertical transmission unit for the right front end.

The rotation motor 223c for the rear left side is connected to the vertical transmission unit for the rear left side, and serves to generate rotational force and transmit it to the vertical transmission unit for the rear left side.

The rotation motor 223d for the rear right is connected to the vertical transmission unit for the rear right, and serves to generate rotational force and transmit it to the vertical transmission for the rear right.

Third, the non-contact power pickup type concave coil module 230 according to the present invention will be described.

The non-contact power pickup type concave coil module 230 is located at the bottom of the hanging wheel drive module and passes through the 2-channel Litz wire of the induced current type linear guide rail part in a non-contact manner, producing a 2-channel Litz wire. It plays the role of picking up non-contact power through induced current from a wire and transmitting it to the smart control module.

As shown in Figure 12, it is composed of a grooved coil support frame 231 and a non-contact power pickup type grooved coil portion 232.

The concave coil support frame 231 is formed in a cross structure with a height difference of 2 cm to 10 cm from the box-shaped smart control module, and serves to support the non-contact power pickup type concave coil portion.

It is formed of an aluminum plate with excellent heat dissipation properties.

The non-contact power pickup type grooved coil portion 232 is formed as a window frame structure with grooves formed, and passes through the 2-channel Litz wire of the induced current type linear guide rail portion in a non-contact manner, generating a 2-channel Litz wire. It plays the role of receiving non-contact power pickup (None Contact Power Pick up) from the wire) through induced current at the resonance frequency.

It is composed of a window frame structure in which two engraved grooves 232b are formed in a square box-shaped body 232a.

And, as shown in Figure 13, inside the two concave grooves, a disk-shaped coil 232c is formed in a two-dimensional structure of the X and Y axes, respectively, to generate non-contact power through induced current from two Litz wires. It picks up (None Contact Power Pick up) and temporarily charges it through the rectifier to the 6-channel condenser charging unit.

In addition, a current sensing sensor unit 232d is formed on one side.

That is, the current is sensed by the current sensing sensor unit and transmitted to the smart control unit.

At this time, the smart control unit detects the current sensed by the current detection sensor unit and operates a resonant frequency circuit unit (232e), a rectifier unit (232f), a 6-channel condenser charging unit (232g), a DC/DC converter unit (232h), and a 24V power regulator. The unit 232i, the 12V power regulator unit 232j, and the 5V power regulator unit 232k are driven and controlled so that power of 5V, 12V, and 24V is applied to each device.

In addition, if there is no current sensed by the current detection sensor unit, a power outage or power charging request signal is transmitted to a remote central control server through the IoT communication unit.

The core technology of the non-contact power pickup type groove coil part according to the present invention is non-contact with the 2-channel Litz wire of the induction current type linear guide rail part, and picks up non-contact power through induced current (None Contact Power Pick up). It is designed to receive.

In other words, in the case of a conventional subway or KTX, the current is transmitted through direct contact through a pantograph structure, so there is a high risk of fire due to sparks.

However, since the non-contact power pickup type grooved coil part according to the present invention receives non-contact power through induced current (None Contact Power Pick up), the risk of fire occurrence due to no spark is reduced to less than 70% compared to the existing one. You can.

As shown in FIG. 14, the non-contact power pickup type concave coil unit 232 includes a resonance frequency circuit unit 232e, a rectifier unit 232f, a 6-channel condenser charging unit 232g, a DC/DC converter unit 232h, and a 24V It includes a power regulator unit (232i) for 12V, a power regulator unit (232j) for 12V, and a power regulator unit (232k) for 5V.

The resonance frequency circuit unit 232e forms a resonance frequency according to the resonance frequency of the two-channel Litz wire, and transmits non-contact power through the induced current of the resonance frequency from the two-channel Litz wire to the rectifier. It plays a role.

This is configured to be applied after calculating the condenser capacity.

For example, the resonance frequency applied here is set to 80kHz, and the inductance of the secondary coil is set to 0.003839H, and it is calculated using the following equations 1 and 2.

Through this, as shown in Figure 15, among the configuration of the resonant frequency circuit part, C1 is composed of 0.015 microF, C2 is 0.015 microF, C3 is 10nF, C7 is 10nF, C8 is 10nF, C9 is 10nF, and C10 is 10nF. do.

The rectifier 232f serves to rectify and smooth the resonance frequency of 80 to 120 kHz output from the resonance frequency circuit.

The 6-channel condenser charging unit (232g) consists of 6 condensers and serves to temporarily charge the resonant frequency of 80 to 120 kHz, which is rectified and smoothed in the rectifier, at DC 400V.

The DC/DC converter unit 232h takes the DC 400V temporarily charged from the 6-channel condenser charging unit and converts it to DC 48V, 20A.

The 24V power regulator unit 232i serves to convert DC 48V output from the DC/DC converter unit into DC 24V.

Here, 24V DC is used as motor power.

The 12V power regulator unit 232j serves to convert DC 48V output from the DC/DC converter unit into DC 12V.

Here, 12V DC is used as the power source for the twin-type ultrasonic sensor unit.

The 5V power regulator unit 232k serves to convert DC 48V output from the DC/DC converter unit into DC 5V.

Here, 5V DC is used as the power source for the CCTV camera unit and the twin-type thermal imaging camera unit.

Fourth, the photographing/sensing module 240 according to the present invention will be described.

The imaging/sensing module 240 is located at the bottom of the box-shaped smart control module and serves to capture thermal imaging, ultrasonic sensing, and CCTV imaging of the coal transportation conveyor idler located toward the bottom.

As shown in FIG. 16, it consists of a CCTV camera unit 241, a twin-type ultrasonic sensor unit 242, and a twin-type thermal imaging camera unit 243.

[CCTV camera department (241)]

The CCTV camera unit 241 is located on one side of the bottom of the protection box body and serves to photograph the coal transport conveyor idler located at the bottom as it passes or stops at a characteristic position.

As shown in FIG. 17, it is composed of a pan driving part 241a, a tilt driving part 241b, and an object zoom camera part 241c.

The fan driving unit 241a serves to rotate the subject zoom camera unit formed in an upright structure from 0° to 360° left and right.

This consists of a fan drive motor.

Here, the fan driving motor is configured by selecting one of a step motor, an AC motor, and a BLDC motor.

The tilt driving unit 241b serves to drive the subject zoom camera unit by tilting it vertically at an angle of -40° to 40°.

This consists of a tilt drive motor.

Here, the tilt drive motor is configured by selecting one of a step motor, an AC motor, and a BLDC motor.

The above -40° sets the upward direction driven downward to "-", or the downward direction driven upward and downward to "-", depending on the purpose and use.

The subject zoom camera unit 241c functions to photograph the coal transport conveyor idler, which is the subject, by moving it up and down, left and right, and zooming in and out.

As shown in FIG. 18, the first lens group 241c-1, the second lens group 241c-2, the third lens group 241c-3, the zoom lens unit 241c-4, and the fourth lens It consists of a group 241c-5, a fifth lens group 241c-6, an imaging surface 241c-7, and an image sensor 241c-8.

The first lens group 241c-1 is located at the tip of the camera module body and has positive refractive power from the object to be photographed.

It is formed in a sphere shape and is made of glass, synthetic resin, germanium, or zinc selenide.

The second lens group 241c-2 is located behind the first lens group and has negative refractive power.

It is formed in an aspherical shape and is made of glass, synthetic resin, germanium, or zinc selenide.

The third lens group 241c-3 is located behind the second lens group and has positive refractive power.

It is formed in a sphere shape and is made of germanium or zinc selenide.

The zoom lens unit 241c-4 is located between the third lens group and the fourth lens group and serves to adjust focus while moving forward or backward.

The fourth lens group 241c-5 is located behind the first zoom lens and has negative refractive power.

It is formed in an aspherical shape and is made of glass, synthetic resin, germanium, or zinc selenide.

The fifth lens group 241c-6 is located at the rear end of the fourth lens group and has positive refractive power.

It is formed in a sphere shape and is made of glass, synthetic resin, germanium, or zinc selenide.

The first imaging surface 241c-7 is located at the rear end of the fifth lens group and serves to form an optical image using negative refractive power received from the fifth lens group.

The image sensor 241c-8 serves to generate subject image capture data by converting light information captured from the first imaging surface into an electrical signal.

[Twin type ultrasonic sensor unit (242)]

The twin-type ultrasonic sensor unit 242 is located on one side of the CCTV camera unit and consists of a twin structure (=2 units), which is where noise occurs due to equipment failure among coal transport conveyor idlers, and is located in the human hearing range (20 kHz). ), it plays the role of calculating the distance to the place where noise occurred due to equipment failure among coal transport conveyor idlers.

It consists of a transmitter and a receiver.

The transmitter is configured to emit short bursts of high-frequency sound waves called 'chirps' containing frequencies between 23 kHz and 40 kHz.

And, when the sound pulse hits the coal transport conveyor idler where noise is generated due to equipment failure, some of the sound waves are configured to be reflected back to the receiver.

At this time, the time from transmitting the ultrasonic signal to receiving it is measured, and the distance to the place where noise occurs due to equipment failure among the coal transport conveyor idlers is calculated using Equation 3 below.

Here, d represents the distance (meters), t represents the time from transmission to reception (seconds), and c represents the speed of sound (343 m/sec).

In Equation 1 above, d is a measurement of the distance the sound wave travels in both directions.

[Twin type thermal imaging camera unit (243)]

The twin-type thermal imaging camera unit 243 is located on one side of the twin-type ultrasonic sensor unit and consists of a twin structure (=2 units), detecting infrared energy (heat) toward the coal transport conveyor idler located at the bottom, It plays the role of converting it into a real image.

It consists of a lens, a heat sensor, an electronic processing device, and a mechanical housing to create images using heat rather than visible light.

Here, the lens serves to focus infrared energy to the thermal sensor.

The thermal sensor has various pixel configurations ranging from 80*60 to 1280*1024 pixels or more, forming a resolution of the twin-type thermal imaging camera unit.

The twin-type thermal imaging camera unit according to the present invention photographs idler joints and overheating of the coal transportation conveyor line and transmits the captured thermal imaging data to the smart control unit.

In addition, the twin-type thermal imaging camera unit according to the present invention takes thermal images of the motor, reducer, and pulley in the motor room, as well as the idler joint and overheated area of the coal transportation conveyor line.

Fifth, the smart control module 250 according to the present invention will be described.

The smart control module 250 is formed in a box shape at the bottom of the non-contact power pickup type groove coil module, protecting the electronic components from external pressure, and the overall structure of the hanging wheel drive module, non-contact power pickup type groove coil module, and imaging/sensing module. It controls the operation and transmits thermal imaging data, ultrasonic sensing data, and CCTV recording data to a remote central control server.

Here, the central control server according to the present invention extracts a characteristic signal using rising frequency energy at a specific ultrasonic frequency in advance when a bearing failure occurs in the adler of a coal transport conveyor, creates a failure prediction database, and then generates a non-contact power source located on site. The program is designed to predict failure by comparing it with ultrasonic sensing data transmitted from a pickup-type smart linear transfer robot.

In addition, when measuring idler joints and overheating of a coal transport conveyor line through thermal imaging data transmitted from a non-contact power pickup type smart linear transport robot located on site, it is configured to generate a prior warning when the temperature limit is exceeded.

And, through thermal imaging data transmitted from a non-contact power pickup type smart linear transfer robot located on site, after acquiring thermal images of conveyor rollers, it is possible to predict roller failure by predicting that a load will be generated on the roller and a failure will occur when heat is generated. The program is designed.

As shown in FIG. 19, the smart control module 250 consists of a protection box body 251, an IoT communication unit 252, and a smart control unit 253.

[Protection box body (251)]

The protection box body 251 is formed in a box shape at the bottom of the non-contact power pickup type groove coil module, and serves to protect and support electronic components while storing them from external pressure.

Here, the electronic components include all electronic components of the rectifier circuit, power regulator circuit, IoT communication unit, and smart control unit.

It is composed of a locking part of a clip structure on one outer side of the opening cover and a sealing part of a rubber O-ring along the edge of the inner cover.

[loT Communication Department (252)]

The IoT communication unit 252 is located in the inner space of the protection box body, forms a short-distance wireless communication network, receives control signals from a remote controller module located in the short distance, forms a long-distance wireless communication network, and transmits data to a remote central control server. , serves to transmit thermal imaging data, ultrasonic sensing data, CCTV filming data, and power charging request signals.

This is configured by selecting one of WiFi, Bluetooth, ZigBee, RFID, Licensed LPWAN (LTE-M, EC-GSM, NB-IoT), and Unlicensed LPWAN (MYTHINGS, LoRa, Sigfox).

The NB-IoT (Narrow Band IoT) is a narrowband Internet of Things standard that supports low power wide area (LPWA) communication through a mobile communication network, such as GSM (Global System for Mobile Communication) or LTE (Long Term Evolution). It has the characteristic of supporting data transmission speeds of hundreds of kbps or less and wide area services of more than 10 km by using a narrow band in the network.

[Smart control unit (253)]

The smart control unit 253 is located on one side of the IoT communication unit and controls the overall operation of the hanging wheel drive module, the non-contact power pickup type concave coil module, and the imaging/sensing module, and picks up non-contact power from the induced current type linear guide rail unit. After receiving (None Contact Power Pick up) and temporarily charging, the temporarily charged power is used to control linear movement (= straight reciprocating movement) along the inductive current type linear guide rail, while sending thermal imaging data, It controls the transmission of ultrasonic sensing data and CCTV shooting data.

It is configured by selecting one of the PIC one-chip microcomputer, microcomputer, and microprocessor.

In the present invention, it consists of a microprocessor.

That is, as shown in Figure 20, the current sensing sensor unit 232d of the non-contact power pickup type groove coil module is connected to one side of the input terminal, the current sensing signal sensed by the current sensing sensor unit is input, and another input A twin-type ultrasonic sensor unit (242) is connected to one side of the terminal, and sends an audio frequency outside the human hearing range (20 kHz) to the area where noise occurs due to equipment failure among the coal transportation conveyor idlers. An ultrasonic sensing signal that calculates the distance from where noise occurs due to equipment failure is input, and the front left rotation motor 223a of the wheel drive module hanging on one side of the output terminal is connected, and the rotational force of the front left rotation motor is generated. An output signal is generated to be transmitted to the vertical transmission unit for the front left side, and the rotation motor 223b for the front right side of the wheel drive module hanging on one side of another output terminal is connected to generate the rotational force of the rotation motor for the front right side. An output signal is generated and transmitted to the vertical transmission unit for the front right side, and the rotation motor 223c for the rear left side of the wheel drive module hanging on one side of another output terminal is connected to generate a rotational force of the rotation motor for the rear left side. An output signal is output to be transmitted to the rear-right vertical transmission unit, and the rear-right rotation motor (223d) of the hanging wheel drive module is connected to generate a rotational force of the rear-right rotation motor to the rear-right vertical transmission unit. The output signal is output to be transmitted to the other output terminal, and the non-contact power pickup type groove coil part 232 of the non-contact power pickup type groove coil module is connected to one side of the other output terminal, and the 2-channel Litz wire of the induced current type linear guide rail is connected. As it passes through the Litz wire in a non-contact manner, an output signal is output to receive non-contact power pickup through induced current from the 2-channel Litz wire, and the image is taken on one side of another output terminal. The CCTV camera unit 241 of the sensing module is connected and outputs an output signal to photograph the coal transport conveyor idler located at the bottom as it passes or stops at a characteristic position, and a twin-type row is installed on one side of another output terminal. The image camera unit 243 is connected to detect infrared energy (heat) toward the idler of the coal transport conveyor located at the bottom, outputs an output signal to convert it into a real image, and has a 6-channel condenser on one side of another output terminal. The charging unit (232g) is connected to output an output signal to temporarily charge the resonant frequency of 80 to 120 kHz, rectified and smoothed by the rectifier, at DC 400V, and an IoT communication unit (252) is connected to one side of another output terminal, enabling short-distance wireless By forming a communication network, control signals are received from a remote controller module located nearby, and a long-distance wireless communication network is formed to send thermal imaging data, ultrasonic sensing data, CCTV shooting data, and power charging request signals to the remote central control server. An output signal is output for transmission.

Next, the remote controller module 300 according to the present invention will be described.

The remote controller module 300 is connected to the non-contact power pickup type smart linear transfer robot through a short-range wireless communication network, and serves to output a control signal that controls the operation of the non-contact power pickup type smart linear transfer robot.

As shown in FIG. 21, it consists of a controller module main body 310, a key input unit 320, a linear transfer robot control unit 330, and a short-range wireless communication unit 340.

The controller module body 310 is formed in a box shape that can be held by hand, and serves to protect and support each device from external pressure.

This consists of a key input unit formed on the surface, a linear transfer robot control unit formed in the inner space, and a short-distance wireless communication unit formed on one side of the linear transfer robot control unit.

The key input unit 320 generates a key input button signal and transmits it to the linear transfer robot control unit.

It consists of various buttons such as the power on/off button, forward/backward button, thermal imaging operation button, ultrasonic sensing operation button, CCTV shooting operation button, and data transmission button of the non-contact power pickup type smart linear transfer robot.

The linear transfer robot control unit 330 serves to output a control signal that controls the operation of the non-contact power pickup type smart linear transfer robot.

This is configured by setting the linear transfer robot control program.

The short-range wireless communication unit 340 serves to connect the non-contact power pickup type smart linear transfer robot to a short-range wireless communication network to form two-way data communication.

It consists of WiFi, Bluetooth, and ZigBee.

Hereinafter, a detailed process of the imaging and sensing method for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot according to the present invention will be described.

Figure 22 is a flowchart showing a specific process of the photographing and sensing method for a coal transport conveyor using a non-contact power pickup type smart linear transport robot according to the present invention.

First, an induction-type linear guide rail part was installed on the same vertical line as the coal transport conveyor idler, and a non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot was installed at the bottom of the induction-current type linear guide rail part. Install it (S10).

Next, the remote controller module is connected to the non-contact power pickup type smart linear transfer robot through a short-range wireless communication network and outputs a control signal to control the operation of the non-contact power pickup type smart linear transfer robot (S20).

Next, the non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot is driven according to the control signal of the remote controller module and picks up non-contact power from the induced current type linear guide rail. ) After temporary charging, thermal imaging, ultrasonic sensing, and CCTV shooting are performed while performing linear movement (= straight reciprocating movement) along the inductive current type linear guide rail using the temporarily charged power (S30).

Next, through a smart linear transfer robot of the non-contact power pickup (NCPP: None Contact Power Pick up) type, a long-distance communication network is formed with a remote central control server, and thermal imaging data, ultrasonic sensing data, CCTV shooting data is transmitted (S40).

Finally, when measuring idler joints and overheating of the coal transport conveyor line through thermal imaging data transmitted from a non-contact power pickup type smart linear transport robot located in the field, the central control server generates a prior warning when the temperature limit is exceeded, and on-site After acquiring the thermal image of the conveyor roller through thermal imaging data transmitted from the non-contact power pickup type smart linear transfer robot located in ).

In addition, in the event of a bearing failure in the adler of a coal transport conveyor in advance, characteristic signals using rising frequency energy at a specific ultrasonic frequency are extracted and converted into a failure prediction database, and then transmitted from a non-contact power pickup type smart linear transfer robot located on site. Compare with ultrasonic sensing data to predict failure.

1: Filming/sensing device for coal transportation conveyor
100: Induced current type linear guide rail part
110: Bottom linear guide rail
120: Vertical joint frame
130: Top linear guide rail
200: Non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot
210: robot body
220: Hanging wheel drive module
230: Non-contact power pickup type grooved coil module
240: Shooting/sensing module
250: Smart control module
300: Remote controller module

Claims (12)

Located on the same line as the coal transport conveyor, it receives non-contact power pickup and moves in a straight line, taking thermal imaging, ultrasonic sensing, and CCTV photography of the components of the coal transport conveyor, and providing a remote central control server. It consists of an imaging and sensing device for a coal transport conveyor that is controlled to transmit thermal imaging data, ultrasonic sensing data, and CCTV filming data,
The imaging and sensing device for the coal transportation conveyor is
Located on the same vertical line as the coal transport conveyor idler, the non-contact power pickup type smart linear transport robot is supported to be positioned at the bottom of the upright, and guides it to perform linear movement (= straight reciprocating movement). An induced current-type linear guide rail unit (100) that transmits induced current toward the linear transfer robot,
It is located at the bottom of the induction current type linear guide rail section and is driven according to the control signal of the remote controller module. It receives non-contact power pick up from the induction current type linear guide rail section and is then temporarily charged. With one power source, thermal imaging, ultrasonic sensing, and CCTV shooting are performed while linearly moving (=straight reciprocating movement) along the inductive current type linear guide rail, and sending thermal imaging data, ultrasonic sensing data, and CCTV to a remote central control server. A non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot (200) that transmits shooting data,
A non-contact power pickup type smart linear transport consisting of a remote controller module 300 that is connected to a non-contact power pickup type smart linear transfer robot and a short-distance wireless communication network and outputs a control signal to control the operation of the non-contact power pickup type smart linear transfer robot. In the imaging and sensing device for coal transport conveyor using a robot,
The non-contact power pickup (NCPP: None Contact Power Pick up) type smart linear transfer robot (200) is
A robot body 210 formed in a hanging box shape to protect and support each device from external pressure,
A hanging wheel drive module (220) located on one side of the upper part of the robot body, guided along the guide rail of the inductive current type linear guide rail section, and reciprocating the robot body in a straight line along the coal transport conveyor idler located on the same line toward the bottom. class,
Located at the bottom of the hanging wheel drive module, it passes through the 2-channel Litz wire of the inductive current type linear guide rail part in a non-contact manner and picks up non-contact power through the induced current from the 2-channel Litz wire. A non-contact power pickup type concave coil module (230) that receives (None Contact Power Pick up) and transmits it to the smart control module,
A photography and sensing module 240 located at the bottom of the box-shaped smart control module that takes thermal imaging, ultrasonic sensing, and CCTV photography of the coal transportation conveyor idler located toward the bottom,
It is formed in a box shape at the bottom of the non-contact power pickup type groove coil module, protecting the electronic components from external pressure, controlling the overall operation of the hanging wheel drive module, non-contact power pickup type groove coil module, and imaging/sensing module, and controlling the overall operation of the remote location center. Filming for coal transport conveyor through a non-contact power pickup type smart linear transfer robot, which is composed of a smart control module 250 that controls the transmission of thermal imaging data, ultrasonic sensing data, and CCTV recording data to the control server. ·Sensing device.
delete delete delete delete The method of claim 1, wherein the hanging wheel drive module (220) is
A four-channel hanging wheel portion (221) located on the guide rail of the induction current type linear guide rail portion and rotating and rolling while being guided along the induction current type linear guide rail portion,
A vertical transmission part of the hanging wheel is formed along the diagonal longitudinal direction at the bottom of the 4-channel hanging wheel part, and transmits the rotational force generated from the 4-channel rotating motor part to the 4-channel hanging wheel part, and supports the 4-channel hanging wheel part so that it has a suspended structure. (222) and,
Filming and sensing for coal transport conveyors through a non-contact power pickup type smart linear transfer robot, which is composed of a 4-channel structure and a 4-channel rotation motor unit 223 that generates rotational force and transmits it to the vertical transmission part of the hanging wheel. Device.
The method of claim 1, wherein the non-contact power pickup type grooved coil module 230 is
A box-shaped smart control module and a concave coil support frame (231) that is formed in a cross structure with a height difference of 2 cm to 10 cm and supports the non-contact power pickup type concave coil portion,
It is formed as a window frame structure with grooves formed, and passes through the 2-channel Litz wire of the induced current type linear guide rail part in a non-contact manner, picking up non-contact power through the induced current from the 2-channel Litz wire. (None Contact Power Pick up) A photographing and sensing device for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot, characterized in that it consists of a non-contact power pickup type concave coil unit (232).
The method of claim 7, wherein the non-contact power pickup type concave coil portion 232 is
It is formed as a window frame structure in which two concave grooves (232b) are formed in the square box-shaped body (232a), and inside the two concave grooves, a disk-shaped coil (232c) is formed in a two-dimensional structure on the X and Y axes, respectively. , A photographing and sensing device for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot, characterized in that a current sensing sensor unit (232d) is formed on one side.
The method of claim 1, wherein the photographing/sensing module 240 is
A CCTV camera unit 241 located on one side of the bottom of the protection box body to photograph the coal transport conveyor idler located toward the bottom while passing or stopping at a characteristic position,
It is located on one side of the CCTV camera unit and consists of a twin structure (=2 units). It emits an audio frequency outside the human hearing range (20kHz) to the area where noise occurs due to equipment failure among the coal transport conveyor idlers, A twin-type ultrasonic sensor unit 242 that calculates the distance to the location where noise occurs due to equipment failure among transport conveyor idlers,
A twin-type thermal imaging camera unit located on one side of the twin-type ultrasonic sensor unit and composed of a twin structure (=2 units), detects infrared energy (heat) toward the coal transport conveyor idler located at the bottom and converts it into a visible image. (243) A photographing and sensing device for a coal transport conveyor using a non-contact power pickup type smart linear transport robot, characterized in that it consists of (243).
The method of claim 1, wherein the smart control module 250 is
A protection box body 251 formed in a box shape at the bottom of the non-contact power pickup type groove coil module to store electronic components and protect and support them from external pressure,
It is located on one side of the inner space of the protection box body, forming a short-distance wireless communication network, receiving control signals from a remote controller module located nearby, forming a long-distance wireless communication network, and sending thermal imaging data, an IoT communication unit 252 that transmits ultrasonic sensing data, CCTV shooting data, and power charging request signals,
Located on one side of the IoT communication unit, it controls the overall operation of the hanging wheel drive module, non-contact power pickup type groove coil module, and imaging/sensing module, and picks up non-contact power from the induced current type linear guide rail part (None Contact Power Pick up). After receiving and temporarily charging, the temporarily charged power is used to control linear movement (= straight reciprocating movement) along the inductive current type linear guide rail, while sending thermal imaging data, ultrasonic sensing data, and CCTV shooting data to the central control server at a remote location. A photographing and sensing device for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot, characterized in that it consists of a smart control unit 253 that controls to transmit.
The method of claim 10, wherein the smart control unit 253
The current sensing sensor unit of the non-contact power pickup type grooved coil module is connected to one side of the input terminal, and the current sensing signal sensed by the current sensing sensor unit is input. The twin-type ultrasonic sensor unit is connected to one side of the other input terminal, and the coal transport conveyor is connected. An ultrasonic sensing signal that emits an audio frequency outside the human hearing range (20kHz) to the location where noise occurs due to equipment failure among idlers, and calculates the distance to the location where noise occurs due to equipment failure among coal transport conveyor idlers. is input, and the rotation motor for the front left of the wheel drive module hanging on one side of the output terminal is connected to generate the rotational force of the rotation motor for the front left and output an output signal to be transmitted to the vertical transmission unit for the front left, and another The rotation motor for the front right side of the wheel drive module hanging on one side of the output terminal is connected, generates the rotational force of the rotation motor for the front right side, and outputs an output signal to be transmitted to the vertical transmission unit for the front right side, and is connected to another output terminal on one side. The rotation motor for the rear left side of the hanging wheel drive module is connected, generates a rotational force of the rear left rotation motor and outputs an output signal to be transmitted to the vertical transmission unit for the rear left, and the rotation motor for the rear right side of the hanging wheel drive module is connected to generate the rotational force of the rotation motor for the rear right side and output an output signal to be transmitted to the vertical transmission unit for the rear right side, and a non-contact power pickup type groove coil module of the non-contact power pickup type groove coil module on one side of the other output terminal. The unit is connected and passes through the 2-channel Litz wire of the inductive current type linear guide rail in a non-contact manner, picking up non-contact power through the induced current from the 2-channel Litz wire (None Contact Power Pick up). ), and the CCTV camera part of the photographing/sensing module is connected to one side of another output terminal, and outputs the output signal to photograph the coal transport conveyor idler located at the bottom as it passes or stops at a characteristic position. A twin-type thermal imaging camera unit is connected to one side of another output terminal, detects infrared energy (heat) toward the coal transport conveyor idler located at the bottom, and outputs an output signal to convert it into a visible image. A 6-channel condenser charging unit (232g) is connected to one side of the other output terminal, outputting an output signal to temporarily charge the resonance frequency of 80~120kHz, rectified and smoothed by the rectifier, to DC 400V, and an IoT communication unit is installed on one side of the other output terminal. Connected to form a short-range wireless communication network, control signals are received from a remote controller module located nearby, and a long-distance wireless communication network is formed to send thermal imaging data, ultrasonic sensing data, CCTV shooting data, A photographing and sensing device for a coal transport conveyor using a non-contact power pickup type smart linear transfer robot, characterized in that it is configured to output an output signal to transmit a power charging request signal. delete