Intelligent inspection robot and collaborative control method

Abstract

The present application relates to intelligent inspection robot and collaborative control method, the inspection robot of the present application carries out twice fire determination to mineral conveying belt through different sensors, which can effectively reduce the false positive rate of fire condition; when fire occurs, the inspection robot carries out rapid fire source inspection and gives the range and position distribution of the fire source, which can effectively assist artificial fire handling; in the charging state, the resting working mode is adopted to realize the uninterrupted monitoring of the inspection robot; the method of the present application cooperatively controls the opening and closing of the water spraying pipe water outlet according to the spraying strategy, so as to reduce the dust mist generation and the influence of the water spraying mist on the mineral to the greatest extent, and different monitoring strategies are adopted according to the differences of the mineral conveying area, so as to realize the improvement of the monitoring efficiency of different mineral conveying areas, and directly output the accident position image and other information, which effectively improves the maintenance efficiency of artificial intervention.

Description

Technical Field

[0001] This invention relates to the field of mineral conveyor belt inspection technology, and in particular to intelligent inspection robots and collaborative control methods. Background Technology

[0002] Inspection robots are of great significance for improving industrial automation and ensuring production safety. With the continuous development of robotics technology, inspection robots have been widely used in many fields. Extensive practical experience has shown that inspection robots play an indispensable role in ensuring the normal operation of industrial production and infrastructure, and their application value is becoming increasingly prominent.

[0003] First, inspection robots can reduce direct human contact with hazardous substances in dangerous or inaccessible environments, improving safety. Second, inspection robots can work 24 / 7, unaffected by weather or fatigue, increasing efficiency. Furthermore, equipped with high-definition cameras and sensors, inspection robots can perform detailed inspections of equipment, identifying minor problems and predicting maintenance needs through data analysis, demonstrating precision. Finally, inspection robots can not only collect image data from equipment but also gather various parameters such as temperature, humidity, and pressure through sensors, providing detailed data support for equipment maintenance and fault diagnosis.

[0004] Mineral conveyor systems play a crucial role in mineral processing and transportation. However, these systems often involve large-scale transportation in extreme environments, such as coal loading lines in ports, thus requiring continuous and efficient monitoring and inspection. Existing mineral conveyor belt inspection robots often suffer from the following problems:

[0005] 1. Appropriate water mist spraying on minerals on conveyor belts helps reduce dust and reduce environmental pollution during transportation. However, excessive water mist spraying can affect mineral quality and increase transportation difficulty. Existing inspection robots cannot select appropriate water mist spraying strategies based on dust particle concentration.

[0006] 2. Existing inspection robots have low accuracy in identifying high concentrations of dust particle pollution and fire situations, and record little useful data on fire situations, making it impossible to quickly and comprehensively locate fire sources.

[0007] 3. Existing inspection robots cannot continuously monitor while charging, and the data acquired by each sensor during inspection work is unclear, making it impossible to accurately provide the data needed for manual intervention and maintenance. The existing monitoring strategies of inspection robots cannot be coordinated and adjusted according to different mineral transport areas.

[0008] Therefore, intelligent inspection robots and collaborative control methods are urgently needed to solve the above problems. Summary of the Invention

[0009] To address the aforementioned problems, the present invention aims to provide an intelligent inspection robot and a collaborative control method. The inspection robot performs two fire detections on the mineral conveyor belt using different sensors, effectively reducing the false alarm rate. In the event of a fire, the robot quickly inspects the fire source and provides its range and location, effectively assisting manual fire suppression. It operates in a resting mode while charging, enabling continuous monitoring. The control method coordinates the opening and closing of water spray nozzles in the spray pipes according to the spray strategy, minimizing dust and mist generation while reducing the impact of spray mist on the minerals. Different monitoring strategies are employed based on the different mineral transport areas, thereby improving monitoring efficiency in different mineral transport areas. By directly outputting images and other information such as the accident location, the efficiency of manual intervention in maintenance is effectively improved.

[0010] The technical solution adopted in this invention is as follows:

[0011] The intelligent inspection robot includes an inspection track, a water spray pipe, a mineral conveyor belt, a charging station, an inspection robot, a funnel, a collection bin, a control computer, and a moving slide rail. The charging station is located above the inspection track, and the inspection robot is located below the charging station. The inspection robot is installed on the inspection track and moves along the track. The water spray pipe is located below the inspection robot, and the mineral conveyor belt is located below the water spray pipe. The control computer is located in front of the mineral conveyor belt, and the funnel is located on one side of the mineral conveyor belt. The moving slide rail is located below the funnel, and the funnel is installed on the moving slide rail and moves back and forth along the moving slide rail in two working positions. The collection bin is located below the moving slide rail. The minerals are transported by the mineral conveyor belt and then dispensed into the collection bin by the funnel.

[0012] The mineral conveyor belt includes a conveyor belt, conveyor rollers, and a conveyor belt support. The conveyor rollers are installed below the conveyor belt, and the conveyor belt support is installed in front of the conveyor rollers.

[0013] The inspection robot includes a moving block, a rotating block, environmental sensors, a pitch block, a thermal imaging camera, an ultrasonic camera, a high-definition camera, a supplementary light, an abnormal noise sensor, a dust particle sensor, and a dust scraper. The rotating block is located below the moving block, and dust particle sensors are located on both sides of the moving block. Environmental sensors are located on both sides of the rotating block. The pitch block is located in front of the rotating block, and a thermal imaging camera is located in front of the pitch block. An ultrasonic camera is located on one side of the thermal imaging camera, and a high-definition camera is located on the other side of the thermal imaging camera. The supplementary light is located on both sides of the pitch block, and an abnormal noise sensor is located below the pitch block. Dust scrapers are located in front of the thermal imaging camera, the ultrasonic camera, and the high-definition camera.

[0014] The funnel includes a funnel body and a funnel pipe, with the funnel pipe located below the funnel body;

[0015] The collection warehouse includes a sub-warehouse and a main warehouse, with the main warehouse located below the sub-warehouse.

[0016] A further improvement of the present invention is that the funnel body is provided with a certain slope so that the minerals can enter the funnel pipe, the outlet of the funnel pipe is smaller than the compartment opening, and the working position of the funnel can be finely adjusted according to the collection effect of the funnel body on the minerals, but it should be ensured that the outlet of the funnel pipe is always included within the range of the compartment opening.

[0017] The intelligent inspection robot collaborative control method of the present invention includes the following steps:

[0018] S1: Control the computer to run the central management system and initialize the device.

[0019] S2: The mineral conveyor belt starts conveying minerals. The hopper moves to the top of the sub-compartment opening via the sliding rail and loads the minerals into the corresponding main compartment. When the main compartment is full, the hopper moves to the top of another sub-compartment opening to load minerals. At the same time, the full main compartment is replaced. This cycle is repeated to convey minerals. The alternation period is T.

[0020] S3: The inspection robot self-detects the working status of each sensor module and simultaneously detects the image clarity of the ultrasonic camera, high-definition camera, and thermal imaging camera. When the working status of each sensor module is normal and the image clarity meets the requirements, the inspection robot begins its inspection work; otherwise, the central management system issues a fault alarm for the inspection robot and displays the self-detection results to assist manual troubleshooting until the inspection robot can perform its inspection work and the fault alarm is cleared. When the image clarity does not meet the requirements, it is first cleaned with a dust scraper. If the clarity still does not meet the requirements, then manual intervention is introduced.

[0021] S4: Environmental sensors monitor environmental data such as ambient temperature, humidity, carbon monoxide, and hydrogen sulfide, and display them in the central management system. When the monitored data exceeds the set value, an environmental hazard alarm is issued, and a manual handling plan is implemented based on the monitored data.

[0022] S5: The dust particle sensor monitors the concentration Q of smoke and dust particles in the environment and determines the number of water spray pipes to be opened based on the particle concentration Q. The solution is as follows:

[0023]

[0024] Where M1 to Mn are the level classification parameters of particle concentration Q, and case 1 to case n are the measures taken under different levels;

[0025] Case 1: When the smoke and dust particle concentration is Level 1 (the highest level), if the environmental sensor monitoring data is normal, the water spray nozzles of the sprinkler pipe are fully open, and the inspection robot performs normal inspections; if the temperature, carbon monoxide content, or hydrogen sulfide content monitored by the environmental sensor rises, a fire is determined to have occurred, the water spray nozzles of the sprinkler pipe are fully open (K1=0), the central management system issues a fire alarm, and the inspection robot stops other inspection items and prioritizes the inspection of the fire source.

[0026] Case 2: When the concentration of smoke and dust particles is level 2, the water spray nozzles of the water spray pipe are opened every K2 intervals.

[0027] Case 3: When the concentration of smoke and dust particles is level 3, the water spray nozzles of the water spray pipe are opened every K3 intervals.

[0028] ...

[0029] case n: This corresponds to the case where the concentration of smoke and dust particles is level n (the lowest level). In this case, the water nozzles of the water spray pipe are opened every Kn intervals.

[0030] S6: Inspection robot inspection work:

[0031] S61: The inspection robot moves along the inspection track. The rotation block and pitch block control the rotation and pitch of the thermal imaging camera, ultrasonic camera and high-definition camera to achieve control of the camera shooting range.

[0032] S62: When the inspection robot moves to the mineral conveyor belt area, the high-definition camera captures the running image of the mineral conveyor belt. The control computer extracts the edges of the running image to obtain the belt edge and the roller edge of the conveyor roller. The belt edge and roller edge are compared to determine whether the conveyor belt is off-track. When the off-track occurs, the central management system issues a conveyor belt off-track warning and displays the running image of the off-track position.

[0033] Abnormal noise sensors detect abnormal noises during the operation of the mineral conveyor belt, such as slag mixed in the conveyor rollers or belt damage. When abnormal noise is detected, the ultrasonic camera locates the location of the abnormal noise based on the sound waves and captures an image of the location. The type of accident is determined by image comparison, and the central management system issues an accident warning while displaying an image of the accident location.

[0034] Thermal imaging cameras acquire infrared temperature images of target objects such as minerals and mineral conveyor belts. When the temperature of the target object exceeds the set temperature, the central management system issues a high temperature warning and displays the infrared temperature image of the target object.

[0035] S63: When the inspection robot moves into the mineral loading area, the inspection time of the inspection robot in the mineral loading area should exceed the alternation period T;

[0036] High-definition cameras capture images of whether minerals on the conveyor belt enter the funnel body. If mineral leakage occurs, the central management system issues a mineral leakage warning and controls the computer to adjust the relative position of the funnel and the collection chamber via a sliding rail to prevent mineral leakage. If mineral blockage occurs, the central management system issues a mineral blockage warning and controls the computer to quickly vibrate the funnel via a sliding rail to clear the blockage.

[0037] Abnormal noise sensors detect abnormal noise in the mineral loading area, such as noise caused by a funnel jamming on a moving slide rail. When abnormal noise is detected, an ultrasonic camera locates the location of the abnormal noise based on the sound waves and captures an image of the location. The type of accident is determined by image comparison, and the central management system issues an accident warning while displaying an image of the accident location.

[0038] The thermal imaging camera acquires infrared temperature images of target objects in the mineral loading area. When the temperature of the target object exceeds the set temperature, the central management system issues a high temperature warning and displays the infrared temperature image of the target object.

[0039] S7: Inspection robot at rest during operation:

[0040] After the inspection robot arrives at the charging station, it begins charging and enters a resting working state. In the resting working state, the inspection robot only retains the environmental sensor, abnormal noise sensor, and dust particle sensor for monitoring, and the central management system displays the monitoring data.

[0041] When the environmental sensor detects abnormal data, execute S4;

[0042] When the dust particle sensor detects that the smoke and dust particle concentration is level 1, case 1 of S5 is executed. If a fire is detected, the mineral conveyor belt stops running, the inspection robot starts its inspection work and prioritizes the inspection of the fire source; if no fire is detected or the smoke and dust particle concentration is detected to be at other levels, the corresponding case is executed, and the inspection robot continues to perform its resting work.

[0043] When the abnormal noise sensor detects abnormal data, execute S6;

[0044] The robot remains in a resting state until it is fully charged.

[0045] S8: Has the time since the last inspection been completed exceeded the set time interval? If it has, continue to the next step; otherwise, execute S7.

[0046] S9: Whether mineral transport is complete. If not, proceed to S3. If complete, the equipment stops and mineral transport ends.

[0047] A further improvement of the present invention is that the inspection robot communicates with the control computer using a cable-type radiating antenna.

[0048] A further improvement of the present invention is that the central management system runs on the control computer, but the display interface can be synchronized to portable devices, such as mobile phones and tablets, to assist manual troubleshooting.

[0049] A further improvement of the present invention is that the fire source inspection method of the inspection robot is as follows:

[0050] The moving block, rotating block, and pitch block control the shooting range of the thermal imaging camera, enabling it to acquire all infrared temperature images of the detected area. The computer then analyzes the infrared temperature images to obtain the range and location distribution of abnormally high-temperature areas.

[0051] Based on the size of the high-temperature zone, priority is given to inspecting large-area high-temperature zones. The inspection robot moves to the best shooting position in the high-temperature zone on the track, takes pictures of the high-temperature zone with a high-definition camera, and analyzes whether there are any fire source characteristics such as open flames or smoke in the pictures. If they are, they are marked as fire sources, and the range and location distribution of the fire sources are displayed in the central management system. At the same time, the next high-temperature zone is inspected. If they are not, the next high-temperature zone is inspected directly. The above steps are repeated until the inspection is completed.

[0052] A further improvement of the present invention is that: in step S5, K1 to Kn gradually increase, and the two water spray nozzles near the funnel and the feed end of the conveyor belt remain open. Let the total number of water spray nozzles in the water spray pipes be m, then Kn satisfies... Established.

[0053] Compared with the prior art, the present invention has the following advantages:

[0054] 1. This invention monitors the concentration of smoke and dust particles in the environment using a dust particle sensor, and classifies them into n levels based on the particle concentration. It then provides water mist spraying strategies for different levels and coordinates the opening and closing of the water spray pipe nozzles according to the spraying strategies to minimize the generation of dust and mist while reducing the impact of the sprayed water mist on minerals.

[0055] 2. This invention uses a dust particle sensor to monitor the concentration of smoke and dust particles in the environment to initially determine whether a fire has occurred. Then, based on whether the ambient temperature, carbon monoxide content, or hydrogen sulfide content monitored by the environmental sensor is abnormal, it makes a second determination to determine whether a fire has occurred. By making two determinations using different sensors, the false alarm rate of fire situations can be effectively reduced. When a fire occurs, the inspection robot performs a rapid inspection of the fire source and provides the range and location distribution of the fire source, which can effectively assist manual fire handling.

[0056] 3. The inspection robot of the present invention adopts a resting working mode when charging, so as to realize uninterrupted monitoring of the inspection robot; the collaborative control method of the inspection robot of the present invention adopts different monitoring strategies according to different mineral transport areas, thereby improving the monitoring efficiency of different mineral transport areas, and effectively improving the maintenance efficiency of manual intervention by directly outputting information such as accident location images. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0058] Figure 2 This is a schematic diagram of the first station of the funnel in the device of the present invention;

[0059] Figure 3 This is a schematic diagram of the second station of the funnel in the device of the present invention;

[0060] Figure 4 yes Figure 1 A schematic diagram of the structure of the inspection robot;

[0061] Figure 5 yes Figure 1 A schematic diagram of the structure of the middle part of the device;

[0062] Figure 6 This is a schematic diagram of the operation flow of the method of the present invention.

[0063] The attached diagrams are labeled as follows: 1-Inspection track; 2-Water spray pipe; 3-Mineral conveyor belt; 301-Conveyor belt; 302-Conveyor roller; 303-Conveyor belt support; 4-Charging station; 5-Inspection robot; 501-Moving block; 502-Rotating block; 503-Environmental sensor; 504-Pitch block; 505-Thermal imaging camera; 506-Ultrasonic camera; 507-High-definition camera; 508-Supplemental light; 509-Abnormal noise sensor; 510-Dust particle sensor; 511-Dust scraper; 6-Function hopper; 601-Function hopper body; 602-Function hopper pipe; 7-Collection bin; 701-Branch opening; 702-Main bin; 8-Control computer; 9-Moving slide rail. Detailed Implementation

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] It should be noted that in the description of this invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not mean that the device or element must have a specific orientation, or be constructed and operated in a specific orientation.

[0066] See appendix Figures 1 to 5 The present invention provides a specific structure of an embodiment of the intelligent inspection robot proposed in this invention, which includes an inspection track, a water spray pipe, a mineral conveyor belt, a charging station, an inspection robot, a funnel, a collection bin, a control computer, and a moving slide rail. The charging station is set above the inspection track, and the inspection robot is set below the charging station. The inspection robot is installed on the inspection track and moves along the inspection track. The water spray pipe is set below the inspection robot, and the mineral conveyor belt is set below the water spray pipe. The control computer is set in front of the mineral conveyor belt, and the funnel is set on one side of the mineral conveyor belt. The moving slide rail is set below the funnel. The funnel is installed on the moving slide rail and moves back and forth along the moving slide rail in two working positions. The collection bin is set below the moving slide rail. The minerals are transported by the mineral conveyor belt and dispensed into the collection bin by the funnel.

[0067] The mineral conveyor belt includes a conveyor belt, conveyor rollers, and a conveyor belt support. The conveyor rollers are installed below the conveyor belt, and the conveyor belt support is installed in front of the conveyor rollers.

[0068] The inspection robot includes a moving block, a rotating block, environmental sensors, a pitch block, a thermal imaging camera, an ultrasonic camera, a high-definition camera, a supplementary light, an abnormal noise sensor, a dust particle sensor, and a dust scraper. The rotating block is located below the moving block, and dust particle sensors are located on both sides of the moving block. Environmental sensors are located on both sides of the rotating block. The pitch block is located in front of the rotating block, and a thermal imaging camera is located in front of the pitch block. An ultrasonic camera is located on one side of the thermal imaging camera, and a high-definition camera is located on the other side of the thermal imaging camera. The supplementary light is located on both sides of the pitch block, and an abnormal noise sensor is located below the pitch block. Dust scrapers are located in front of the thermal imaging camera, the ultrasonic camera, and the high-definition camera.

[0069] The funnel includes a funnel body and a funnel pipe, with the funnel pipe located below the funnel body;

[0070] The collection warehouse includes a sub-warehouse and a main warehouse, with the main warehouse located below the sub-warehouse.

[0071] The funnel body is designed with a certain slope to allow minerals to enter the funnel pipe. The outlet of the funnel pipe is smaller than the compartment opening. The working position of the funnel can be finely adjusted according to the collection effect of the funnel body on minerals, but it should be ensured that the outlet of the funnel pipe is always included within the compartment opening.

[0072] See appendix Figure 6 As shown, a collaborative control method for intelligent inspection robots is presented, which includes the following steps:

[0073] S1: Control the computer to run the central management system and initialize the device.

[0074] S2: The mineral conveyor belt starts conveying minerals. The hopper moves to the top of the sub-compartment opening via the sliding rail and loads the minerals into the corresponding main compartment. When the main compartment is full, the hopper moves to the top of another sub-compartment opening to load minerals. At the same time, the full main compartment is replaced. This cycle is repeated to convey minerals. The alternation period is T.

[0075] S3: The inspection robot self-detects the working status of each sensor module and simultaneously detects the image clarity of the ultrasonic camera, high-definition camera, and thermal imaging camera. When the working status of each sensor module is normal and the image clarity meets the requirements, the inspection robot begins its inspection work; otherwise, the central management system issues a fault alarm for the inspection robot and displays the self-detection results to assist manual troubleshooting until the inspection robot can perform its inspection work and the fault alarm is cleared. When the image clarity does not meet the requirements, it is first cleaned with a dust scraper. If the clarity still does not meet the requirements, then manual intervention is introduced.

[0076] S4: Environmental sensors monitor environmental data such as ambient temperature, humidity, carbon monoxide, and hydrogen sulfide, and display them in the central management system. When the monitored data exceeds the set value, an environmental hazard alarm is issued, and a manual handling plan is implemented based on the monitored data.

[0077] S5: The dust particle sensor monitors the concentration Q of smoke and dust particles in the environment and determines the number of water spray pipes to be opened based on the particle concentration Q. The solution is as follows:

[0078]

[0079] Where M1 to Mn are the level classification parameters of particle concentration Q, and case 1 to case n are the measures taken under different levels;

[0080] Case 1: When the smoke and dust particle concentration is Level 1 (the highest level), if the environmental sensor monitoring data is normal, the water spray nozzles of the sprinkler pipe are fully open, and the inspection robot performs normal inspections; if the temperature, carbon monoxide content, or hydrogen sulfide content monitored by the environmental sensor rises, a fire is determined to have occurred, the water spray nozzles of the sprinkler pipe are fully open (K1=0), the central management system issues a fire alarm, and the inspection robot stops other inspection items and prioritizes the inspection of the fire source.

[0081] Case 2: When the concentration of smoke and dust particles is level 2, the water spray nozzles of the water spray pipe are opened every K2 intervals.

[0082] Case 3: When the concentration of smoke and dust particles is level 3, the water spray nozzles of the water spray pipe are opened every K3 intervals.

[0083] ...

[0084] case n: This corresponds to the case where the concentration of smoke and dust particles is level n (the lowest level). In this case, the water nozzles of the water spray pipe are opened every Kn intervals.

[0085] S6: Inspection robot inspection work:

[0086] S61: The inspection robot moves along the inspection track. The rotation block and pitch block control the rotation and pitch of the thermal imaging camera, ultrasonic camera and high-definition camera to achieve control of the camera shooting range.

[0087] S62: When the inspection robot moves to the mineral conveyor belt area, the high-definition camera captures the running image of the mineral conveyor belt. The control computer extracts the edges of the running image to obtain the belt edge and the roller edge of the conveyor roller. The belt edge and roller edge are compared to determine whether the conveyor belt is off-track. When the off-track occurs, the central management system issues a conveyor belt off-track warning and displays the running image of the off-track position.

[0088] Abnormal noise sensors detect abnormal noises during the operation of the mineral conveyor belt, such as slag mixed in the conveyor rollers or belt damage. When abnormal noise is detected, the ultrasonic camera locates the location of the abnormal noise based on the sound waves and captures an image of the location. The type of accident is determined by image comparison, and the central management system issues an accident warning while displaying an image of the accident location.

[0089] Thermal imaging cameras acquire infrared temperature images of target objects such as minerals and mineral conveyor belts. When the temperature of the target object exceeds the set temperature, the central management system issues a high temperature warning and displays the infrared temperature image of the target object.

[0090] S63: When the inspection robot moves into the mineral loading area, the inspection time of the inspection robot in the mineral loading area should exceed the alternation period T;

[0091] High-definition cameras capture images of whether minerals on the conveyor belt enter the funnel body. If mineral leakage occurs, the central management system issues a mineral leakage warning and controls the computer to adjust the relative position of the funnel and the collection chamber via a sliding rail to prevent mineral leakage. If mineral blockage occurs, the central management system issues a mineral blockage warning and controls the computer to quickly vibrate the funnel via a sliding rail to clear the blockage.

[0092] Abnormal noise sensors detect abnormal noise in the mineral loading area, such as noise caused by a funnel jamming on a moving slide rail. When abnormal noise is detected, an ultrasonic camera locates the location of the abnormal noise based on the sound waves and captures an image of the location. The type of accident is determined by image comparison, and the central management system issues an accident warning while displaying an image of the accident location.

[0093] The thermal imaging camera acquires infrared temperature images of target objects in the mineral loading area. When the temperature of the target object exceeds the set temperature, the central management system issues a high temperature warning and displays the infrared temperature image of the target object.

[0094] S7: Inspection robot at rest during operation:

[0095] After the inspection robot arrives at the charging station, it begins charging and enters a resting working state. In the resting working state, the inspection robot only retains the environmental sensor, abnormal noise sensor, and dust particle sensor for monitoring, and the central management system displays the monitoring data.

[0096] When the environmental sensor detects abnormal data, execute S4;

[0097] When the dust particle sensor detects that the smoke and dust particle concentration is level 1, case 1 of S5 is executed. If a fire is detected, the mineral conveyor belt stops running, the inspection robot starts its inspection work and prioritizes the inspection of the fire source; if no fire is detected or the smoke and dust particle concentration is detected to be at other levels, the corresponding case is executed, and the inspection robot continues to perform its resting work.

[0098] When the abnormal noise sensor detects abnormal data, execute S6;

[0099] The robot remains in a resting state until it is fully charged.

[0100] S8: Has the time since the last inspection been completed exceeded the set time interval? If it has, continue to the next step; otherwise, execute S7.

[0101] S9: Whether mineral transport is complete. If not, proceed to S3. If complete, the equipment stops and mineral transport ends.

[0102] The inspection robot communicates with the control computer using a cable-type radiating antenna.

[0103] The central management system runs on the control computer, but the display interface can be synchronized to portable devices such as mobile phones and tablets to assist manual troubleshooting.

[0104] The fire source inspection method of the inspection robot is as follows:

[0105] The moving block, rotating block, and pitch block control the shooting range of the thermal imaging camera, enabling it to acquire all infrared temperature images of the detected area. The computer then analyzes the infrared temperature images to obtain the range and location distribution of abnormally high-temperature areas.

[0106] Based on the size of the high-temperature zone, priority is given to inspecting large-area high-temperature zones. The inspection robot moves to the best shooting position in the high-temperature zone on the track, takes pictures of the high-temperature zone with a high-definition camera, and analyzes whether there are any fire source characteristics such as open flames or smoke in the pictures. If they are, they are marked as fire sources, and the range and location distribution of the fire sources are displayed in the central management system. At the same time, the next high-temperature zone is inspected. If they are not, the next high-temperature zone is inspected directly. The above steps are repeated until the inspection is completed.

[0107] In step S5, K1 to Kn gradually increase. The two water spray pipes near the funnel and the feed end of the conveyor belt keep the spray nozzles open. Let the total number of water spray pipe nozzles be m. Then Kn satisfies Established.

[0108] The difference between the intelligent inspection robot and the collaborative control method of this invention and the existing devices is that the existing inspection robots cannot select a suitable water mist spraying strategy based on the dust particle concentration; this invention divides the monitored particle concentration into n levels, provides water mist spraying strategies for different levels, and coordinates the opening and closing of the water spray pipe nozzles according to the spraying strategy to minimize the generation of dust mist while reducing the impact of sprayed water mist on minerals.

[0109] The intelligent inspection robot and collaborative control method of this invention differ from existing devices in that: existing inspection robots have low accuracy in identifying high-concentration dust particle pollution and fire situations, and cannot quickly and comprehensively locate fire sources; this invention makes two judgments using different sensors, which can effectively reduce the false alarm rate of fire situations. At the same time, when a fire occurs, the inspection robot performs rapid fire source inspection and provides the range and location distribution of the fire source, which can effectively assist manual fire handling.

[0110] The difference between the intelligent inspection robot and collaborative control method of this invention and existing devices is that existing inspection robots cannot continuously monitor while charging and cannot perform collaborative control according to different mineral transport areas; the inspection robot of this invention adopts a resting working mode while charging, realizing uninterrupted monitoring of the inspection robot. At the same time, it adopts different monitoring strategies according to different mineral transport areas, thereby improving the monitoring efficiency of different mineral transport areas. By directly outputting information such as accident location images, it effectively improves the efficiency of manual intervention in maintenance.

[0111] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A collaborative control method for intelligent inspection robots, characterized in that, It includes the following steps: S1: Control the computer to run the central management system and initialize the device. S2: The mineral conveyor belt starts conveying minerals. The hopper moves to the top of the sub-compartment opening via the sliding rail and loads the minerals into the corresponding main compartment. When the main compartment is full, the hopper moves to the top of another sub-compartment opening to load minerals. At the same time, the full main compartment is replaced. This cycle is repeated to convey minerals. The alternation period is T. S3: The inspection robot automatically detects the working status of each sensor module and simultaneously detects the imaging clarity of the ultrasonic camera, high-definition camera, and thermal imaging camera. When the working status of each sensor module is normal and the imaging clarity meets the requirements, the inspection robot begins its inspection work. Otherwise, the central management system will issue a fault alarm for the inspection robot and display the self-test results to assist manual handling of the fault until the inspection robot can perform inspection work and the fault alarm is lifted; when the image clarity does not meet the requirements, it will first be cleaned by a dust scraper, and if the clarity still does not meet the requirements, then manual intervention will be introduced. S4: Environmental sensors monitor environmental data and display it in the central management system. When the monitored data exceeds the set value, an environmental hazard alarm is issued, and a manual handling plan is implemented based on the monitored data. S5: The dust particle sensor monitors the concentration Q of smoke and dust particles in the environment and determines the number of water spray pipes to be opened based on the particle concentration Q. The solution is as follows: ， Where M1 to Mn are the level classification parameters of particle concentration Q, and case1 to casen are the measures taken under different levels; Case 1: When the smoke and dust particle concentration is Level 1, if the environmental sensor data is normal, the water spray nozzles of the sprinkler pipe will be fully opened and the inspection robot will perform normal inspection. When the temperature, carbon monoxide content, or hydrogen sulfide content monitored by the environmental sensor rises, a fire is determined to have occurred. The water spray nozzles of the sprinkler pipe will be fully opened, the central management system will issue a fire alarm, and the inspection robot will stop other inspection items and prioritize the inspection of the fire source. Case 2: When the concentration of smoke and dust particles is level 2, the water spray nozzles of the water spray pipe are opened every K2 intervals. Case 3: When the concentration of smoke and dust particles is level 3, the water spray nozzles of the water spray pipe are opened every K3 intervals. …… casen: This corresponds to a smoke and dust particle concentration of level n. In this case, the water spray nozzles of the water spray pipe are opened every Kn intervals. S6: Inspection robot inspection work: S61: The inspection robot moves along the inspection track. The rotation block and pitch block control the rotation and pitch of the thermal imaging camera, ultrasonic camera and high-definition camera to achieve control of the camera shooting range. S62: When the inspection robot moves to the mineral conveyor belt area, the high-definition camera captures the running image of the mineral conveyor belt. The control computer extracts the edges of the running image to obtain the belt edge and the roller edge of the conveyor roller. The belt edge and roller edge are compared to determine whether the conveyor belt is off-track. When the off-track occurs, the central management system issues a conveyor belt off-track warning and displays the running image of the off-track position. Abnormal noise sensors detect abnormal noise during the operation of the mineral conveyor belt. When abnormal noise is detected, an ultrasonic camera locates the location of the abnormal noise based on the sound waves and captures an image of the location. The type of accident is determined by image comparison, and the central management system issues an accident warning while displaying an image of the accident location. The thermal imaging camera acquires infrared temperature images of the target object. When the temperature of the target object exceeds the set temperature, the central management system issues a high temperature warning and displays the infrared temperature image of the target object. S63: When the inspection robot moves into the mineral loading area, the inspection time of the inspection robot in the mineral loading area should exceed the alternation period T; High-definition cameras capture images of whether minerals on the conveyor belt enter the funnel body. If mineral leakage occurs, the central management system issues a mineral leakage warning and controls the computer to adjust the relative position of the funnel and the collection chamber via a sliding rail to prevent mineral leakage. If mineral blockage occurs, the central management system issues a mineral blockage warning and controls the computer to quickly vibrate the funnel via a sliding rail to clear the blockage. Abnormal noise sensors detect abnormal noise in the mineral loading area. When abnormal noise is detected, ultrasonic cameras locate the location of the abnormal noise based on sound waves and capture images of the location. The type of accident is determined by image comparison, and the central management system issues an accident warning while displaying images of the accident location. The thermal imaging camera acquires infrared temperature images of target objects in the mineral loading area. When the temperature of the target object exceeds the set temperature, the central management system issues a high temperature warning and displays the infrared temperature image of the target object. S7: Inspection robot at rest during operation: After the inspection robot arrives at the charging station, it begins charging and enters a resting working state. In the resting working state, the inspection robot only retains the environmental sensor, abnormal noise sensor, and dust particle sensor for monitoring, and the central management system displays the monitoring data. When the environmental sensor detects abnormal data, execute S4; When the dust particle sensor detects that the smoke and dust particle concentration is level 1, case 1 of S5 is executed. If a fire is detected, the mineral conveyor belt stops running, the inspection robot starts its inspection work and prioritizes the inspection of the fire source; if no fire is detected or the smoke and dust particle concentration is other levels, the corresponding case is executed, and the inspection robot continues to perform its resting work. When the abnormal noise sensor detects abnormal data, execute S6; The robot remains in a resting state until it is fully charged. S8: Has the time since the last inspection been completed exceeded the set time interval? If it has, continue to the next step; otherwise, execute S7. S9: Whether mineral transport is completed. If not, proceed to S3. If completed, the equipment stops and mineral transport ends. In step S5, K1 to Kn gradually increase, and the two water spray nozzles near the funnel and the feed end of the conveyor belt remain open. Let the total number of water spray nozzles in the water spray pipes be m. Then Kn satisfies Established.

2. The collaborative control method for the intelligent inspection robot according to claim 1, characterized in that, The inspection robot communicates with the control computer using a cable-type radiating antenna.

3. The collaborative control method for the intelligent inspection robot according to claim 1, characterized in that, The central management system runs on the control computer, but the display interface can be synchronized to the portable device to assist in manual troubleshooting.

4. The collaborative control method for the intelligent inspection robot according to claim 1, characterized in that, The fire source inspection method of the inspection robot is as follows: The moving block, rotating block, and pitch block control the shooting range of the thermal imaging camera, enabling it to acquire all infrared temperature images of the detected area. The computer then analyzes the infrared temperature images to obtain the range and location distribution of abnormally high-temperature areas. Based on the size of the high-temperature zone, priority is given to inspecting large-area high-temperature zones. The inspection robot moves to the best shooting position of the high-temperature zone on the track, takes pictures of the high-temperature zone with a high-definition camera, and analyzes whether there are any fire source characteristics such as open flames or smoke in the pictures. If they are, they are marked as fire sources, and the range and location distribution of the fire sources are displayed in the central management system. At the same time, the next high-temperature zone is inspected. If they are not, the next high-temperature zone is inspected directly. The above steps are repeated until the inspection is completed.

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