CN-118047192-B - Intelligent inspection robot and cooperative regulation and control method

Abstract

The invention relates to an intelligent inspection robot and a cooperative regulation and control method, wherein the inspection robot carries out fire judgment on a mineral conveying belt twice through different sensors, so that false alarm rate of fire conditions can be effectively reduced, when a fire disaster occurs, the inspection robot carries out quick fire source inspection, gives out range and position distribution of the fire source, can effectively assist manual fire treatment, adopts a resting working mode in a charging state to realize uninterrupted monitoring of the inspection robot, and the method of the invention cooperatively regulates and controls the opening and closing of a water spraying pipe water spraying port according to a spraying strategy to reduce the influence of spraying water mist on minerals while furthest reducing dust mist generation, adopts different monitoring strategies according to different mineral conveying areas, further realizes the improvement of monitoring efficiency of different mineral conveying areas, directly outputs information such as accident position images and the like, and effectively improves the maintenance efficiency of manual intervention.

Inventors

• LI BIN
• LI DIANKUN

Assignees

• 资信达(北京)信息科技有限公司

Dates

Publication Date

20260512

Application Date

20240131

Claims (4)

1. 1. The cooperative regulation and control method of the intelligent inspection robot is characterized by comprising the following steps of: S1, controlling a computer to run a central management system, and initializing equipment: S2, starting to convey minerals by a mineral conveying belt, moving a hopper to the position above a separating bin opening through a movable sliding rail, loading the minerals into corresponding main bins, and when the main bins are fully loaded, moving the hopper to the position above another separating bin opening for loading, and simultaneously replacing the fully loaded main bins, wherein the mineral conveying is realized in a circulating and alternating mode, and the alternating period is T; s3, the inspection robot automatically detects the working states of all sensor modules, and simultaneously detects the imaging definition of an ultrasonic camera, a high-definition camera and a thermal imaging camera, when the working states of all sensor modules are normal and the imaging definition meets the requirements, the inspection robot starts the inspection work, otherwise, the central management system sends out the fault alarm of the inspection robot, and displays the self-detection result to assist in manually processing the fault until the inspection robot can perform the inspection work, and the fault alarm is relieved; s4, the environment sensor monitors environment data and displays the environment data in the central management system, when the monitored data exceeds a set value, an environment danger alarm is given, and meanwhile, a manual treatment plan is implemented according to the monitored data; s5, monitoring the concentration Q of smoke dust particles in the environment by a dust particle sensor, and giving the opening quantity of a water spraying pipeline according to the concentration Q of the particles, wherein the scheme is as follows: , wherein M1 to Mn are grading parameters of the particle concentration Q, and case1 to casen are measures taken under different grades; When the temperature or the carbon monoxide content or the hydrogen sulfide content monitored by the environment sensor rises, a fire disaster is judged to occur, the water spraying port of the water spraying pipeline is fully opened, a central management system gives a fire disaster alarm, and the inspection robot stops other inspection items and performs fire source inspection preferentially; case2, corresponding to the condition that the concentration of smoke dust particles is 2 grades, wherein the water spraying ports of the water spraying pipeline are opened every K2 intervals; case3, corresponding to the condition that the concentration of smoke dust particles is 3 grades, wherein the water spraying ports of the water spraying pipeline are opened every K3 intervals; ...... casen, corresponding to the condition that the concentration of smoke dust particles is n-level, enabling water spraying ports of a water spraying pipeline to be opened every Kn intervals at the moment; s6, inspection robot inspection work: s61, the inspection robot advances along the inspection track, and the rotation block and the pitching block control the rotation and pitching of the thermal imaging camera, the ultrasonic camera and the high-definition camera to realize the control of the shooting range of the camera; S62, when the inspection robot moves to a mineral conveying belt area, the high-definition camera shoots an operation image of the mineral conveying belt, the control computer performs edge extraction on the operation image, and further obtains a belt edge of the conveying belt and a roller edge of the conveying roller, the belt edge and the roller edge are subjected to position comparison, and further whether the conveying belt is deviated or not is judged, and when deviation occurs, the central management system sends out a conveying belt deviation warning and displays the operation image of the deviation position; The method comprises the steps that an abnormal noise sensor obtains abnormal noise when a mineral conveying belt runs, when the abnormal noise is obtained, an ultrasonic camera obtains an abnormal noise occurrence position according to sound wave positioning, images of the abnormal noise occurrence position are shot, the accident type is determined through image comparison, a central management system sends out accident warning, and meanwhile images of the accident position are displayed; the thermal imaging camera acquires an infrared temperature image of the target object, and when the temperature of the target object exceeds a set temperature, the central management system sends out a high-temperature warning and simultaneously displays the infrared temperature image of the target object; s63, when the inspection robot moves to the mineral loading area, the detection duration of the inspection robot in the mineral loading area exceeds an alternating period T; The high-definition camera shoots whether minerals on the conveying belt enter the funnel main body, when minerals leak, the central management system sends out a mineral leakage warning, and the control computer adjusts the relative positions of the funnel and the collecting bin through the movable sliding rail so as to avoid mineral leakage; the method comprises the steps that an abnormal noise sensor acquires abnormal noise of a mineral loading area, when the abnormal noise is acquired, an ultrasonic camera acquires an abnormal noise occurrence position according to sound wave positioning, images of the abnormal noise occurrence position are shot, the accident type is determined through image comparison, a central management system sends out accident warning, and meanwhile images of the accident position are displayed; The thermal imaging camera acquires an infrared temperature image of a target object in the mineral loading area, and when the temperature of the target object exceeds a set temperature, the central management system sends out a high-temperature warning and displays the infrared temperature image of the target object; S7, the inspection robot is at rest: the inspection robot only keeps the environment sensor, the abnormal noise sensor and the dust particle sensor to monitor in the resting working state, and the central management system displays the monitoring data; executing S4 when the environment sensor monitors abnormal data; When the dust particle sensor monitors that the concentration of the smoke dust particles is 1 level, the case1 of the S5 is executed, and when the fire disaster is judged to occur, the mineral conveying belt stops running, and the inspection robot starts the inspection working state and preferentially performs fire source inspection; Executing S6 when the abnormal noise sensor monitors abnormal data; continuously resting in a working state until the inspection robot is charged; S8, judging whether the time from the last inspection work is longer than a set time interval, if so, continuing the next step, and if not, executing S7; S9, if the mineral conveying is finished, jumping to execute S3, and if the mineral conveying is finished, stopping the equipment and ending the mineral conveying; In the step S5, K1 to Kn are gradually increased, two water spraying pipe water spraying ports close to the feeding ends of the hopper and the conveyor belt are kept normally open, and the total number of the water spraying pipe water spraying ports is recorded as m, so that Kn meets the requirement This is true.
2. 2. The cooperative regulation and control method of an intelligent inspection robot according to claim 1, wherein the inspection robot and the control computer communicate by means of a cable type radiation antenna.
3. 3. The collaborative regulation method of an intelligent inspection robot of claim 1, wherein the central management system operates at a control computer end, but the display interface is synchronized to a portable device end to assist in manually handling faults.
4. 4. The collaborative regulation and control method of an intelligent inspection robot according to claim 1, characterized in that the fire inspection method of the inspection robot is as follows: The moving block, the rotating block and the pitching block control the shooting range of the thermal imaging camera to obtain all infrared temperature images of the detected area, and control a computer to analyze the infrared temperature images to obtain the range and the position distribution of an abnormal high temperature area; And the inspection robot moves to the optimal shooting position of the high-temperature area on the track, shoots the image of the high-temperature area through a high-definition camera, analyzes whether the shot image has the fire source characteristics of open fire or smoke, marks the shot image as the fire source, displays the range and the position distribution of the fire source in a central management system, simultaneously performs the next high-temperature area inspection, directly performs the next high-temperature area inspection if the shot image does not exist, and repeats the steps until the inspection is finished.

Description

Intelligent inspection robot and cooperative regulation and control method Technical Field The invention relates to the technical field of mineral conveyor belt inspection, in particular to an intelligent inspection robot and a cooperative regulation and control method. Background The inspection robot has important significance for improving the industrial automation level and ensuring the production safety. With the continuous development of robot technology, the inspection robot is widely applied in a plurality of fields, and a great number of practices show that the inspection robot plays an indispensable role in ensuring the normal operation of industrial production and infrastructure, and the application value of the inspection robot is increasingly outstanding. Firstly, the inspection robot can reduce the direct contact of personnel with dangerous substances in dangerous or difficult-to-reach environments, so that the safety is improved. Secondly, the inspection robot can work continuously for 24 hours, is not influenced by factors such as weather, fatigue and the like, and improves efficiency. In addition, through the equipment such as high definition digtal camera, sensor of carrying, inspection robot can carry out careful inspection to equipment, discovers tiny problem to through the maintenance demand of data analysis prediction equipment, have the accuracy. Finally, the inspection robot not only can collect the image data of the equipment, but also can collect various parameters such as temperature, humidity, pressure and the like through the sensor, and provides detailed data support for equipment maintenance and fault diagnosis. Mineral delivery devices play a critical role in mineral processing and transportation. However, mineral conveying devices often involve large-scale transportation in extreme environments, such as coal shipping lines at ports, and thus mineral conveying devices often require continuous, efficient monitoring and inspection. The existing mineral conveying belt inspection robot often has the following problems: 1. The proper spraying of the water mist on the minerals on the conveying belt is beneficial to reducing the generation of dust mist and reducing the pollution to the environment in the conveying process, however, the excessive spraying of the water mist can affect the quality of the minerals and increase the transportation difficulty, and the conventional inspection robot cannot select a proper water mist spraying strategy according to the concentration of dust particles; 2. the existing inspection robot has low recognition accuracy on high-concentration dust particle pollution and fire conditions, has less useful data recorded on the fire conditions, and cannot quickly and comprehensively find a fire source area; 3. the existing inspection robot cannot continuously monitor in a charging state, data acquired by each sensor in an inspection working state are ambiguous, data required by manual intervention maintenance cannot be accurately given, and the monitoring strategy of the existing inspection robot cannot be used for carrying out cooperative regulation and control according to different mineral conveying areas. Therefore, in order to solve the problems, an intelligent inspection robot and a cooperative control method are urgently needed. Disclosure of Invention Aiming at the problems, the intelligent inspection robot and the cooperative regulation and control method are provided, the inspection robot carries out fire judgment on a mineral conveying belt twice through different sensors, so that false alarm rate of fire conditions can be effectively reduced, when a fire happens, the inspection robot carries out quick fire inspection, gives out range and position distribution of the fire, can effectively assist manual fire treatment, adopts a resting working mode in a charged state to realize uninterrupted monitoring of the inspection robot, and the regulation and control method cooperatively regulates and controls the opening and closing of a water spraying pipeline water spraying port according to a spraying strategy to reduce the influence of spraying mist on minerals while furthest reducing dust mist generation, and simultaneously adopts different monitoring strategies according to different mineral conveying areas to further realize improvement of monitoring efficiency of different mineral conveying areas, and effectively improves maintenance efficiency of manual intervention by directly outputting information such as accident position images. The technical scheme adopted by the invention is as follows: The intelligent inspection robot comprises an inspection track, a water spraying pipeline, a mineral conveying belt, a charging station, an inspection robot, a funnel, a collection bin, a control computer and a movable slide rail, wherein the charging station is arranged above the inspection track, the inspection robot is arranged below the charging station,