KR20210156594A - System for monitoring abnormality of conveyor apparatus and method for the same - Google Patents

Abstract

Disclosed are a system for detecting the abnormality of a conveyor device and a method therefor. The system for detecting the abnormality of a conveyor device comprises: a driving robot driving along a track arranged at a position corresponding to the conveyor device and obtaining and providing one or more image data of the photographed conveyor device for each predetermined interval unit; and a control server for checking the position of the driving robot on the track, controlling the movement of the driving robot and transmitting and receiving, to and from the driving robot, data required to detect whether the conveyor device is abnormal. Either or both of the driving robot and the control server can detect whether the conveyor device is abnormal, and can detect a position where the conveyor device is abnormal, using the one or more image data. Therefore, provided are a system capable of automatically determining whether a conveyor device has been damaged, using various kinds of image data and a method therefor.

Description

Abnormality detection system and method of conveyor device

The present disclosure relates to a system and method for monitoring a conveyor device, and more particularly, to a system and method for detecting abnormal occurrence of a conveyor device using at least one image data and a traveling robot moving along a trajectory. .

BACKGROUND ART In various industrial or manufacturing facilities, a conveyor device is used to efficiently transport articles or materials. In thermal power plants, it is necessary to continuously transport and supply raw materials such as coal, so a conveyor device is widely used.

Since the conveyor device has a relatively simple structure including a carrier roller and a carrier belt, it is generally used for a long time without replacement. If the carrier roller and the carrier belt are damaged, heat may be generated due to friction between the carrier roller and the carrier belt. also lose

In industrial sites, a person directly checks and judges whether the conveyor device is damaged, but the working environment is poor and the risk of an accident is high, so the development of an automated system capable of monitoring the abnormality of the conveyor device is required.

An object of the present disclosure is to provide a system and method capable of automatically determining whether a conveyor device is damaged by using various types of image data.

Another technical object of the present disclosure is to provide a system and method capable of accurately detecting a point where an abnormality occurs in a conveyor apparatus using various types of image data.

The technical problems to be achieved in the present disclosure are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be able

According to an aspect of the present disclosure, an abnormality detection system of a conveyor apparatus may be provided. The system may include: a traveling robot that travels along a track provided at a position corresponding to the conveyor device, and acquires and provides at least one image data photographing the conveyor device for each predetermined section unit; and a control server for confirming the position of the traveling robot on the track, controlling the movement of the traveling robot, and transmitting and receiving data required to detect whether an abnormality has occurred in the conveyor device with the traveling robot, At least one of the robot and the control server may detect whether an abnormality has occurred in the conveyor device using the at least one image data, and may identify and provide a location where the abnormality of the conveyor device occurs.

According to another aspect of the present disclosure, a method for detecting abnormality of a conveyor apparatus may be provided. The method includes a process of photographing the conveyor device for each predetermined section unit through a traveling robot that travels along a track provided at a position corresponding to the conveyor device, and the abnormality of the conveyor device using the at least one image data A process of detecting whether an abnormality has occurred, a process of confirming a position where the abnormality of the conveyor device has occurred based on a position on the track of the traveling robot and a photographing environment in which the at least one image data is captured, and the conveyor; and providing a location where the device abnormality occurred.

The features briefly summarized above with respect to the present disclosure are merely exemplary aspects of the detailed description of the present disclosure that follows, and do not limit the scope of the present disclosure.

According to the present invention, a system and method for automatically determining whether a conveyor device is damaged by using various types of image data can be provided.

In addition, according to the present invention, a system and method capable of accurately detecting a point where an abnormality occurs in a conveyor apparatus using various types of image data can be provided even without directly entering the site.

The effects obtainable in the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be.

1 is a diagram schematically illustrating an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
2 is a diagram illustrating a schematic arrangement of an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
3A and 3B are diagrams illustrating a detailed configuration of the conveyor apparatus of FIG. 2 .
4A is a block diagram of a functional configuration of the traveling robot provided in FIG. 1 .
4B is a perspective view of the traveling robot provided in FIG. 1 .
4C is a perspective view illustrating the traveling robot provided in FIG. 1 traveling along a track.
5 is a diagram illustrating a detailed configuration of a control server provided in a conveyor device according to an embodiment of the present invention.
6 is a diagram illustrating an operation of detecting image data by a detection unit provided in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
7 is a view illustrating an operation of detecting an abnormality of a carrier roller by an abnormality detection unit provided in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
8A is an exemplary diagram of a photographing environment of image data used in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
8B is another exemplary diagram of a photographing environment of image data used in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
8C is a diagram illustrating an operation of controlling the position of the traveling robot in consideration of the minimum distance position in the abnormality detection system of the conveyor apparatus according to an embodiment of the present invention.
9 is a diagram illustrating another embodiment of an operation of a detection unit provided in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention to detect image data.
10 is a view illustrating an operation of detecting an abnormality of a carrier roller by an abnormality detection unit provided in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
11 is a view illustrating an operation of detecting an abnormality of a carrier belt by an abnormality detection unit provided in an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention.
12 is a view illustrating an operation of detecting the departure of the carrier belt by the abnormality detection unit provided in the abnormality detection system of the conveyor apparatus according to an embodiment of the present invention.
13A to 13C are diagrams illustrating a schematic arrangement of an abnormality detection system of a conveyor apparatus according to another embodiment of the present invention.
14A and 14B are diagrams illustrating a schematic operation of an abnormality detection system of a conveyor apparatus according to another embodiment of the present invention.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present disclosure pertains can easily implement them. However, the present disclosure may be embodied in several different forms and is not limited to the embodiments described herein.

In describing an embodiment of the present disclosure, if it is determined that a detailed description of a well-known configuration or function may obscure the gist of the present disclosure, a detailed description thereof will be omitted. And, in the drawings, parts not related to the description of the present disclosure are omitted, and similar reference numerals are attached to similar parts.

In the present disclosure, when a component is "connected", "coupled" or "connected" to another component, it is not only a direct connection relationship, but also an indirect connection relationship in which another component exists in the middle. may also include. In addition, when a component is said to "include" or "have" another component, it means that another component may be further included without excluding other components unless otherwise stated. .

In the present disclosure, terms such as first, second, etc. are used only for the purpose of distinguishing one component from other components, and do not limit the order or importance between the components unless otherwise specified. Accordingly, within the scope of the present disclosure, a first component in one embodiment may be referred to as a second component in another embodiment, and similarly, a second component in one embodiment is referred to as a first component in another embodiment. can also be called

In the present disclosure, the components that are distinguished from each other are for clearly explaining each characteristic, and the components do not necessarily mean that the components are separated. That is, a plurality of components may be integrated to form one hardware or software unit, or one component may be distributed to form a plurality of hardware or software units. Accordingly, even if not specifically mentioned, such integrated or distributed embodiments are also included in the scope of the present disclosure.

In the present disclosure, components described in various embodiments do not necessarily mean essential components, and some may be optional components. Accordingly, an embodiment composed of a subset of components described in an embodiment is also included in the scope of the present disclosure. In addition, embodiments including other components in addition to components described in various embodiments are also included in the scope of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

An abnormality detection system of a conveyor apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5 .

1 is a diagram schematically showing an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a schematic arrangement of an abnormality detection system of a conveyor apparatus according to an embodiment of the present invention 3A and 3B are diagrams illustrating a detailed configuration of the conveyor device of FIG. 2 .

The abnormality detection system 10 of the conveyor device according to an embodiment of the present invention (hereinafter, referred to as 'system') monitors whether or not a dangerous situation occurs in at least one conveyor device 30 disposed in the space 20 . It is a system that notifies the abnormal situation by moving the driving robot 300 to a point close to the abnormal occurrence point 40 in which the dangerous situation is induced when a dangerous situation is detected.

Hereinafter, a conveyor device for transporting minerals for transporting minerals such as coal as a conveyor device in an embodiment of the present invention will be exemplified and described, but the present disclosure is not limited thereto, and may be applied to various types of conveyor devices.

Referring to FIGS. 3A and 3B , the conveyor device 30 for transporting minerals includes a carrier belt 31 on which minerals are loaded and transported, and a carrier roller 33 guiding the movement of the carrier belt 31 . At this time, the mineral must be transported along a predetermined path through the carrier belt 31 and the carrier roller 33, but when the carrier belt 31 is kinked or the carrier belt 31 deviates from the predetermined position, The conveyor device 30 may be damaged or there may be a disruption in mineral transport. As another example, when some carrier rollers 33 provided in the conveyor device 30 are damaged, there is a possibility that the carrier belt 31 may be damaged or a fire may occur due to friction between the roller and the carrier belt 31 . have. As another example, the carrier roller 33 may include a bearing structure therein for smooth rotation. If an abnormality occurs in the bearing structure, there is a possibility that the carrier roller 33 may be damaged or a fire may occur. have.

As described above, a system capable of accurately detecting a dangerous situation occurring in the conveyor device 30, in particular, a dangerous situation occurring due to an abnormality of the carrier belt 31 or the carrier roller 33 is required. In the description, the detailed structure of the abnormality detection system 10 of the conveyor apparatus according to an embodiment of the present invention will be described.

The system 10 includes a traveling robot 300 , a track device 400 , and a control server 500 .

The traveling robot 300 runs along the orbital device 400 provided close to the upper portion of the conveyor device 30 , and monitors whether the conveyor device 30 is abnormal. In this case, the traveling robot 300 may determine whether the conveyor device 30 is abnormal by analyzing an image captured by at least one camera device provided therein, for example, a real image camera, a thermal image camera, or an ultrasonic camera. have. In addition, when an abnormality of the conveyor device 30 is detected, the traveling robot 300 may be controlled to move to a position at a minimum distance from the abnormality occurrence point 40 of the conveyor device 30 , and the abnormality occurrence point 40 . You can provide a video filmed.

As another example, the traveling robot 300 transmits an image captured through at least one camera device provided therein to the control server 500, and the image captured by the control server 500 through at least one camera device. , it is possible to determine whether the conveyor device 30 is abnormal.

Furthermore, since the traveling robot 300 moves along a path provided through the orbiting device 400 , the orbiting device 400 of the traveling robot 300 based on the control value of the driving member of the traveling robot 300 itself. The location of the image may be checked, and the confirmed location may be provided to the control server 500 together with an image captured through at least one camera device. As another example, the driving robot 300 provides a control value of the driving member together with an image captured by at least one camera device to the control server 500 , and the control server 500 uses the control value of the driving member Thus, the position of the traveling robot 300 on the orbiting device 400 may be confirmed.

4A is a block diagram of the functional configuration of the traveling robot provided in FIG. 1 , and FIG. 4B is a perspective view of the traveling robot.

4A and 4B , the traveling robot 300 includes a driving unit 302 , a sensing unit 304 , an abnormality detecting unit 306 , a pan-tilt adjusting unit 308 , a transceiver 310 , It may include a memory 312 , an alarm unit 314 , a power supply unit 316 , and a processor 318 .

The driving unit 302 includes a driving member including a motor and a driving wheel mechanically connected thereto to the main body 328 so that the traveling robot 300 can travel along the orbit 402 set by the orbiting device. can In addition, the driving unit 302 may be provided with a height adjustment lift capable of moving the traveling robot 300 in the vertical direction. The height adjustment lift may include a pantograph-type joint structure or a plurality of hydraulic cylinders combined in a vertical direction between the main body 328 and the support of the traveling robot 300 .

The sensing unit 304 is coupled to the main body 328 through the support 330 and the support assembly 332, and a real image camera 320 that acquires an image related to a real image of the conveyor device 30, the conveyor device ( 30) may include a thermal imaging camera 318 that detects heat, and an ultrasonic camera 322 that measures the sound generated by the conveyor device 30 and expresses it in a predetermined color. Then, the detection unit 304 provides the data collected through the real image camera 320, the thermal imaging camera 318, the ultrasonic camera 322, etc. to the abnormality detection unit 306, and based on this, the abnormality detection unit ( 306) may check whether an abnormality has occurred.

Additionally, the sensing unit 304 may include a sensor module including various sensors such as a gas sensor, a temperature sensor, a sound recognition sensor, an ultraviolet sensor, a position sensor, and a current/voltage meter.

The abnormality detection unit 306 determines whether an abnormality has occurred in the conveyor device 30 based on data provided from at least one of the real image camera 320 , the thermal imager 318 , and the ultrasonic camera 322 , and the occurrence point of the abnormality location can be checked. Specifically, the abnormality detection unit 306 may include an abnormality determination unit 324 that determines whether an abnormality has occurred in the conveyor device 30 and a position detection unit 326 that determines the location of an abnormality occurrence point.

The abnormality determination unit 324 analyzes the real image data and thermal image data provided from the real image camera 320 and the thermal image camera 318 to determine whether the carrier roller or a bearing provided in the carrier roller is damaged. can In addition, the abnormality determination unit 324 analyzes the real image data and the ultrasonic data provided from the real image camera 320 and the ultrasonic camera 322 to determine whether the carrier roller or a bearing provided in the carrier roller is damaged. can Also, the abnormality determining unit 324 may analyze the real image data and the ultrasonic data provided from the real image camera 320 and the ultrasonic camera 322 to determine whether the carrier belt is damaged. As another example, the abnormality determination unit 324 analyzes the real image data provided from the real image camera 320 , and the displacement of the belt or the object (eg, coal) moved through the conveyor device 30 . Falls or departures can be detected.

The abnormality determination operation of the abnormality determination unit 324 will be described in detail with reference to FIGS. 6 to 12 below.

The position detection unit 326 may check the control value of the driving member provided by the driving unit 302 , and may determine the position of at least one camera device provided in the sensing unit 304 based on the control value of the driving member. . In addition, the position detection unit 326 may synchronize and manage at least one image data provided by the sensing unit 304 and the position data of the at least one camera device. In addition, when the occurrence of an abnormality is confirmed by the abnormality determination unit 324 , the position detection unit 326 uses the traveling robot 300 to determine the closest trajectory position of the abnormality occurrence point, and sets the closest trajectory position to the driving unit 302 . By providing , it is possible to control the movement to the nearest orbital position of the traveling robot 300 .

In addition, when the traveling robot 300 arrives at the nearest orbital position, the position detecting unit 326 captures the abnormality occurrence point 40 to calculate a minimum distance position required to control the traveling robot 300 .

The position detection unit 326 may be controlled to be rotatable in the left-right direction and the vertical direction by the pan/tilt adjustment unit 308 . Accordingly, in the process of moving closer to the abnormality occurrence point 40 from the nearest orbital position, the sensing unit 304 pan-tilted at a predetermined fixed angle and the central point of the abnormality occurrence point 40 are perpendicular to each other, A case in which the abnormal occurrence point 40 of the conveyor device 30 is located in the at least one image data acquired by the sensing unit 304 may be determined as the minimum distance position. A detailed description of the determination of the minimum distance position and the position/position control will be described later.

Meanwhile, referring to FIG. 4B , the thermal imaging camera 318 , the real image camera 320 , the ultrasonic camera 322 , etc. may be mounted and fixed to the support 330 , each of the cameras 318 , 320 , 322 . ) may be fixed through the pan-tilt structures 318', 320', 322' that can be rotationally driven in the vertical and horizontal directions. In consideration of this, the pan/tilt adjusting unit 308 may control driving members provided in the pan/tilt structures 318 ′, 320 ′, and 322 ′ to control driving of the respective cameras 318 , 320 , and 322 .

In addition, the traveling robot 300 may include a fan driving adjustment unit 334 provided between the main body 328 and the support body 330 to be rotatably rotatable in the left and right directions with respect to the vertical axis, and the pan tilt adjustment unit 308 . may control the driving of the fan driving adjustment unit 334 to control the rotational driving of the entire support 330 .

The transmitter/receiver 310 may be a module that transmits/receives various control information of the traveling robot 300 , detection data of the detector 304 related to the abnormality of the conveyor device 30 , and the like with the control server 500 . The transceiver 310 may perform wired/wireless communication with the control server 500 , and in the case of wireless communication, it may be configured with WI-FI, Bluetooth, and Zigbee communication modules as short-distance communication.

The memory 312 controls the driving robot 300 as well as data received from the control server 500 , for example, location data such as coordinates of the entire space 20 including the locations of a plurality of objects, and configures the system 10 . It is possible to store location data of the devices 100 to 400 , location data of the abnormality occurrence point 40 , orbital position data closest to the abnormality occurrence point 40 .

When an abnormality occurs, the alarm unit 314 may not only visually and/or audibly propagate the abnormality occurrence within the space 20, but may also propagate the current situation in various ways according to the abnormal occurrence situation.

The power supply unit 316 may include a battery to enable the independent operation and function of the driving robot 300, and even if the power supply in the space 20 is cut off due to an abnormal occurrence, the driving robot 300 itself is a fire point. Position calculation, movement, posture control, and injection for proximity to (40) can be independently performed. The driving robot 300 may move to a charging station to charge the power supply unit 316 when the remaining amount of the battery is less than or equal to the reference value.

The processor 304 controls the functions of the above-described members of the traveling robot 300 and executes processing of data transmitted and received with the control server 500 .

4C is a perspective view illustrating a traveling robot traveling along a track.

Referring to FIGS. 4C and 13 in relation to the orbiting device, the orbiting device includes a first track 402 and a second track 408 , and the traveling robot 300 moves the first and second track 402 . , 408) may further include a switching branch 410 that is provided to be changeable between each other. Here, the second track 408 may be installed to extend in at least one of a different height and a different direction from the first track 402 . Although only the first and second tracks 402 and 408 are exemplified in the embodiment of FIG. 13 , a plurality of orbits can be connected to the first track 402 according to the object location and construction environment of the space 20 , and are connected A switching branch 410 may be installed for each part.

The first and second tracks 402 and 408 may be connected to and fixed to the support frame 406 positioned at a predetermined location in the space 20 through periodically installed rods 404 . According to the setting of the control server 500, the first track 402 is designated to be utilized as both the normal monitoring of the traveling robot 300 and the traveling path when an abnormality occurs, and the second track 408 is an auxiliary driving It can be specified to be used as a path. In another example, according to the setting of the control server 500 , all of the first and second tracks 402 and 408 may be used as normal monitoring and travel routes when abnormalities occur. If the second track 408 extending in a different height and/or direction from the first track 402 is used as a path for normal monitoring, the accuracy of normal monitoring and quick confirmation of abnormal occurrence can be exhibited.

When it is determined to enter the second track, the traveling robot 300 can be transferred from the first track to the track position on the second track through the switching branch 410 in a situation where the robot 300 travels on the first track 402. have. For a smooth trajectory changeover, the first and second trajectories 402 , 408 adjacent to the diverting branch 410 may be disposed at the same height as the diverting branch 410 . Accordingly, when the traveling robot 300 enters the switching branch 410 from the first track 402, the switching branch 410 rotates so that the traveling robot 300 can move to the second track side. It contributes to being connected to the second track 408 .

On the other hand, when the driving robot 300 implements WI-FI communication with the control server 500 through the transceiver 310, the tracks 402 and 408 use a CRA (Cable type WI-FI Radial Antenna) cable. may include

CRA may mean a cable-type WI-FI radiation antenna. For example, the CRA may be a cable equipped with an antenna through which radio waves are emitted to the outside for communication. For example, a slot (or a home, an area) may exist in the CRA to enable communication. In this case, the slot may perform a role for the antenna, and a frequency for a radio wave emitted for communication may be differently selected based on a length or a slope of the slot. For example, the frequency at which the traveling robot 300 operates may be a frequency for a local area network, and the slot may be designed to use the above-described frequency band. That is, the slot for the CRA may be set in the cable in consideration of the frequency and may serve as an antenna. More specifically, the CRA may refer to a transmission line used to transmit high-frequency power by connecting a transmitter and a transmitting antenna or a receiving antenna and a receiver. In this case, the cable may transmit the radio wave signal obtained from the CRA to a server or other device through a transmission line. Alternatively, the cable may transmit a signal generated from a server or other device through a transmission line, and may be emitted as a radio wave in the CRA. For example, the CRA may be a leaky coaxial cable, but is not limited thereto.

The traveling robot 300 may move along the provided cable. For example, the weight (or load) of the traveling robot 300 may be designed to be movable on a cable. That is, the traveling robot 300 may move through a general track without installing a separate track. On the other hand, the traveling robot 300 may move the equipped cable as a general track through the driving unit 302 . In this case, the traveling robot 300 may perform wireless communication through the CRA in a general orbit.

As another example, the traveling robot 300 may drive the CRA and the support line (or steel wire) on the track in consideration of equipment or devices included in the traveling robot 300 . At this time, the traveling robot 300 may be driven by being connected to a certain steel wire, such as a cable car. As another example, when a device with a large load is mounted on the traveling robot 300, the traveling robot 300 may travel using a profile (eg aluminum or steel) on which a CRA is mounted (or inserted) as a track. . That is, the traveling robot 300 can travel through a track that can withstand a large load as a CRA-inserted track.

As described above, the CRA cable included in the track has flame resistance, so communication failure due to fire can be suppressed. In addition, in the prior art, the traveling robot 300 was able to transmit data by contacting the electric wire and the communication line. However, the driving robot 300 may be driven in an environment such as an underground facility or high temperature and high pressure in an area difficult to access by humans. At this time, when the traveling robot 300 transmits data through the contact-type trajectory as in the prior art, there is a limitation in implementing the traveling robot 300 in consideration of the above-described environment. In consideration of this point, the traveling robot 300 may be designed to transmit information obtained from the sensing unit 304 to the server (or CMS) as wireless communication through the CRA.

5 is a block diagram of a functional configuration of a control server.

The control server 500 controls the traveling robot 300 and the change of the trajectory, and, based on the sensed data received from the traveling robot 300 , determines whether an abnormality occurs, and various types related to the abnormality occurrence point 40 , etc. Position data, behavior control of the traveling robot 300 during an abnormality removal process, and the like may be processed.

The control server 500 may specifically include a transceiver 502 , a memory 504 , and a processor 510 .

The transceiver 502 may include a module for exchanging data with the traveling robot 300 in a defined communication method. It is also possible to communicate with the traveling robot 300 using a CRA cable built into the first track 402 .

The memory 504 may store various data as well as a program for operating the control server 500 . The stored data may store location data, images acquired by the sensing device and the driving robot 300 at normal times or at an abnormality point, etc., sensing data such as temperature, gas presence, sound, and the like.

The location data includes location data such as coordinates of the entire space 20 including location information of a plurality of objects 30 , location data of devices 300 and 400 constituting the system 10 , and anomaly occurrence point 40 . ) may be position data, orbital position data closest to the anomaly occurrence point 40 . The coordinates of the entire space are based on at least one of an architectural drawing based on the construction of the space 20 in which the conveyor device 30 is disposed and 3D spatial information obtained by a 3D scanner (eg, Lidar scanner) can be built with

The processor 510 controls the functions of the above-described members of the control server 500 , processes data transmitted and received from the traveling robot 300 and the orbital device 400 , and controls the operation of each device.

In one embodiment of the present disclosure, it has been exemplified that the abnormality determination unit 324 provided in the above-described traveling robot 300 checks whether or not an abnormality has occurred and the position of the abnormality occurrence point with respect to the conveyor device 30, but the present disclosure It is not limited thereto, and may be variously changed. For example, the control server 500 determines whether or not an abnormality has occurred in the conveyor device 30 and the occurrence point of the abnormality based on the data detected from the real image camera 320 , the thermal image camera 318 , the ultrasonic camera 322 , and the like. It may further include an abnormality detection unit 506 for checking the location. The configuration and operation of the abnormality determining unit 506 may be performed based on the configuration and operation of the abnormality determining unit 324 provided in the above-described traveling robot 300 . As such, when the control server 500 includes the abnormality determining unit 506 , the abnormality determining unit 324 provided in the above-described traveling robot 300 may be omitted.

Hereinafter, an operation in which the abnormality detection units 306 and 506 detect whether there is an abnormality and an operation in which an abnormality has occurred will be described in detail with reference to FIGS. 1 to 12 .

6 is a diagram illustrating an operation in which a detection unit provided in an abnormality detection system of a conveyor device according to an embodiment of the present invention detects image data, and FIG. 7 is an abnormality detection of a conveyor device according to an embodiment of the present invention. It is a diagram illustrating an operation for detecting an abnormality of the carrier roller by the abnormality detection unit provided in the system.

When an abnormality occurs in the carrier roller (or a bearing member provided in the carrier roller), abnormal friction may occur in the carrier roller (or a bearing member provided in the carrier roller), which causes the abnormality in the carrier roller (or A relatively higher temperature than in a normal state may be generated in the bearing member provided on the carrier roller). Based on this, the traveling robot 300 is moved along the orbital device 400 provided on the upper portion of the conveyor device 30 , and the sensing unit 304 provided in the traveling robot 300 is a real image camera for each predetermined section. 320 and the thermal imaging camera 318 to obtain real image data 601-1, 601-2, 601-n and thermal image data 605-1, 605-2, 605-n, This may be provided to the abnormality detection unit 306 .

First, the abnormality detection unit 306 may perform object detection from the real image data 601-1, 601-2, and 601-n (S701). The detection of the object may be extracted based on image characteristics of a carrier roller provided in the conveyor device. For example, the abnormality detection unit 306 analyzes the color and shape based on the RGB pixels constituting the real image data 601-1, 601-2, and 601-n to detect a carrier roller present in the real image. can Furthermore, the abnormality detection unit 306 may detect the carrier roller using an object detection model built through machine learning.

Thereafter, the abnormality detection unit 306 may set a region in which an object is detected in the real image data 601-1, 601-2, and 601-n as a region of interest (ROI) (S702).

On the other hand, the real image data 601-1, 601-2, 601-n and the thermal image data 605-1, 605-2, 605-n are the real image camera 320 and the thermal image camera 318, respectively. It is obtained through the real image data ( 601-1, 601-2, 601-n) and the thermal image data 605-1, 605-2, and 605-n may have differences in the imaging area, resolution, and the like. In consideration of this, the anomaly detection unit 306 checks differences in optical characteristics, photographing environmental characteristics, etc., and includes the real image data 601-1, 601-2, and 601-n and the thermal image data 605-1 and 605. -2, 605-n) may be corrected for parallax and angle-of-view conversion (S703).

Thereafter, the anomaly detection unit 306 corresponds to the thermal image data 605-1, 605-2, and 605-n as regions corresponding to the ROIs of the real image data 601-1, 601-2, and 601-n. ROI can be set (S704).

In addition, the abnormality detection unit 306 may check temperature information for each of the corresponding ROIs of the thermal image data 605-1, 605-2, and 605-n. For example, the anomaly detection unit 306 may check the highest temperature, the lowest temperature, the average temperature, etc. for each of the first to fourth corresponding ROIs, and configure temperature information including the highest temperature, the lowest temperature, and the average temperature. It can be (S705).

The abnormality detection unit 306 may store and manage data (see Table 1) on the normal temperature range of the carrier roller (or a bearing member provided in the carrier roller), and set a predetermined threshold value based on the normal temperature range. can In addition, the abnormality detection unit 306 may determine whether the highest temperature of the first to fourth corresponding ROIs exceeds a predetermined threshold, and it is determined that an abnormality has occurred in the corresponding region of the corresponding ROI exceeding the predetermined threshold. It can be determined (S706).

Furthermore, the abnormality detection unit 306 may manage by assigning an identification number to the carrier roller (or a bearing member provided in the carrier roller), and considering the position on the track of the traveling robot 300 , the detected ROI and the carrier A roller (or a bearing member provided on the carrier roller) may be matched. In addition, the abnormality detection unit 306 may store and manage whether the carrier roller (or a bearing member provided in the carrier roller) is abnormal (see Table 2).

Furthermore, the optical characteristics of the real image camera 320 and the thermal imager 318, the fixed state, the shooting direction, the shooting angle, the shooting environmental characteristics such as the fixed or rotation angle of the support 330, the driving robot 300 Depending on the position on the track device 400, etc., the carrier rollers (or bearing members provided on the carrier roller) may appear differently (refer to FIGS. 8A and 8B ). Accordingly, the abnormality detection unit 306 may be configured to perform a photographing environment such as optical characteristics, a fixed state, a photographing direction, a photographing angle, and a fixed or rotational angle of the support 330 of the real image camera 320 and the thermal imager 318 . A carrier roller (or a bearing member provided in the carrier roller) matching the detected ROI may be determined in consideration of characteristics, the position of the traveling robot 300 on the track device 400 , and the like.

As a result, the abnormality detection unit 306 detects photographing environmental characteristics such as optical characteristics, fixed state, photographing direction, photographing angle, and fixed or rotational angle of the support 330 of the real image camera 320 and the thermal imager 318 . , the position of the traveling robot 300 on the orbital device 400, etc. are checked, and based on this, it is possible to specify the carrier roller (or the bearing member provided in the carrier roller) in which the abnormality has occurred. Accordingly, the abnormality detection unit 306 can accurately determine the position of the carrier roller (or the bearing member provided in the carrier roller) in which the abnormality has occurred.

As described above, since the position of the carrier roller (or a bearing member provided in the carrier roller) can be checked with respect to the optical characteristics of the camera, the photographing environmental characteristics, the position on the track device 400, and the like, the photographing direction of the camera, photographing Real image data 601-1, 601-2, 601-n and thermal image data 605-1, 605-2, 605-n in various forms without restrictions on angle, fixed or rotation angle of the support 330, etc. ) can be configured to obtain

Furthermore, the abnormality detection unit 306 controls the camera's shooting direction, the shooting angle, and the fixed or rotational angle of the support 330 in various ways to effectively determine whether the carrier roller (or the bearing member provided in the carrier roller) is abnormal. It may be configured to detect For example, referring to FIG. 8C , the abnormality detection unit 306 may include real image data 601-1, 601-2, and 601-n and a thermal image in consideration of optical characteristics of the camera and photographing environment characteristics. The position on the track device 400 of the traveling robot 300, and the camera to photograph as many carrier rollers (or bearing members provided in the carrier rollers) as possible in the data 605-1, 605-2, and 605-n The direction, the shooting angle, the fixed or rotational angle of the support 330, etc. are set (801, 802), and using the data captured in the environment 801, 802 set in this way, first, the carrier roller (or carrier It is possible to detect whether there is an abnormality in the bearing member provided on the roller). In addition, the abnormality detection unit 306 may move the position of the traveling robot 300 to the minimum distance position 805 corresponding to the carrier roller (or the bearing member provided in the carrier roller) in which the abnormality occurred in the primary detection process. have. Thereafter, the abnormality detection unit 306 re-detects the real image data and the thermal image data by controlling the photographing direction of the camera, the photographing angle, and the fixed or rotational angle of the support 330 at the minimum distance position 805 , and re-detects By checking whether the carrier roller (or the bearing member provided in the carrier roller) is abnormal using the real image data and thermal image data, it is possible to finally determine whether the carrier roller (or the bearing member provided in the carrier roller) is abnormal. have. Furthermore, the abnormality detection unit 306 includes a first threshold value of temperature information for determining whether the primary carrier roller (or a bearing member provided in the carrier roller) is abnormal, and finally the carrier roller (or a bearing member provided in the carrier roller). member) may be set differently from the second threshold value of the temperature information for determining whether there is an abnormality. For example, the first threshold value may be set relatively lower than the second threshold value. As another example, the first threshold value may be set relatively higher than the second threshold value.

9 is a view showing another embodiment of the operation of the detection unit provided in the abnormal detection system of the conveyor device according to an embodiment of the present invention to detect image data, Figure 10 is a conveyor device according to an embodiment of the present invention It is a diagram illustrating an operation for detecting an abnormality of the carrier roller by the abnormality detection unit provided in the abnormality detection system of the

When an abnormality occurs in the carrier roller (or a bearing member provided in the carrier roller), an abnormal friction noise may be generated in the carrier roller (or a bearing member provided in the carrier roller). Based on this, the traveling robot 300 is moved along the orbital device 400 provided on the upper part of the conveyor device 30, and the sensing unit 304 provided in the traveling robot 300 includes an ultrasonic camera ( 322) and the real image camera 318 to obtain ultrasound data 901-1, 901-2, 901-n and real image data 903-1, 903-2, 903-n, and may be provided to the detection unit 306 .

First, the abnormality detection unit 306 generates sound waves in a frequency band corresponding to the abnormal friction sound in the carrier roller (or a bearing member provided in the carrier roller) using the ultrasonic data 901-1, 901-2, and 901-n. It can be checked whether or not (S1001). At this time, in order to accurately check whether an abnormality has occurred in the carrier roller (or a bearing member provided in the carrier roller), an audio signal of a frequency band that may be generated in an abnormal state of the carrier roller (or a bearing member provided in the carrier roller) can be measured in advance, stored and managed.

When it is confirmed that a sound wave in a frequency band corresponding to the abnormal fricative sound is generated, the abnormality detection unit 306 may include the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1 and 903-2. , 903-n), image registration may be performed by processing parallax correction and angle of view transformation (S1002). For example, the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1, 903-2, and 903-n are the ultrasound camera 322 and the real image camera 320, respectively. The ultrasound data 901 is acquired through -1, 901-2, 901-n) and the real image data 903-1, 903-2, and 903-n may have differences in sensing areas or resolutions. In consideration of this, the abnormality detection unit 306 checks the difference in the above-described characteristics, and includes the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1, 903-2, and 903- n) can be processed for parallax correction and angle of view transformation.

Thereafter, the anomaly detection unit 306 combines the real image data 903-1, 903-2, and 903-n with the ultrasound data 901-1, 901-2, and 901-n, and the real image data 903-n 1, 903-2, 903-n), a region in which a sound wave of an abnormal frequency band is generated may be displayed (S1003).

Furthermore, the ultrasound data 901-1, 901-2, and 901-n may include information on a distance to a region where a sound wave of an abnormal frequency band is generated. Accordingly, the abnormality detection unit 306 determines the photographing environment characteristics such as the fixed state, the photographing direction, the photographing angle, the fixed or rotational angle of the support 330, and the traveling robot of the ultrasonic camera 322 and the real image camera 320 . The position of the carrier roller (or the bearing member provided in the carrier roller) in which the abnormality occurs may be determined in consideration of the position of 300 on the orbiting device 400 .

Also, as another example, when the carrier belt is strained, friction noise may be generated due to friction between the carrier belt and the carrier roller. The detection unit 304 operates the ultrasound camera 322 and the real image camera 318 at predetermined intervals to obtain the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1 and 903. -2, 903-n), and the anomaly detection unit 306 collects the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1, 903-2, and 903-n. It can be used to confirm the occurrence of abnormalities such as loosening of the carrier belt. For example, the abnormality detection unit 306 may use the ultrasound data 901-1, 901-2, and 901-n to determine whether a sound wave in a frequency band corresponding to the abnormal fricative sound of the carrier belt is generated (S1101). At this time, in order to accurately check the occurrence of abnormalities such as kinking in the carrier belt, audio signals of a frequency band that may be generated in an abnormal state such as kinking in the carrier belt may be measured in advance, stored and managed.

When it is confirmed that a sound wave in a frequency band corresponding to the abnormal fricative sound is generated, the abnormality detection unit 306 may include the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1 and 903-2. , 903-n), image registration may be performed by processing parallax correction and angle of view transformation (S1102). For example, the ultrasound data 901-1, 901-2, 901-n and the real image data 903-1, 903-2, and 903-n are transmitted through the ultrasound camera 322 and the real image camera 320, respectively. The ultrasound data 901-1 is obtained due to differences in photographing environmental characteristics such as the photographing range of each camera 322 and 320, the fixed state, the photographing direction, the photographing angle, and the fixed or rotational angle of the support 330. , 901-2, 901-n) and the real image data 903-1, 903-2, and 903-n may be different from each other in detection areas or resolutions. In consideration of this, the abnormality detection unit 306 checks the difference in the above-described characteristics, and includes the ultrasound data 901-1, 901-2, and 901-n and the real image data 903-1, 903-2, and 903- n) can be processed for parallax correction and angle of view transformation.

Thereafter, the anomaly detection unit 306 combines the real image data 903-1, 903-2, and 903-n with the ultrasound data 901-1, 901-2, and 901-n, and the real image data 903-n 1, 903-2, 903-n), a region in which a sound wave of an abnormal frequency band is generated may be displayed (S1103).

Furthermore, the ultrasound data 901-1, 901-2, and 901-n may include information on a distance to a region where a sound wave of an abnormal frequency band is generated. Accordingly, the abnormality detection unit 306 determines the photographing environment characteristics such as the fixed state, the photographing direction, the photographing angle, the fixed or rotational angle of the support 330, and the traveling robot of the ultrasonic camera 322 and the real image camera 320 . The position of the carrier belt in which the abnormality has occurred may be determined in consideration of the position of 300 on the orbital device 400 .

Although, in one embodiment of the present disclosure, an abnormality of the carrier roller (or a bearing member provided in the carrier roller) or an abnormality of the carrier belt has been exemplified, the present disclosure is not limited thereto, and the carrier roller A method of detecting an abnormality (or a bearing member provided in the carrier roller) or an abnormality of the carrier belt may be variously changed. For example, the abnormality detection unit 306 may be configured to detect an abnormality in the carrier roller (or a bearing member provided in the carrier roller) or an abnormality in the carrier belt. Specifically, the abnormality detection unit 306 measures an audio signal in a frequency band that may be generated in an abnormal state of the carrier roller (or a bearing member provided in the carrier roller) in advance, stores and manages it as a first abnormal frequency, An audio signal of a frequency band that may be generated in an abnormal state of the carrier belt may be measured in advance and stored and managed as a second or higher frequency. In addition, the abnormality detection unit 306 may determine whether an audio signal of the first abnormal frequency or the second abnormal frequency band is detected from the ultrasound data 901-1, 901-2, and 901-n. And, when the audio signal of the first abnormal frequency band is detected from the ultrasonic data 901-1, 901-2, and 901-n, the abnormality detection unit 306 is installed on the carrier roller (or a bearing member provided in the carrier roller). When it is identified that an abnormality has occurred and an audio signal of the second or higher frequency band is detected from the ultrasound data 901-1, 901-2, and 901-n, the abnormality detection unit 306 detects an abnormality in the carrier belt. can be identified

12 is a view illustrating an operation of detecting the departure of the carrier belt by the abnormality detection unit provided in the abnormality detection system of the conveyor apparatus according to an embodiment of the present invention.

The detection unit 304 may obtain the real image data 601-1, 601-2, and 601-n by operating the real image camera 320 at predetermined intervals, and may provide it to the abnormality detection unit 306 . . Accordingly, the abnormality detection unit 306 may confirm the departure of the carrier belt through the analysis of the real image data 601-1, 601-2, and 601-n.

Specifically, since the carrier belt is continuously moved along the vertical (or horizontal) direction, it is continuously arranged along the vertical (or horizontal) direction in the real image data 601-1, 601-2, and 601-n. can be made In consideration of this, the abnormality detection unit 306 may detect whether the carrier belt is separated by analyzing the arrangement position. For example, the anomaly detection unit 306 may perform edge detection on the real image data 601-1, 601-2, and 601-n to extract the outline of an object existing in the image. There is (S1201). As described above, since the carrier belt is continuously distributed along the vertical (or horizontal) direction, vertical (or horizontal) lines 1201 and 1202 that are continuous in the vertical (or horizontal) direction among the extracted contour lines and have a value greater than or equal to a predetermined length ) can be detected (S1202).

Furthermore, the track device 400 is installed along a path along which the carrier belt moves, and the real image camera 320 moves along the track device 400 while moving along the track device 400 and the real image data 601-1, 601-2, 601-n. ), when the carrier belt is in a normal position, it can be distributed in a predetermined area within the real image data 601-1, 601-2, and 601-n. However, when the carrier belt deviates from a predetermined path, it may deviate from a predetermined area within the real image data 601-1, 601-2, and 601-n. Based on this, the abnormality detection unit 306 may set the reference lines 1205 and 1206 in a state in which the carrier belt is in a normal position, and between the reference lines 1205 and 1206 and the vertical (or horizontal line) 1201 and 1202 . It is possible to check the distance of (S1203). In this case, the distance between the reference lines 1205 and 1206 and the vertical (or horizontal) lines 1201 and 1202 is detected through the difference in the number of pixels in the area where the reference lines 1205 and 1206 and the vertical (or horizontal) 1201 and 1202 are located. can do.

Thereafter, the abnormality detection unit 306 may confirm the departure of the carrier belt based on the distance between the reference lines 1205 and 1206 and the vertical lines (or horizontal lines) 1201 and 1202 . For example, the abnormality detection unit 306 compares the distance between the reference lines 1205 and 1206 and the vertical lines (or horizontal lines) 1201 and 1202 with a predetermined threshold value to determine whether the predetermined threshold value is exceeded. You can decide whether to leave or not.

Further, in an embodiment of the present disclosure, two reference lines 1205 and 1206 and two vertical lines (or horizontal lines) 1201 and 1202 are used to form reference lines 1205 and 1206 and vertical lines (or horizontal lines) 1201 and 1202 ) has been illustrated, but the present disclosure is not limited thereto, and may be variously changed. For example, the abnormality detection unit 306 may check the distance between the two lines using only the first reference line 1205 and the first vertical line 1201 . As another example, instead of setting the reference line based on the outline of the carrier belt, the reference line may be set based on the center of the carrier belt. In another embodiment, a criterion for setting a reference line or a vertical line (or a horizontal line) necessary for determining whether or not the carrier belt is separated may be set with various modifications.

As described above, the abnormality detection unit 306 selectively uses data collected through the real image camera 320 , the thermal imager 318 , and the ultrasonic camera 322 to determine whether the carrier belt or carrier roller is abnormal. can detect Furthermore, although the operation of the abnormality detection unit 306 detecting whether the carrier belt or the carrier roller is abnormal in an embodiment of the present disclosure has been individually described, the present disclosure is not limited thereto, and may be variously changed. For example, the abnormality detection unit 306 may perform various operations for detecting whether the carrier belt or the carrier roller is abnormal, sequentially, simultaneously performing, or selectively performing according to a predetermined rule or condition.

13A to 13C are diagrams illustrating a schematic arrangement of an abnormality detection system of a conveyor apparatus according to another embodiment of the present invention.

13A schematically shows the structure of the orbiting device when the system 10 is viewed from the side, and FIGS. 13B and 13C are the structures of the orbiting device when the system 10 is viewed from the top to the bottom. schematically shown.

As an object (eg, coal, etc.) is transported through the conveyor device 1300 , a situation may occur that leaves the conveyor device 1300 and falls to the floor 1301 . As such, when an object (eg, coal, etc.) leaves the conveyor device 1300 , a fire occurs due to dust of the object (eg, coal, etc.) As a result, there may be a problem that the concentration of the worker is lowered. Therefore, it is necessary to detect a state in which an object (eg, coal) leaves the conveyor device 1300 and falls to the floor, and the abnormal detection system of the conveyor device according to another embodiment of the present invention is an object (eg, coal, etc.) It can be configured to detect whether the fall of the.

In consideration of the above, the abnormality detection system of the conveyor device according to another embodiment of the present invention detects whether the above-described abnormality occurs while the traveling robot 300 moves along the first track 402, and the second track It may be configured to detect whether an object (eg, coal, etc.) has fallen while moving along 408 .

An operation in which the traveling robot 300 detects whether an abnormality has occurred through the movement of the first track 402 will be described with reference to FIGS. 1 to 12 described above.

On the other hand, when movement along the second track 408 is requested, the traveling robot 300 is moved to the switching branch 410 that converts the movement from the first track 402 to the second track 408 .

Then, the switching branch 410 is rotated under the control of the control server 500, etc., so that the traveling path of the traveling robot 300 is connected to the second track 408, and the traveling robot 300 is connected to the second track ( 408).

Subsequently, the driving robot 300 acquires real image data by operating the real image camera 320 for each predetermined section unit, and analyzes the acquired real image data to detect whether an object (eg, coal, etc.) has fallen. can do. In this case, the detection of whether an object (eg, coal, etc.) has fallen may be performed through an object detection model trained to detect an object (eg, coal, etc.) from real image data.

When the traveling robot 300 detects a fall of an object (eg, coal, etc.), the position on the second track of the traveling robot 300 and the photographing direction, photographing angle, and support body 330 of the real image camera 320 . In consideration of a shooting environment such as a fixed or rotational angle of the , the location where the object (eg, coal, etc.) falls may be calculated.

On the other hand, when the traveling robot 300 completes detecting whether an object (eg, coal, etc.) has fallen on the second track 408 , it can be moved to the switching branch 410 along the second track 408 . In addition, the switching branch 410 is rotated under the control of the control server 500, etc. to connect the traveling path of the traveling robot 300 to the first track 402, and the traveling robot 300 is rotated by the first track ( 401) so that it can be moved.

14A and 14B are diagrams illustrating a schematic operation of an abnormality detection system of a conveyor apparatus according to another embodiment of the present invention.

The abnormality detection system of the conveyor device according to another embodiment of the present invention, like the abnormality detection system of the conveyor device according to another embodiment of the present invention, to be configured to detect whether an object (eg, coal, etc.) has fallen. can

In consideration of the above, the abnormality detection system of the conveyor device according to another embodiment of the present invention detects whether the above-described abnormality occurs while the traveling robot 300 moves in the first direction along the first track 402 . and, while moving in the second direction along the first track 402, it may be configured to detect whether an object (eg, coal, etc.) has fallen. In this case, the second direction may be a direction opposite to the first direction.

An operation in which the traveling robot 300 detects whether an abnormality has occurred through the movement of the first track 402 will be described with reference to FIGS. 1 to 12 described above.

Meanwhile, the traveling robot 300 may include a height-adjustable lift capable of moving the support 330 coupled to the main body 328 in the vertical direction. While the driving robot 300 performs an operation for detecting whether an abnormality has occurred, the support 330 is fixed while maintaining a state close to the main body 328, and an operation of detecting whether an object (eg, coal, etc.) has fallen During the operation, the support 330 may be fixed while maintaining a state spaced apart from the body 328 by a predetermined distance.

When the traveling robot 300 moves in the first direction along the first track 402 from the first point 1401 and reaches the second point 1402, it completes the operation of detecting whether an abnormality has occurred, and the object An operation for detecting whether (eg, coal, etc.) has fallen may be initiated. To this end, the traveling robot 300 converts the support 330 to a state spaced apart from the main body 328 by a predetermined distance, and analyzes the real image data to detect whether an object (eg, coal, etc.) has fallen. can do. In this case, for the operation of detecting whether an object (eg, coal, etc.) has fallen, refer to the description of FIGS. 13A to 13C .

Example methods of the present disclosure are expressed as a series of operations for clarity of description, but this is not intended to limit the order in which the steps are performed, and if necessary, each step may be performed simultaneously or in a different order. In order to implement the method according to the present disclosure, other steps may be included in addition to the illustrated steps, other steps may be excluded from some steps, or additional other steps may be included except some steps.

Various embodiments of the present disclosure do not list all possible combinations, but are intended to describe representative aspects of the present disclosure, and matters described in various embodiments may be applied independently or in combination of two or more.

In addition, various embodiments of the present disclosure may be implemented by hardware, firmware, software, or a combination thereof. For implementation by hardware, one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose It may be implemented by a processor (general processor), a controller, a microcontroller, a microprocessor, and the like.

The scope of the present disclosure includes software or machine-executable instructions (eg, operating system, application, firmware, program, etc.) that cause an operation according to the method of various embodiments to be executed on a device or computer, and such software or and non-transitory computer-readable media in which instructions and the like are stored and executable on a device or computer.

Claims (15)

In the system for detecting abnormality of the conveyor device,
a traveling robot that travels along a track provided at a position corresponding to the conveyor device, and obtains and provides at least one image data photographed by the conveyor device for each predetermined section; and
A control server for confirming the position of the traveling robot on the track, controlling the movement of the traveling robot, and transmitting and receiving data required to detect whether an abnormality occurs in the conveyor device with the traveling robot,
At least one of the driving robot and the control server,
Detecting whether an abnormality has occurred in the conveyor device using the at least one image data, and confirming and providing a location where the abnormality of the conveyor device occurs,
Anomaly detection system for conveyor devices.
According to claim 1,
The at least one image data comprises:
including real image data obtained through a real image camera, thermal image data obtained through a thermal imager camera, and ultrasound data obtained through an ultrasound camera,
Anomaly detection system for conveyor devices.
3. The method of claim 2,
At least one of the driving robot and the control server,
detecting a region of interest from the real image data,
setting a corresponding ROI of the thermal image data as a region corresponding to the ROI of the real image data;
Determining whether an abnormality occurs in the conveyor device based on the temperature information on the corresponding region of interest,
Anomaly detection system for conveyor devices.
3. The method of claim 2,
At least one of the driving robot and the control server,
Based on the ultrasound data, a characteristic region in which a sound wave corresponding to a predetermined frequency band is generated is identified;
determining an abnormality occurrence point of the conveyor device based on an area of the real image data corresponding to the feature area,
Anomaly detection system for conveyor devices.
3. The method of claim 2,
At least one of the driving robot and the control server,
A first feature region in which a sound wave corresponding to a predetermined first frequency band is generated is identified based on the ultrasound data, and a first abnormality occurs based on an area of the real image data corresponding to the first feature region to decide,
Identifying a second feature region in which a sound wave corresponding to a predetermined second frequency band is generated, and determining a second abnormality occurrence situation based on an area of the real image data corresponding to the second feature region,
Anomaly detection system for conveyor devices.
6. The method of claim 5,
The first abnormal occurrence situation is,
A situation in which damage to the carrier roller provided in the conveyor device has occurred,
The second abnormal occurrence situation is,
Characterized in the situation in which the damage of the carrier belt provided in the conveyor device has occurred,
Anomaly detection system for conveyor devices.
3. The method of claim 2,
At least one of the driving robot and the control server,
Detecting at least one transfer line corresponding to a carrier belt provided in the conveyor device from the real image data,
Determining whether to leave the carrier belt in consideration of the at least one transport line,
Anomaly detection system for conveyor devices.
8. The method of claim 7,
At least one of the driving robot and the control server,
In consideration of the moving direction of the traveling robot and the conveying direction of the carrier belt provided in the conveyor device, a reference line corresponding to the conveying direction is set,
Determining whether or not the carrier belt is separated in consideration of the difference between the reference line and the at least one transfer line,
Anomaly detection system for conveyor devices.
According to claim 1,
At least one of the driving robot and the control server,
Determining a position where the abnormality of the conveyor device occurs in consideration of the position on the trajectory of the traveling robot and the shooting environment of at least one camera device that captures the at least one image data,
Anomaly detection system for conveyor devices.
3. The method of claim 2,
At least one of the driving robot and the control server,
Controlling detection of whether an object transported through the conveyor device falls by analyzing the real image data,
Anomaly detection system for conveyor devices.
11. The method of claim 10,
The track includes a first track and a second track, and further includes a switching branch provided so that the traveling robot can change and move between the first and second tracks,
At least one of the driving robot and the control server,
Checking whether an abnormality occurs in the conveyor device in a situation in which the traveling robot travels on the first track,
Controlling to detect whether an object transported through the conveyor device falls in a situation in which the traveling robot travels on the second track,
Anomaly detection system for conveyor devices.
11. The method of claim 10,
At least one of the driving robot and the control server,
In a situation in which the traveling robot travels in the first direction along the track, it is checked whether an abnormality has occurred in the conveyor device,
In a situation in which the traveling robot travels in the second direction along the track, controlling to detect whether an object transported through the conveyor device falls.
Anomaly detection system for conveyor devices.
11. The method of claim 10,
The traveling robot includes a height-adjustable lift movable in a vertical direction based on the track,
In a situation in which the traveling robot travels in the first direction, the height adjustment lift is controlled to be fixed close to the track,
In a situation in which the traveling robot travels in the second direction, the height adjustment lift is controlled to be fixed close to the ground.
Anomaly detection system for conveyor devices.

In the method of detecting abnormality of a conveyor device,
The process of photographing the conveyor device for each predetermined section unit through a traveling robot that travels along a track provided at a position corresponding to the conveyor device;
The process of detecting whether an abnormality has occurred in the conveyor device using the at least one image data;
a process of confirming a position where an abnormality has occurred in the conveyor device based on a position on the track of the traveling robot and a photographing environment in which the at least one image data is captured;
Including the process of providing a location where the abnormality of the conveyor device occurred,
Methods for detecting abnormalities in conveyor devices. 15. The method of claim 14,
The process of detecting whether an abnormality has occurred in the conveyor device is,
A process of detecting whether an abnormality has occurred in the conveyor device by analyzing at least one of real image data obtained through a real image camera, thermal image data obtained through a thermal image camera, and ultrasound data obtained through an ultrasound camera containing,
Methods for detecting abnormalities in conveyor devices.

Images