A method, device, system and storage medium for determining a broken link position

Abstract

The present application discloses a method, device, system and storage medium for determining the position of a broken chain, which are used to reduce the workload of staff and improve monitoring efficiency. The method includes: obtaining the operating status of the scraper conveyor during the operation of the scraper conveyor; when the operating status of the scraper conveyor indicates that the scraper conveyor has broken chain, determining the chain breaking range of the scraper conveyor; controlling the inspection robot to perform inspection operations within the chain breaking range of the scraper conveyor to determine the specific chain breaking position of the scraper conveyor. The solution provided by the present application is adopted: by monitoring the operating status of the scraper conveyor, the specific chain breaking position of the scraper conveyor is automatically determined, which reduces the workload of staff and improves monitoring efficiency.

Description

Technical Field

[0001] The present application relates to the field of monitoring technology, and in particular to a method, device, system and storage medium for determining a broken link position. Background Art

[0002] A scraper conveyor is a continuous-action device used to transport bulk materials. The movement of scrapers attached to an endless chain propels the material forward within the chute. During operation, the chain is subjected to cyclical stresses, which can easily lead to wear and even breakage, necessitating timely maintenance. Currently, chain break monitoring primarily relies on scraper inclination and real-time images of the chain during operation. Ultimately, manual inspection and verification of the chain break location are required, which is labor-intensive and inefficient.

[0003] Therefore, how to provide a method for determining the broken chain position of a scraper conveyor to reduce the workload of staff and improve monitoring efficiency. Summary of the Invention

[0004] The present application provides a method, device, system and storage medium for determining a broken link location, which are used to reduce the workload of staff and improve monitoring efficiency.

[0005] The present application provides a method for determining a broken link position, comprising:

[0006] During the operation of the scraper conveyor, obtain the operation status of the scraper conveyor;

[0007] When the operation condition of the scraper conveyor indicates that the scraper conveyor has a chain break, determining a chain break range of the scraper conveyor;

[0008] The inspection robot is controlled to perform inspection operations within the broken chain range of the scraper conveyor to determine the specific broken chain position of the scraper conveyor.

[0009] The beneficial effect of the present application is that by monitoring the operation of the scraper conveyor and the chain breaking range of the scraper conveyor, the inspection robot is controlled to perform inspection operations within the chain breaking range to determine the specific chain breaking position of the scraper conveyor. There is no need for the staff to determine the chain breaking position by checking the entire chain, thereby reducing the workload of the staff and improving the monitoring efficiency.

[0010] In one embodiment, the operation status of the scraper conveyor includes simulation results of the operation process of the scraper conveyor, and obtaining the operation status of the scraper conveyor includes:

[0011] Scan the transport chain of the scraper conveyor with a laser scanner;

[0012] According to the scanning results of the scraper conveyor's transport chain by the laser scanner, the three-dimensional spatial data model corresponding to the scraper conveyor is adaptively adjusted to obtain the simulation results of the scraper conveyor's operation process.

[0013] In one embodiment, determining the chain breaking range of the scraper conveyor includes:

[0014] Determining a first chain breaking range of the scraper conveyor according to a three-dimensional spatial data model corresponding to the scraper conveyor;

[0015] Determining a second chain breaking range within the first chain breaking range according to the distance change data of the transport chain, wherein the first chain breaking range is greater than or equal to the second chain breaking range;

[0016] The second chain-breaking range is determined to be the chain-breaking range of the scraper conveyor.

[0017] In one embodiment, determining the second chain break range within the first chain break range based on the distance change data of the transport chain includes:

[0018] The distance change data of the transport chain is determined by the laser sensor array fixed on the side of the scraper conveyor;

[0019] A second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain.

[0020] In one embodiment, determining the second chain break range within the first chain break range based on the distance change data of the transport chain includes:

[0021] An area within the first chain-breaking range where the transmission chain distance changes is determined as a second chain-breaking range.

[0022] In one embodiment, controlling the inspection robot to perform inspection operations within the chain breaking range of the scraper conveyor includes:

[0023] Pushing out the metal detector on the inspection robot through the hydraulic push rod on the inspection robot and starting the metal detector;

[0024] Controlling the inspection robot to move within the second chain-breaking range;

[0025] When the metal detector detects a specific chain break position within the second chain break range, the chain break position is recorded.

[0026] In one embodiment, the operating conditions of the scraper conveyor include at least one of the following:

[0027] The monitoring results of the scraper conveyor transport chain by the laser sensor, the scanning results of the scraper conveyor transport chain by the laser scanner, the simulation results of the scraper conveyor operation process, the running speed of the scraper conveyor chain, the pre-tightening force of the scraper conveyor chain, whether there is a chain passing through the preset position, and the torque value of the scraper conveyor motor.

[0028] The present application also provides a device for determining a broken chain position, comprising:

[0029] An acquisition module is used to obtain the operation status of the scraper conveyor during its operation;

[0030] A first determining module is configured to determine a chain break range of the scraper conveyor when the operating condition of the scraper conveyor indicates that the scraper conveyor has a chain break;

[0031] The second determining module is used to control the inspection robot to perform inspection operations within the broken chain range of the scraper conveyor to determine the specific broken chain position of the scraper conveyor.

[0032] In one embodiment, the operation status of the scraper conveyor includes simulation results of the operation process of the scraper conveyor, and the acquisition module includes:

[0033] A scanning submodule is used to scan the transport chain of the scraper conveyor through a laser scanner;

[0034] The adjustment submodule is used to adaptively adjust the three-dimensional spatial data model corresponding to the scraper conveyor according to the scanning results of the scraper conveyor's transport chain by the laser scanner, so as to obtain the simulation results of the scraper conveyor's operation process.

[0035] In one embodiment, the first determining module includes:

[0036] A first determining submodule is configured to determine a first chain breaking range of the scraper conveyor according to a three-dimensional spatial data model corresponding to the scraper conveyor;

[0037] a second determining submodule, configured to determine a second chain breaking range within the first chain breaking range according to the distance change data of the transport chain, wherein the first chain breaking range is greater than or equal to the second chain breaking range;

[0038] The third determining submodule is configured to determine that the second chain breaking range is the chain breaking range of the scraper conveyor.

[0039] In one embodiment, the second determining submodule is further configured to:

[0040] The distance change data of the transport chain is determined by the laser sensor array fixed on the side of the scraper conveyor;

[0041] A second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain.

[0042] In one embodiment, determining the second chain break range within the first chain break range based on the distance change data of the transport chain includes:

[0043] An area within the first chain-breaking range where the transmission chain distance changes is determined as a second chain-breaking range.

[0044] In one embodiment, the second determining module includes:

[0045] A starter module is used to push out the metal detector on the inspection robot through the hydraulic push rod on the inspection robot and start the metal detector;

[0046] A control submodule, configured to control the inspection robot to move within the second chain-breaking range;

[0047] The recording submodule is used to record the chain break position when the metal detector detects a specific chain break position within the second chain break range.

[0048] In one embodiment, the operating conditions of the scraper conveyor include at least one of the following:

[0049] The monitoring results of the scraper conveyor transport chain by the laser sensor, the scanning results of the scraper conveyor transport chain by the laser scanner, the simulation results of the scraper conveyor operation process, the running speed of the scraper conveyor chain, the pre-tightening force of the scraper conveyor chain, whether there is a chain passing through the preset position, and the torque value of the scraper conveyor motor.

[0050] The present application also provides a chain break location determination system, comprising:

[0051] at least one processor; and,

[0052] a memory communicatively connected to the at least one processor; wherein,

[0053] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the link break position determination method described in any one of the above embodiments.

[0054] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the chain break position determination system, the chain break position determination system can implement the chain break position determination method described in any of the above embodiments.

[0055] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purposes and other advantages of the present application can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0056] The technical solution of the present application is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0058] Figure 1 This is a flow chart of a method for determining a broken link position in one embodiment of the present application;

[0059] Figure 2 This is a top view of a scraper conveyor and its monitoring equipment in one embodiment of the present application;

[0060] Figure 3 This is a side view of a scraper conveyor and its monitoring equipment in one embodiment of the present application;

[0061] Figure 4 This is a structural diagram of an inspection robot in one embodiment of the present application;

[0062] Figure 5 This is a structural diagram of a chain break position determination device in one embodiment of the present application;

[0063] Figure 6 This is a hardware structure diagram of a broken link position determination system in one embodiment of the present application;

[0064] Reference numerals:

[0065] 11- Scraper conveyor body; 12- Scraper conveyor motor box; 13- Laser scanner; 14- Laser sensor array; 15- Scraper conveyor side panel; 16- Inspection robot track; 17- Inspection robot; 171- Running parts; 172- Support parts; 173- Hydraulic push rod; 174- Metal detector. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0067] Figure 1 This is a flow chart of a method for determining a broken link position in one embodiment of the present application. Figure 1As shown, the method can be implemented as the following steps S101-S103:

[0068] In step S101, during the operation of the scraper conveyor, the operation status of the scraper conveyor is obtained;

[0069] In step S102, when the operation condition of the scraper conveyor indicates that the scraper conveyor has a chain break, the chain break range of the scraper conveyor is determined;

[0070] In step S103, the inspection robot is controlled to perform an inspection operation within the broken chain range of the scraper conveyor to determine the specific broken chain position of the scraper conveyor.

[0071] In the present application, during the operation of the scraper conveyor, the operation status of the scraper conveyor is obtained; wherein the operation status of the scraper conveyor includes at least one of the following: the monitoring result of the scraper conveyor chain by the laser sensor, the scanning result of the scraper conveyor chain by the laser scanner, the simulation result of the operation process of the scraper conveyor, the operation speed of the scraper conveyor chain, the preload force of the scraper conveyor chain, whether a chain passes through a preset position, and the torque value of the scraper conveyor motor. In one embodiment of the present application, the operation status of the scraper conveyor indicates that the scraper conveyor chain is broken when at least two of the following situations occur: the monitoring result of the scraper conveyor chain by the laser sensor indicates that the scraper conveyor chain is broken; the scanning result of the scraper conveyor chain by the laser scanner indicates that the scraper conveyor chain is broken; the operation speed of the scraper conveyor chain is reduced to a preset speed; the preload force of the scraper conveyor chain is less than a preset value; no chain passes through a preset position; the torque value of the scraper conveyor motor is less than a preset torque value. When the operating condition of the scraper conveyor is a simulation result of the operating process of the scraper conveyor, the operating condition of the scraper conveyor is obtained by scanning the transport chain of the scraper conveyor through a laser scanner; and adaptively adjusting the three-dimensional spatial data model corresponding to the scraper conveyor according to the scanning result of the transport chain of the scraper conveyor by the laser scanner to obtain the simulation result of the operating process of the scraper conveyor.

[0072] When the operating condition of the scraper conveyor indicates that the scraper conveyor has a chain break, the chain break range of the scraper conveyor is determined. Specifically, first, a first chain break range of the scraper conveyor is determined based on a three-dimensional spatial data model corresponding to the scraper conveyor. For example, preset information of the scraper conveyor is obtained by detecting a real-time three-dimensional spatial model, wherein the preset information includes but is not limited to chain missing information, material accumulation information, and scraper tilt information; when the preset information meets specific conditions, it is determined that the chain has broken, and the first chain break range of the chain break is determined based on the preset information. For example, based on the top view and side view generated by the three-dimensional space model, through image recognition technology, when it is detected that the scraper conveyor chain cannot be detected, it is determined that the chain is missing, which means that the chain is broken at the position where the chain is missing, and the preset range before and after the chain missing position is used as the first chain breaking range. In this embodiment, the preset range is 20 meters; for example, when it is detected that material is piled up on the scraper conveyor, it means that the chain is broken in front of the material pile, and the preset range before the material pile position is used as the first chain breaking range; for example, when it is detected that the scraper conveyor is tilted and the tilt angle exceeds the preset range, it means that the chain is broken at the tilted scraper, and the preset range before and after the tilted position of the scraper is used as the first chain breaking range. Of course, it is also possible to determine whether a chain break occurs through a deep learning model, input the scraper conveyor data collected on site into the corresponding deep learning model, determine whether the scraper conveyor has a chain break, and output the chain breaking position area. Then, based on the distance change data of the transport chain, a second chain breaking range is determined within the first chain breaking range, wherein the first chain breaking range is greater than or equal to the second chain breaking range. For example, a laser sensor array fixed to the side of the scraper conveyor determines distance change data of the transport chain; a second chain breaking range is determined within the first chain breaking range based on the distance change data of the transport chain, and the second chain breaking range is determined as the chain breaking range of the scraper conveyor.

[0073] The inspection robot is controlled to perform an inspection operation within the chain-breaking range of the scraper conveyor to determine the specific chain-breaking location of the scraper conveyor. A metal detector on the inspection robot is pushed out and activated by a hydraulic push rod on the inspection robot. The inspection robot is controlled to move within the second chain-breaking range. When the metal detector detects the specific chain-breaking location within the second chain-breaking range, the chain-breaking location is recorded.

[0074] The method described in this application can be applied to Figure 2 and Figure 3 The scraper conveyor and its monitoring equipment are shown in top and side views. The monitoring equipment consists of three components:

[0075] Chain break area query component: Used to detect chain breaks in a large area of ​​the scraper conveyor, it includes a scraper conveyor laser sensor array 14 and a laser scanner 15. The laser sensor array 14 is fixed to the scraper conveyor side panels 15 along the scraper conveyor's direction of travel, with each laser sensor spaced 10 meters apart to monitor the chain's operating status. The laser scanner is fixed to the rear of the scraper conveyor body 11 to acquire a 3D data model of the scraper conveyor.

[0076] Chain break point precise positioning component: used to determine the precise chain break point in a large area of ​​the scraper conveyor chain break, including the inspection robot track 16 and the inspection robot 17. Among them, the inspection robot running track 16 is fixed to the side of the scraper conveyor motorless box and is set parallel to the running direction of the scraper conveyor; the inspection robot 17 runs on the inspection robot track 16. In one embodiment of the present application, if Figure 4 As shown, the inspection robot 17 includes a running component 171 , a supporting component 172 , a hydraulic push rod 173 and a metal detector 174 .

[0077] The data information processing component is used to process the signals and data received by the broken link area query component and the broken link point precise positioning component, and to perform information interaction, including a signal transmission system and a data processing system.

[0078] When using the monitoring device for the first time, the corresponding components need to be initialized. Specifically, on the one hand, the laser sensor array 14 and laser scanner 15 are powered on and kept stationary for 5 minutes. Based on the data obtained by the laser scanner, an initial three-dimensional spatial data model corresponding to the scraper conveyor is drawn. The laser sensor position is then calibrated based on the positional relationship between each laser sensor and the scraper conveyor according to the three-dimensional spatial data model to prevent inaccurate relative position judgments due to errors and mistakes during the manual installation process. For example, according to the preset installation requirements, the spacing between each laser sensor is 10 meters. Due to human factors, the installation position is installed at a spacing of 9 meters. Therefore, based on the scanning results of the laser scanner, the precise positioning of each laser sensor can be obtained. On the other hand, the inspection robot is started to test the operating function, the hydraulic push rod extension kinetic energy, and the detection function of the metal detector to ensure that they are normal.

[0079] During the operation of the scraper conveyor, the monitoring device is used to detect whether the scraper conveyor chain is broken. The specific detection process is as follows: During the operation of the scraper conveyor, the transport chain of the scraper conveyor is scanned by a laser scanner according to a preset time interval, and the initial three-dimensional spatial data model is adjusted according to the scanning results to obtain real-time simulation results. When a chain break occurs, the first chain break range of the scraper conveyor is determined according to the three-dimensional spatial data model corresponding to the scraper conveyor; within the first chain break range, the small area of ​​the scraper conveyor chain break, i.e., the second chain break range, is determined based on the chain distance change data monitored by the laser sensor within the first chain break range. Then, the inspection robot is moved to the end point of the second chain break range to determine the specific chain break position within the second chain break range. Specifically, the inspection robot starts the operation by pushing out the hydraulic push rod and starting the metal detector. The inspection robot slowly moves along the track until the metal detector finds the broken chain point, records the position movement information of the inspection robot at this time, transmits the laser sensor position and the inspection robot position movement information back to the data processing system, obtains the actual broken chain point position information, and ends the broken chain point positioning process.

[0080] The beneficial effect of the present application is that by monitoring the operation of the scraper conveyor and the chain breaking range of the scraper conveyor, the inspection robot is controlled to perform inspection operations within the chain breaking range to determine the specific chain breaking position of the scraper conveyor. There is no need for the staff to determine the chain breaking position by checking the entire chain, thereby reducing the workload of the staff and improving the monitoring efficiency.

[0081] In one embodiment, the operation status of the scraper conveyor includes simulation results of the operation process of the scraper conveyor. The above step S101 can be implemented as the following steps A1-A2:

[0082] In step A1, the transport chain of the scraper conveyor is scanned by a laser scanner;

[0083] In step A2, the three-dimensional spatial data model corresponding to the scraper conveyor is adaptively adjusted according to the scanning result of the transport chain of the scraper conveyor by the laser scanner to obtain the simulation result of the operation process of the scraper conveyor.

[0084] The scraper conveyor's transport chain is scanned using a laser scanner. Three-dimensional laser scanning technology utilizes the principle of laser ranging. By recording the three-dimensional coordinates, reflectivity, and texture information of a large number of densely packed points on the surface of the object being measured, it can quickly reconstruct a three-dimensional model of the measured object and various graphical data such as lines, surfaces, and volumes. In this embodiment, when the monitoring device is first used, an initial three-dimensional spatial data model of the scraper conveyor is drawn based on the scan data of the scraper conveyor acquired by the laser scanner. The position of each laser sensor is then calibrated based on the positional relationship between the laser sensors and the scraper conveyor, preventing inaccurate relative position determination due to errors and mistakes during installation. For example, according to the preset installation requirements, the spacing between each laser sensor is 10 meters. Due to human factors, the installation position is sometimes separated by 9 meters. Therefore, the laser scanner's scanning results can accurately determine the location of each laser sensor. During the operation of the scraper conveyor, the laser scanner scans the scraper conveyor's transport chain, specifically at preset time intervals, to obtain real-time scan results of the scraper conveyor at each point in time.

[0085] Based on the laser scanner's scan results of the scraper conveyor's transport chain, the scraper conveyor's corresponding 3D spatial data model is adaptively adjusted to obtain a simulation result of the scraper conveyor's operation process. Based on the real-time scanning results, the scraper conveyor's corresponding 3D spatial data model is adjusted to obtain the 3D spatial data model corresponding to the current moment, forming a simulation result of the scraper conveyor's operation process.

[0086] In one embodiment, the above step S102 may be implemented as the following steps B1-B3:

[0087] In step B1, a first chain breaking range of the scraper conveyor is determined according to a three-dimensional spatial data model corresponding to the scraper conveyor;

[0088] In step B2, a second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain, wherein the first chain breaking range is greater than or equal to the second chain breaking range;

[0089] In step B3, the second chain-breaking range is determined to be the chain-breaking range of the scraper conveyor.

[0090] In this embodiment, a first chain break range of the scraper conveyor is determined based on a corresponding three-dimensional spatial data model of the scraper conveyor. Specifically, preset information of the scraper conveyor is obtained by detecting the real-time three-dimensional spatial model, where the preset information includes but is not limited to chain missing information, material accumulation information, and scraper tilt information. When the preset information meets specific conditions, a chain break is determined, and the first chain break range of the chain break is determined based on the preset information. For example, based on the top view and side view generated by the three-dimensional spatial model, through image recognition technology, when it is detected that the scraper conveyor chain cannot be detected, it is determined that the chain is missing, which means that the chain is broken at the position where the chain is missing, and the preset range before and after the chain missing position is used as the first chain break range. In this embodiment, the preset range is 20 meters; for example, when it is detected that material is piled up on the scraper conveyor, it means that the chain is broken in front of the material pile, and the preset range before the material pile position is used as the first chain break range; for example, when it is detected that the scraper conveyor is tilted, and the tilt angle exceeds the preset range, it means that the chain is broken at the tilted scraper, and the preset range before and after the tilted scraper position is used as the first chain break range. Of course, it is also possible to determine whether a chain break occurs through a deep learning model. The corresponding deep learning model can be directly determined through the point cloud data collected by the laser scanner. In this embodiment, the above-mentioned three-dimensional spatial data model is converted into the corresponding three-dimensional spatial data to determine the corresponding deep learning model. First, a large number of real-world 3D spatial data models of scraper conveyors under normal operation and chain breaks are collected from the field. These data are converted into corresponding spatial vector data, and multidimensional vector data calibration is performed to obtain training samples. Using the calibrated multidimensional vector data as sample data, an artificial intelligence algorithm is used to train the model and generate a corresponding deep learning model. The 3D spatial data models of scraper conveyors collected from the field are then converted into corresponding spatial vector data and input into the corresponding deep learning model to determine whether a chain break has occurred and output the location of the chain break.

[0091] A second chain break range is determined within the first chain break range based on the distance change data of the transport chain, wherein the first chain break range is greater than or equal to the second chain break range. Since the first chain break range obtained by the three-dimensional spatial data model constructed using a laser scanner is actually a larger range, it is necessary to further determine the precise location of the chain break within this range. For example, the distance change data of the transport chain is determined using a laser sensor array fixed to the side of a scraper conveyor. To monitor the chain information, chains at equally spaced positions are marked. The specially marked chains are then monitored using a laser sensor to determine the chain distance change data. Specifically, the number of adjacent marked chains passing the same laser sensor is recorded. Since the distance between adjacent marked positions is fixed, the distance of the transport chain passing the same laser sensor can be determined. The second chain break range is determined within the first chain break range based on the distance change data of the transport chain. First, based on the running speed of the transport chain, the theoretical distance of the chain distance change is calculated; secondly, based on the first chain break range determined by the laser scanner, the laser sensor set in the first chain break range is determined, and the distance change data of the transport chain monitored by the corresponding laser sensor is analyzed; then, the last laser sensor in the transport direction of the scraper conveyor that monitors normal distance changes is determined to be the first laser sensor; finally, the range between the two sensors before and after the first laser sensor is determined to be the second chain break range.

[0092] The second chain-breaking range is determined to be the chain-breaking range of the scraper conveyor.

[0093] In one embodiment, the above step B2 may be implemented as the following steps B21-B22:

[0094] In step B21, the distance change data of the transport chain is determined by a laser sensor array fixed on the side of the scraper conveyor;

[0095] In step B22, a second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain.

[0096] In this embodiment, the distance change data of the transport chain is determined by an array of laser sensors fixed on the side of the scraper conveyor. In order to monitor the information of the chain, it is necessary to mark the specific position of the chain. Since the chain is composed of a plurality of flat chains connected, one or more of the flat chains can be marked to form a chain composed of a specially marked flat chain and an ordinary flat chain. There are many ways to mark, which can be done by changing the color of the flat chain, by changing the structure of the flat chain, or by adding a marking piece. This application does not limit the marking method. The specially marked flat chain is then monitored by a laser sensor to determine the distance change data of the chain. Specifically, for example, the number of adjacent marked chains passing through the same laser sensor is recorded. Since the distance between adjacent marked positions is fixed, the distance of the transport chain passing through the same laser sensor can be obtained.

[0097] The second chain break range is determined within the first chain break range based on the distance change data of the transport chain. Since the front chain at the chain break position is still in operation, the area within the first chain break range where the transmission chain distance changes can be determined as the second chain break range. In addition, the second chain break range can also be determined based on the chain distance change data monitored by each laser sensor. First, based on the running speed of the transport chain, the theoretical distance of the chain distance change is calculated; secondly, based on the first chain break range determined by the laser scanner, the laser sensors set within the first chain break range are determined, and the distance change data of the transport chain monitored by the corresponding laser sensors are analyzed; then, the last laser sensor in the transport direction of the scraper conveyor that detects normal distance changes is determined to be the first laser sensor; finally, the range between the two sensors before and after the first laser sensor is determined to be the second chain break range.

[0098] In one embodiment, the above step B22 may be implemented as follows:

[0099] An area within the first chain-breaking range where the transmission chain distance changes is determined as a second chain-breaking range.

[0100] In this embodiment, since the front chain at the chain break location is still in normal operation, the area within the first chain break range where the transmission chain distance changes can be determined as the second chain break range. The location near the end laser sensor where the chain distance changes is the chain break location.

[0101] In one embodiment, the above step S103 may be implemented as the following steps C1-C3:

[0102] In step C1, the metal detector on the inspection robot is pushed out by a hydraulic push rod on the inspection robot, and the metal detector is started;

[0103] In step C2, the inspection robot is controlled to move within the second chain-breaking range;

[0104] In step C3, when the metal detector detects a specific chain break position within the second chain break range, the chain break position is recorded.

[0105] In this embodiment, the specific chain break position is determined within the second chain break range by the inspection robot. The inspection robot can move parallel to the running direction of the scraper conveyor. When the second chain break range is determined, the inspection robot moves to the interval end point of the second chain break range and starts to determine the specific chain break position within the second chain break range. Specifically, when the inspection robot moves to the interval end point of the second chain break range, the metal detector on the inspection robot is pushed out by the hydraulic push rod on the inspection robot, and the metal detector is started. The inspection robot is controlled to move within the second chain break range, that is, the inspection robot is controlled to run in a direction parallel to the scraper conveyor, and the chain is monitored by the metal detector. When the metal detector detects the specific chain break position within the second chain break range, the chain break position is recorded.

[0106] In one embodiment, the operating conditions of the scraper conveyor include at least one of the following:

[0107] The monitoring results of the scraper conveyor transport chain by the laser sensor, the scanning results of the scraper conveyor transport chain by the laser scanner, the simulation results of the scraper conveyor operation process, the running speed of the scraper conveyor chain, the pre-tightening force of the scraper conveyor chain, whether there is a chain passing through the preset position, and the torque value of the scraper conveyor motor.

[0108] In this embodiment, the operating condition of the scraper conveyor indicates that the scraper conveyor chain has broken when at least two of the following conditions occur: the monitoring result of the scraper conveyor transport chain by the laser sensor indicates that the scraper conveyor chain has broken; the scanning result of the scraper conveyor transport chain by the laser scanner indicates that the scraper conveyor chain has broken; the operating speed of the scraper conveyor chain is reduced to a preset speed; the preload force of the scraper conveyor chain is less than a preset value; no chain passes through a preset position; or the torque value of the scraper conveyor motor is less than a preset torque value. When the operating condition of the scraper conveyor is a simulation result of the scraper conveyor operation process, the operating condition of the scraper conveyor is obtained by scanning the scraper conveyor transport chain with a laser scanner; and adaptively adjusting the three-dimensional spatial data model corresponding to the scraper conveyor according to the scanning result of the scraper conveyor transport chain by the laser scanner to obtain a simulation result of the scraper conveyor operation process.

[0109] Figure 5 FIG. 1 is a structural diagram of a device for determining a broken chain position in an embodiment of the present application. Figure 5 As shown, the device includes:

[0110] The acquisition module 501 is used to obtain the operation status of the scraper conveyor during the operation of the scraper conveyor;

[0111] A first determining module 502 is configured to determine a chain break range of the scraper conveyor when the operating condition of the scraper conveyor indicates that the scraper conveyor has a chain break;

[0112] The second determining module 503 is used to control the inspection robot to perform inspection operations within the broken chain range of the scraper conveyor to determine the specific broken chain position of the scraper conveyor.

[0113] In one embodiment, the operation status of the scraper conveyor includes simulation results of the operation process of the scraper conveyor, and the acquisition module includes:

[0114] A scanning submodule is used to scan the transport chain of the scraper conveyor through a laser scanner;

[0115] The adjustment submodule is used to adaptively adjust the three-dimensional spatial data model corresponding to the scraper conveyor according to the scanning results of the scraper conveyor's transport chain by the laser scanner, so as to obtain the simulation results of the scraper conveyor's operation process.

[0116] In one embodiment, the first determining module includes:

[0117] A first determining submodule is configured to determine a first chain breaking range of the scraper conveyor according to a three-dimensional spatial data model corresponding to the scraper conveyor;

[0118] a second determining submodule, configured to determine a second chain breaking range within the first chain breaking range according to the distance change data of the transport chain, wherein the first chain breaking range is greater than or equal to the second chain breaking range;

[0119] The third determining submodule is configured to determine that the second chain breaking range is the chain breaking range of the scraper conveyor.

[0120] In one embodiment, the second determining submodule is further configured to:

[0121] The distance change data of the transport chain is determined by the laser sensor array fixed on the side of the scraper conveyor;

[0122] A second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain.

[0123] In one embodiment, determining the second chain break range within the first chain break range based on the distance change data of the transport chain includes:

[0124] An area within the first chain-breaking range where the transmission chain distance changes is determined as a second chain-breaking range.

[0125] In one embodiment, the second determining module includes:

[0126] A starter module is used to push out the metal detector on the inspection robot through the hydraulic push rod on the inspection robot and start the metal detector;

[0127] A control submodule, configured to control the inspection robot to move within the second chain-breaking range;

[0128] The recording submodule is used to record the chain break position when the metal detector detects a specific chain break position within the second chain break range.

[0129] In one embodiment, the operating conditions of the scraper conveyor include at least one of the following:

[0130] The monitoring results of the scraper conveyor transport chain by the laser sensor, the scanning results of the scraper conveyor transport chain by the laser scanner, the simulation results of the scraper conveyor operation process, the running speed of the scraper conveyor chain, the pre-tightening force of the scraper conveyor chain, whether there is a chain passing through the preset position, and the torque value of the scraper conveyor motor.

[0131] Figure 6 FIG. 1 is a hardware structure diagram of a link break position determination system according to an embodiment of the present application. Figure 6 As shown, the broken chain position determination system includes:

[0132] at least one processor 620; and,

[0133] A memory 604 in communication with the at least one processor 620; wherein,

[0134] The memory 604 stores instructions that can be executed by the at least one processor 620. The instructions are executed by the at least one processor 620 to implement the link break position determination method described in any of the above embodiments.

[0135] Reference Figure 6 The link break location determination system 600 may include one or more of the following components: a processing component 602 , a memory 604 , a power component 606 , a multimedia component 608 , an audio component 610 , an input / output (I / O) interface 612 , a sensor component 614 , and a communication component 616 .

[0136] The processing component 602 generally controls the overall operation of the link break location determination system 600. The processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the above-described method. Furthermore, the processing component 602 may include one or more modules to facilitate interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.

[0137] The memory 604 is configured to store various types of data to support the operation of the link break location determination system 600. Examples of such data include instructions for any application or method operating on the link break location determination system 600, such as text, images, videos, etc. The memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0138] The power supply assembly 606 provides power to the various components of the link break location determination system 600. The power supply assembly 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the onboard control system 600.

[0139] The multimedia component 608 includes a screen that provides an output interface between the broken link location determination system 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 608 may also include a front camera and / or a rear camera. When the broken link location determination system 600 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0140] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC) that is configured to receive external audio signals when the link break location determination system 600 is in an operating mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode. The received audio signals may be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 further includes a speaker for outputting audio signals.

[0141] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0142] The sensor assembly 614 includes one or more sensors for providing various status assessments of the chain break location determination system 600. For example, the sensor assembly 614 may include an acoustic sensor. Furthermore, the sensor assembly 614 may detect the open / closed state of the chain break location determination system 600, the relative positioning of components, such as the display and keypad of the chain break location determination system 600, and the operating state of the chain break location determination system 600 or a component thereof, such as the operating state of the air distribution plate, the structural state, the operating state of the discharge scraper, etc., the orientation or acceleration / deceleration of the chain break location determination system 600, and temperature changes of the chain break location determination system 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 614 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an accelerometer, a gyroscope, a magnetic sensor, a pressure sensor, a material stack thickness sensor, or a temperature sensor.

[0143] The communication component 616 is configured to enable the broken link location determination system 600 to provide the ability to communicate with other devices and cloud platforms in a wired or wireless manner. The broken link location determination system 600 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0144] In an exemplary embodiment, the chain break location determination system 600 can be implemented by 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), controllers, microcontrollers, microprocessors, or other electronic components to execute the chain break location determination method described in any of the above embodiments.

[0145] A computer-readable storage medium is characterized in that when the instructions in the storage medium are executed by a processor corresponding to a chain break position determination system, the chain break position determination system is able to implement the chain break position determination method described in any of the above embodiments.

[0146] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[0147] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0150] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for determining a broken link position, characterized in that: include: During the operation of the scraper conveyor, obtain the operation status of the scraper conveyor; When the operation condition of the scraper conveyor indicates that the scraper conveyor has a chain break, determining a chain break range of the scraper conveyor; Controlling the inspection robot to perform inspection operations within the broken chain range of the scraper conveyor to determine the specific broken chain position of the scraper conveyor; The operation status of the scraper conveyor includes a simulation result of the operation process of the scraper conveyor, and obtaining the operation status of the scraper conveyor includes: Scan the transport chain of the scraper conveyor with a laser scanner; Adaptively adjust the three-dimensional spatial data model corresponding to the scraper conveyor based on the scanning results of the scraper conveyor's transport chain by the laser scanner to obtain the simulation results of the scraper conveyor's operation process; Determining the chain breaking range of the scraper conveyor includes: Determining a first chain breaking range of the scraper conveyor according to a three-dimensional spatial data model corresponding to the scraper conveyor; Determining a second chain breaking range within the first chain breaking range according to the distance change data of the transport chain, wherein the first chain breaking range is greater than or equal to the second chain breaking range; Determining the second chain-breaking range as the chain-breaking range of the scraper conveyor; The determining of the second chain-breaking range within the first chain-breaking range according to the distance change data of the transport chain includes: The distance change data of the transport chain is determined by the laser sensor array fixed on the side of the scraper conveyor; A second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain.

2. The method according to claim 1, wherein The determining of the second chain-breaking range within the first chain-breaking range according to the distance change data of the transport chain includes: An area within the first chain-breaking range where the transmission chain distance changes is determined as a second chain-breaking range.

3. The method according to claim 1, wherein The control inspection robot performs inspection operations within the chain breaking range of the scraper conveyor, including: Pushing out the metal detector on the inspection robot through the hydraulic push rod on the inspection robot and starting the metal detector; Controlling the inspection robot to move within the second chain-breaking range; When the metal detector detects a specific chain break position within the second chain break range, the chain break position is recorded.

4. The method according to claim 1, wherein The operation conditions of the scraper conveyor include at least one of the following: The monitoring results of the scraper conveyor transport chain by the laser sensor, the scanning results of the scraper conveyor transport chain by the laser scanner, the simulation results of the scraper conveyor operation process, the running speed of the scraper conveyor chain, the pre-tightening force of the scraper conveyor chain, whether there is a chain passing through the preset position, and the torque value of the scraper conveyor motor.

5. A device for determining a broken chain position, characterized in that: include: An acquisition module is used to obtain the operation status of the scraper conveyor during its operation; A first determining module is configured to determine a chain break range of the scraper conveyor when the operating condition of the scraper conveyor indicates that the scraper conveyor has a chain break; The second determining module is used to control the inspection robot to perform an inspection operation within the broken chain range of the scraper conveyor to determine the specific broken chain position of the scraper conveyor; The first determining module includes: A first determining submodule is configured to determine a first chain breaking range of the scraper conveyor according to a three-dimensional spatial data model corresponding to the scraper conveyor; a second determining submodule, configured to determine a second chain breaking range within the first chain breaking range according to the distance change data of the transport chain, wherein the first chain breaking range is greater than or equal to the second chain breaking range; A third determining submodule is configured to determine that the second chain-breaking range is the chain-breaking range of the scraper conveyor; The second determining submodule is further configured to: The distance change data of the transport chain is determined by the laser sensor array fixed on the side of the scraper conveyor; A second chain breaking range is determined within the first chain breaking range according to the distance change data of the transport chain.

6. A chain break location determination system, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the method for determining a broken link position according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by a processor corresponding to the chain break position determination system, the chain break position determination system can implement the chain break position determination method according to any one of claims 1 to 4.

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