Hanging rail type inspection robot, inspection system and application in coal conveying system

Abstract

The invention discloses a hanging rail type inspection robot, an inspection system and application in a coal conveying system, and relates to the technical field of coal conveying system monitoring, the hanging rail type inspection robot comprises a rail and a shell, the shell is in sliding fit with the rail, vertical rods are symmetrically arranged on the two sides of the top of the shell, guide wheels are horizontally and rotationally connected to the tops of the vertical rods, and the guide wheels are arranged on the guide wheels. The guide wheels on the two sides abut against and are attached to the inner walls of the two sides of the rail correspondingly, an inspection unit is arranged at the bottom of the shell, a walking unit is arranged at the top of the shell, a limiting unit is arranged on the walking unit, and cleaning units are symmetrically arranged at the two ends of the shell. When the inspection robot advances, pulverized coal attached to the interior of the track is cleaned, when slipping occurs, intervention is conducted in time so that the inspection robot can advance normally, and after slipping occurs during climbing, the inspection robot is prevented from slipping off and the inspection robot can advance normally.

Description

Technical Field

[0001] The present invention relates to the technical field of coal conveying system monitoring, and in particular to a rail-mounted inspection robot, an inspection system and applications in a coal conveying system. Background Art

[0002] The off-site coal transportation system has the characteristics of large production area, harsh equipment operating environment, single equipment type, and fast fault propagation speed. At present, there are problems such as high manpower investment, poor working environment, and untimely information exchange, which restricts the early identification and early warning of equipment abnormalities, defects, and failures, and reduces the reliability of the equipment. The equipment related to the coal transportation system is easy to wear, the system is prone to flammable and explosive dust accumulation, the equipment failure rate is high, and there are hidden dangers in the production safety zone. Regular inspections are required to promptly detect problems and deal with them in a timely manner.

[0003] A Chinese invention patent with application number 2021109883359 discloses a coal transportation corridor safety inspection device, including a control box, a driving mechanism is fixedly provided on the upper surface of the control box, a horizontal rotation mechanism is provided inside the control box, and a vertical rotation mechanism is provided on the surface of the horizontal rotation mechanism. A voice call structure is fixedly installed on one side of the control box, and a multi-in-one gas sensor, a smoke sensor and a temperature and humidity sensor are fixedly installed on one side of the control box, and a ranging radar and a wireless charging port are fixedly installed on the other side of the control box. The driving mechanism includes a driving motor and a driving system keel, and the outer wall of the driving system keel is fixedly connected to the inner wall of the control box. However, during use, the coal powder in the environment will be deposited on the inner wall of the track, causing the vertical spacing of the track to change, affecting normal travel.

[0004] In addition, since coal powder itself has a certain lubricating effect, some existing inspection robots used in coal transportation systems will have coal powder adhered to their walking mechanisms during movement, causing the wheel components to slip during movement, resulting in obstructed movement. Moreover, when the track has a certain slope, the inspection robot will slip and be unable to continue moving. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the existing defects and provide a rail-mounted inspection robot, an inspection system and applications in a coal transportation system, which can effectively solve the problems in the background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a rail-mounted inspection robot, comprising a rail and a shell, the shell being slidably matched on the rail, an inspection unit being provided at the bottom of the shell, a walking unit being provided at the top of the shell, a limiting unit being provided on the walking unit, and cleaning units being symmetrically provided at both ends of the shell;

[0007] The walking unit comprises two symmetrically arranged fixing seats, and driving motors are symmetrically arranged on both sides of the top of the fixing seat at one end through the mounting seat, and the output shaft of the driving motor is provided with a driving wheel;

[0008] The limiting unit comprises a support, a limiting groove is provided on the side of the support, a movable seat is slidably fitted in the limiting groove, a vertical side of the movable seat is rotatably connected to a limiting wheel, the limiting wheel is in contact with the inner top surface of the track, a side seat is provided at the inner bottom of the support, and a limiting spring is provided between the side seat and the movable seat;

[0009] The cleaning unit includes two correspondingly arranged horizontal plates, an electric push rod is provided between the horizontal plate and the end surface of the shell, brackets are symmetrically provided on both sides of the top of the horizontal plate, and the inner top of the bracket is movably connected to an auxiliary plate through a telescopic rod, and adjustment permanent magnets are provided on both sides of the auxiliary plate, and adjustment electromagnets corresponding to the adjustment permanent magnets are provided on both sides of the top of the bracket.

[0010] Preferably, the track is an "I"-shaped structure, vertical rods are symmetrically provided on both sides of the top of the shell, and the tops of the vertical rods are horizontally rotatably connected to guide wheels, and the guide wheels on both sides are respectively in contact with the inner walls of the track on both sides.

[0011] Preferably, the inspection unit includes a rotating motor, which is arranged at the bottom of the shell, and the bottom output shaft of the rotating motor is provided with a fixed rod, and the bottom end of the fixed rod is provided with a monitoring component, which includes an edge computing module, an infrared thermal imager, a temperature and humidity sensor, a laser radar, a high-definition camera and a wireless network module.

[0012] Preferably, the two fixing seats are respectively arranged on two sides of the interior of the shell, and the bottoms of the driving wheels on both sides are respectively in contact with the bottom surfaces on both sides of the track;

[0013] A U-shaped seat is symmetrically arranged at the bottom of the opposite side of the two mounting seats, an auxiliary wheel is rotatably connected inside the U-shaped seat, an electromagnetic latch is arranged on the side of the mounting seat, a telescopic rod of the electromagnetic latch passes through the U-shaped seat and an arc plate is arranged, and the arc plate corresponds to the auxiliary wheel.

[0014] Preferably, the support and the movable seat are both L-shaped structures, the support is arranged at the top of the mounting seat, an auxiliary permanent magnet is provided at the bottom of the movable seat, an auxiliary electromagnet is provided at the top of the side seat, and a pressure sensor is provided between the bottom end of the limit spring and the side seat.

[0015] Preferably, the two horizontal plates are respectively arranged at the two ends of the shell and located at the bottom of the track, the bracket is an L-shaped structure, the auxiliary plates located on both sides of the same horizontal plate respectively correspond to the inner bottom surface of the track, the auxiliary plates located at both ends of the shell are provided with inclined surfaces at the ends away from each other, and a connecting spring is provided between the adjusting electromagnet and the adjusting permanent magnet.

[0016] The present invention also provides an inspection system, including the rail-mounted inspection robot as described above, and also including a power supply system, an integrated management and control system, a belt tearing fixed-point detection and coal blockage detection system, an intelligent camera, a three-light intelligent pan-tilt video analysis and detection system, a temperature and vibration online monitoring system, a communication system, a docking station and a background algorithm server.

[0017] In addition, the present invention also provides an application of the above-mentioned inspection system in a coal transportation system.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. The present invention generates magnetic repulsion between the regulating electromagnet and the regulating permanent magnet, so that one end of the inclined surface of the auxiliary plate moves downward to fit the inner bottom surface of the track. When the shell moves, the thrust generated on the auxiliary plate cleans the coal powder on the inner bottom surface of the track.

[0020] 2. When the driving wheel slips, the present invention generates magnetic repulsion between the adjusting electromagnets on both sides of the bracket and the corresponding permanent magnets, and the auxiliary plate moves horizontally downward. The electric push rod then drives the end of the auxiliary plate to move toward the driving wheel and fit with the side of the auxiliary wheel. When the driving wheel rotates, the coal powder attached to the circumferential surface of the driving wheel can be scraped off, and then a magnetic attraction is generated between the auxiliary electromagnet and the auxiliary permanent magnet, thereby reducing the friction between the shell and the track and allowing the shell to move normally.

[0021] 3. When the shell is in a climbing state and slides down, the present invention generates magnetic repulsion between the adjusting electromagnets on both sides and the adjusting permanent magnets on both sides respectively, and the auxiliary plate moves horizontally downward to contact the inner bottom surface of the track, and then the arc plate is fitted with the auxiliary wheel. Secondly, magnetic repulsion is generated between the auxiliary electromagnet and the auxiliary permanent magnet to increase the friction between the walking unit and the track, so that the shell is in a static state, and then the electric push rod is used to make one end of the auxiliary plate contact the circumferential surface of the driving wheel, and the slipping rotation of the driving wheel is used to clean the coal powder attached to the circumferential surface, and finally the driving motor is started to make the shell move normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the shaft side structure of the present invention;

[0024] Figure 3This is a schematic diagram of the robot body structure of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the walking unit of the present invention;

[0026] Figure 5 For the present invention Figure 4 The enlarged structural diagram at A in the middle;

[0027] Figure 6 It is a schematic diagram of the structure of the cleaning unit of the present invention.

[0028] In the figure: 1. track; 2. shell; 201. vertical rod; 202. guide wheel; 3. inspection unit; 301. rotating motor; 302. fixed rod; 303. monitoring component; 4. walking unit; 401. fixed seat; 402. mounting seat; 403. driving motor; 404. driving wheel; 405. U-shaped seat; 406. auxiliary wheel; 407. electromagnetic latch; 408. arc plate; 5. limiting unit; 501. support; 502. movable seat; 503. limiting groove; 504. limiting wheel; 505. side seat; 506. limiting spring; 6. cleaning unit; 601. electric push rod; 602. horizontal plate; 603. bracket; 604. telescopic rod; 605. auxiliary plate; 606. inclined plane; 607. adjusting electromagnet; 608. adjusting permanent magnet; 609. connecting spring. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1

[0031] See also Figure 1-6 The present invention provides a rail-mounted inspection robot, comprising a rail 1 and a shell 2. The rail 1 is an "I"-shaped structure. The shell 2 is slidably fitted on the rail 1. Vertical rods 201 are symmetrically provided on both sides of the top of the shell 2. The top of the vertical rods 201 is horizontally rotatably connected with guide wheels 202. The guide wheels 202 on both sides are respectively in contact with the inner walls of the rail 1 on both sides. The guide wheels 202 are used for limiting and guiding the shell 2 during movement.

[0032] A patrol unit 3 is provided at the bottom of the shell 2, and the patrol unit 3 is used to monitor the environment in the corridor and the status of the coal conveying equipment. A walking unit 4 is provided on the top of the shell 2 for driving the shell 2 to move forward. A limit unit 5 is provided on the walking unit 4, and the limit unit 5 is used to achieve the limitation of the shell 2 in the vertical direction. Cleaning units 6 are symmetrically provided at both ends of the shell 2 for cleaning the coal powder on the bottom side of the track 1.

[0033] The inspection unit 3 includes a rotating motor 301, which is arranged at the bottom of the shell 2. The bottom output shaft of the rotating motor 301 is provided with a fixed rod 302, and the bottom end of the fixed rod 302 is provided with a monitoring component 303. The rotating motor 301 drives the monitoring component 303 to rotate through the fixed rod 302 to adjust the angle of the monitoring component 303.

[0034] The monitoring component 303 includes an edge computing module, an infrared thermal imager, a temperature and humidity sensor, a lidar, a high-definition camera and a wireless network module. The high-definition camera, infrared thermal imager and temperature and humidity sensor are used to perform appearance inspection and temperature diagnosis on various equipment in the thermal production system, and monitor the operating environment status of the equipment. The inspection data is automatically saved and analyzed and fed back using the edge computing module.

[0035] The walking unit 4 includes two symmetrically arranged fixed seats 401, and the two fixed seats 401 are respectively arranged on both sides of the interior of the shell 2. The top of the fixed seat 401 at one end is symmetrically provided with a driving motor 403 on both sides through the mounting seat 402. The output shaft of the driving motor 403 is provided with a driving wheel 404. The bottoms of the driving wheels 404 on both sides are respectively in contact with the bottom surfaces of both sides of the track 1. The driving motors 403 on both sides can realize the overall movement of the shell 2 by driving the two driving wheels 404 on the same side to rotate in the same direction, and at the same time, the guide wheel 202, the auxiliary wheel 406 and the limiting wheel 504 rotate synchronously.

[0036] A U-shaped seat 405 is symmetrically provided at the bottom of the opposite side of the two mounting seats 402, and an auxiliary wheel 406 is rotatably connected inside the U-shaped seat 405. An electromagnetic latch 407 is provided on the side of the mounting seat 402. The telescopic rod of the electromagnetic latch 407 penetrates the U-shaped seat 405 and is provided with an arc plate 408. The arc plate 408 corresponds to the auxiliary wheel 406. When the shell 2 needs to stop moving, the driving motor 403 is stopped first, and then the electromagnetic latch 407 is used to push the arc plate 408 to move toward the auxiliary wheel 406, so that the arc plate 408 is close to the circumferential surface of the auxiliary wheel 406 to prevent the auxiliary wheel 406 from rotating, thereby increasing the friction between the shell 2 and the track 1, so that the shell 2 stops moving quickly.

[0037] The limiting unit 5 includes a support 501, which is arranged on the top of the mounting seat 402. A limiting groove 503 is provided on the side of the support 501, and a movable seat 502 is slidably fitted in the limiting groove 503. The support 501 and the movable seat 502 are both L-shaped structures. The vertical side of the movable seat 502 is rotatably connected to the limiting wheel 504, and the limiting wheel 504 is in contact with the inner top surface of the track 1. A side seat 505 is provided at the inner bottom of the support 501, and a limiting spring 506 is provided between the side seat 505 and the movable seat 502. During the movement, the limiting spring 506 is always in a compressed state, and the reaction force of the limiting spring 506 on the limiting wheel 504 is utilized to realize the limitation of the shell 2 in the vertical direction.

[0038] A pressure sensor is provided between the bottom end of the limit spring 506 and the side seat 505 . The pressure sensor detects the pressure value of the limit spring 506 on the pressure sensor to indirectly determine the force exerted by the limit wheel 504 on the pressure sensor.

[0039] An auxiliary permanent magnet is disposed at the bottom of the movable seat 502 , and an auxiliary electromagnet is disposed at the top of the side seat 505 . When the auxiliary electromagnet is energized, it generates magnetic force on the movable seat 502 through the auxiliary permanent magnet.

[0040] The cleaning unit 6 includes two correspondingly arranged transverse plates 602, which are respectively arranged at the two ends of the shell 2 and located at the bottom of the track 1. An electric push rod 601 is arranged between the transverse plate 602 and the end surface of the shell 2. Brackets 603 are symmetrically arranged on both sides of the top of the transverse plate 602. The brackets 603 are L-shaped structures. The inner top of the bracket 603 is movably connected to an auxiliary plate 605 through a telescopic rod 604. The auxiliary plates 605 located on both sides of the same transverse plate 602 correspond to the inner bottom surface of the track 1 respectively. The ends of the auxiliary plates 605 located at the two ends of the shell 2 are far away from each other. An inclined surface 606 is provided, and adjusting permanent magnets 608 are provided on both sides of the auxiliary plate 605. Adjusting electromagnets 607 corresponding to the adjusting permanent magnets 608 are provided on both sides of the top of the bracket 603. A connecting spring 609 is provided between the adjusting electromagnet 607 and the adjusting permanent magnet 608. In the initial state, the cross plate 602 is in a horizontal state. When coal powder is attached to the inner bottom surface of the track 1, the inclined surface 606 at one end of the cross plate 602 in the same direction as the traveling direction moves downward to fit with the inner bottom surface of the track 1, so that the coal powder on the inner bottom surface of the track 1 can be cleaned during the traveling process.

[0041] When in use, the track 1 is laid in the coal conveying corridor near the coal conveying equipment, and the limiting wheel 504 is pressed downward, the limiting spring 506 is compressed, and the driving wheels 404 on both sides of the shell 2 slide into the inner sides of the track 1 respectively. After the limiting wheel 504 is released, the limiting wheel 504 hits the inner top surface of the track 1 on both sides under the action of the limiting spring 506, and the driving wheel 404 hits the inner bottom surface of the track 1 under the action of the shell 2's own gravity. At this time, the guide wheels 202 on both sides hit the inner walls of the track 1 on both sides, and the auxiliary wheels 406 are attached to the outer side of the track 1. The drive motor 403 is started, and the drive motors 403 located on both sides of the shell 2 drive the driving wheels 404 on both sides to rotate, so as to realize the movement of the shell 2. Because the guide wheels 202, the limiting wheels 504 and the auxiliary wheels 406 and the two driving wheels 404 at the other end are attached to the track 1, they also rotate.

[0042] During the movement, the rotating motor 301 is started to drive the monitoring assembly 303 to rotate so as to adjust the horizontal position angle of each internal monitoring component.

[0043] During the travel, the floating coal powder in the coal conveying corridor environment will be deposited more and more on the inner bottom surface of the track 1, resulting in a decrease in the distance between the upper and lower surfaces inside the track 1, so that the movable seat 502 is further approached to the side seat 505, and the limit spring 506 is further compressed, resulting in an increase in the resistance pressure of the limit wheel 504 and the drive wheel 404 on the upper and lower surfaces of one side of the track 1, thereby increasing the travel resistance of the shell 2. Therefore, the following improvements are made:

[0044] When the distance between the upper and lower surfaces on one side of the track 1 is reduced, the pressure value received by the pressure sensor is further increased. When the pressure sensor detects that its own pressure value is greater than the set threshold value, it actively determines that a large amount of coal powder is deposited on the inner bottom surface of the track 1. At this time, the cleaning unit 6 in the same direction as the travel direction is started, so that the adjusting electromagnet 607 close to the side of the inclined surface 606 is energized to generate magnetism, and a magnetic repulsion force is generated between the adjusting electromagnet 607 on this side and the adjusting permanent magnet 608 on this side, so that one end of the inclined surface 606 moves downward to fit with the inner bottom surface of the track 1, so that the coal powder attached to the inner bottom surface of the track 1 can be scraped and cleaned during the travel. Similarly, a magnetic attraction force is generated between the adjusting electromagnet 607 on this side and the adjusting permanent magnet 608, and the inclined surface 606 moves upward to fit with the inner top surface of the track 1, so that the coal powder attached to the inner top surface of the track 1 can be cleaned during the travel of the shell 2.

[0045] In addition, during the movement, coal powder will adhere to the driving wheel 404. Due to the lubrication effect of the coal powder, the driving wheel 404 of the housing 2 may slip during the movement. In order to solve the above problem:

[0046] When the system detects that the displacement of the shell 2 has not changed while the driving motor 403 is driving the driving wheel 404 to rotate, it actively determines that the driving wheel 404 has slipped. At this time, the cleaning units 6 at both ends are started at the same time, so that the adjusting electromagnets 607 on both sides of the same cleaning unit 6 are energized and generate magnetic repulsion with the corresponding adjusting permanent magnets 608. The auxiliary plate 605 moves downward in a horizontal state, and the telescopic rod 604 and the connecting spring 609 are stretched. The auxiliary plate 605 is driven to move toward one side of the driving wheel 404 by the contraction of the electric push rod 601, so that the end of the auxiliary plate 605 away from the inclined surface 606 is in contact with the middle of the circumferential surface of the auxiliary wheel 406. The end of the auxiliary plate 605 can be used to scrape off the coal powder attached to the circumferential surface of the driving wheel 404 during the rotation of the driving wheel 404. After cleaning, the auxiliary plate 605 is reset to the initial state, and the auxiliary electromagnet is started. After the auxiliary electromagnet is energized, a magnetic attraction force is generated between the auxiliary electromagnet and the auxiliary permanent magnet, that is, a downward suction force is generated on the movable seat 502, and the limiting wheel 504 still maintains contact with the inner top surface of the track 1, so that the pressure of the limiting wheel 504 on the inner top surface of the track 1 and the pressure of the driving wheel 404 on the inner bottom surface of the track 1 can be reduced, thereby reducing the friction between the shell 2 and the track 1, and then overcoming the slipping state of each driving wheel 404, so that the shell 2 can move normally.

[0047] However, when the vehicle is traveling on a sloped track and a slipping state occurs, the housing 2 may slide downward. To solve the above problem:

[0048] When the inclination sensor on the shell 2 detects that the shell 2 is in a climbing state, and when the acceleration sensor detects that the shell 2 is in a sliding state, the drive motor 403 stops working, and the cleaning units 6 on both sides are started at the same time, and a magnetic repulsion force is generated between the adjustment electromagnets 607 and the adjustment permanent magnets 608 on both sides of the bracket 603, and the magnetic repulsion force at this time is greater than the magnetic repulsion force used to solve the horizontal slip state, so that the bottom surface of the auxiliary plate 605 is closely in contact with the inner bottom surface of the track 1 to increase the friction force, and the electromagnetic latch 407 is started at the same time, so that the arc plate 408 is closely fitted with the auxiliary wheel 406 to prevent the auxiliary wheel 406 from rotating, so as to increase the auxiliary wheel 406 and the track 1. The friction between the two surfaces can effectively prevent the shell 2 from sliding further downward. When the shell 2 is in a stationary state, the extension and contraction of the electric push rod 601 is used to drive the auxiliary plate 605 to move toward the driving wheel 404, so that the end of the auxiliary plate 605 away from the inclined surface 606 contacts the circumferential surface of the driving wheel 404 to clean the coal powder attached to the circumferential surface of the driving wheel 404. After cleaning, the auxiliary plate 605 and the arc plate 408 are reset. Secondly, the auxiliary electromagnet is energized to generate magnetic repulsion between the auxiliary permanent magnet, thereby increasing the friction between the walking unit 4 and the track 1. At the same time, the driving motor 403 is started to rotate the driving wheel 404 in the direction of travel, so that the shell 2 can climb the slope normally.

[0049] Embodiment 2

[0050] This embodiment also provides an inspection system, including the rail-mounted inspection robot as described above, and also includes a power supply system, an integrated management and control system, a belt tearing fixed-point detection and coal blockage detection system, an intelligent camera, a Sanguang intelligent pan-tilt video analysis and detection system, a temperature and vibration online monitoring system, a communication system, a docking station and a background algorithm server. The integrated management and control system (equipped with a background intelligent algorithm, which performs intelligent analysis on images collected by the front-end high-definition camera and the robot, and supports cross-border / temperature / foreign matter / deviation / coal blockage identification) plays the role of system control, monitoring and fault diagnosis, communicates with each system through the communication system, and realizes cleaning and charging of the mobile robot in the docking station. The belt tearing fixed-point detection and coal blockage detection system and the Sanguang intelligent pan-tilt video analysis and detection system (including an independent edge computing module) realize image acquisition and anomaly detection at specific locations. The temperature and vibration online monitoring system and Internet of Things devices such as lidar cooperate with the collected image analysis data to jointly realize specific anomaly detection functions.

[0051] The three-light intelligent pan-tilt video analysis and detection system achieves 360-degree all-round status monitoring through the pan-tilt structure. It is equipped with dual visible light and thermal imaging image acquisition modules, and uses three-view intelligent image recognition and target positioning methods. On the basis of adjusting the physical field of view of the camera, it uses dual-view identical field of view image recognition and correction algorithms to achieve recognition and positioning of monitoring targets, improve the accuracy of target recognition rate and positioning accuracy, and combine the design of edge computing modules with various detection algorithms as the core, integrating high frame rate visible light shooting and imaging technology, machine vision feature extraction technology, and cooperating with fill light equipment to achieve real-time intelligent detection and early warning of the conveyor operation status.

[0052] When the inspection system in Example 1 is applied in a coal transportation system, the inspection robot can achieve a maximum walking speed of 1m / s by being equipped with a high-power motor, thereby improving the inspection efficiency. The inspection robot records its position in real time whether it is walking or stopped, and sends the position information to the monitoring center. The staff can intuitively know the location of the inspection robot on site and the next inspection point it will go to. At the same time, the inspection robot will calculate the walking distance based on the current remaining power, determine whether it can complete the remaining inspection route, and independently choose the time to pause the task and return to charge. After being fully charged, it will continue to perform the previous task to achieve 24-hour intelligent unmanned automatic inspection.

[0053] Smart cameras are installed on the coal conveyor belt to realize deviation detection, foreign object detection, cross-boundary detection, coal blockage detection, etc. related to the coal conveying system. The smart cameras complete the video image acquisition of the on-site environment and equipment, and the corresponding pictures and videos are collected by the front-end high-speed smart detection camera, which are transmitted to the background server through the communication system. The algorithm server makes detection judgments through artificial intelligence analysis and issues alarms or actions.

[0054] The system collects video images from smart cameras, sets virtual deviation recognition lines on the video images, performs line analysis on the video images, and promptly issues an alarm when deviation occurs. If a serious deviation occurs, the machine will be shut down immediately.

[0055] The system collects video images from smart cameras and analyzes the objects that appear in the video images. When the detected objects are wooden sticks, steel pipes, or large stones, the system will immediately sound an alarm. If the size of the above foreign objects exceeds the standard size, the system will shut down. Multi-target dynamic detection supports automatic recognition and learning, and supports the detection of large and small objects and special objects. The alarm level can be increased for specific forms.

[0056] The system collects video images from smart cameras, sets virtual tilt recognition lines on the video images, and performs line-crossing analysis on the video images. It promptly issues an alarm when tilt crosses the line and shuts down the machine in an emergency when the tilt is severe.

[0057] An online temperature and vibration monitoring system is installed on the coal handling equipment, which transmits wirelessly to the AI ​​server to monitor the rotation and operation of drums, motors and other host equipment in the area in real time, reducing the workload of on-site inspection personnel.

[0058] While the smart camera collects images for visual algorithm analysis, the accompanying laser radar continuously scans the belt surface, using the characteristic that the laser beam will undergo severe deformation at the cracks caused by longitudinal tearing, and performs breakpoint detection through a visual algorithm. When the comprehensive change characteristics of the laser stripes exceed the set threshold, it is considered that the belt has longitudinal tearing.

[0059] The system uses the collected video images and laser radar to analyze the coal accumulation. The supporting laser radar simultaneously determines whether there is any obstruction at the limit position of the coal pile, and determines whether coal blockage has occurred based on the comprehensive visual analysis results. When coal blockage occurs, an alarm is issued in time. When coal blockage occurs at the discharge ports on both sides of the coal plow, the coal plow is controlled to lift up. The image acquisition equipment is synchronously used with the laser radar to detect the coal position to improve the accuracy of coal blockage judgment.

[0060] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A rail-mounted inspection robot, comprising a rail (1) and a housing (2), characterized in that: The shell (2) is slidably fitted on the track (1); a patrol unit (3) is provided at the bottom of the shell (2); a walking unit (4) is provided at the top of the shell (2); a limit unit (5) is provided on the walking unit (4); and cleaning units (6) are symmetrically provided at both ends of the shell (2); The walking unit (4) comprises two symmetrically arranged fixing seats (401), and driving motors (403) are symmetrically arranged on both sides of the top of the fixing seat (401) at one end thereof through a mounting seat (402), and the output shaft of the driving motor (403) is provided with a driving wheel (404); The limiting unit (5) comprises a support (501), a limiting groove (503) is provided on the side of the support (501), a movable seat (502) is slidably fitted in the limiting groove (503), a vertical side of the movable seat (502) is rotatably connected to a limiting wheel (504), a side seat (505) is provided at the inner bottom of the support (501), and a limiting spring (506) is provided between the side seat (505) and the movable seat (502); The cleaning unit (6) comprises two correspondingly arranged transverse plates (602), an electric push rod (601) is arranged between the transverse plate (602) and the end surface of the shell (2), brackets (603) are symmetrically arranged on both sides of the top of the transverse plate (602), the inner top of the bracket (603) is movably connected to an auxiliary plate (605) through a telescopic rod (604), and both sides of the auxiliary plate (605) are provided with adjustment permanent magnets (608), and both sides of the top of the bracket (603) are provided with adjustment electromagnets (607) corresponding to the adjustment permanent magnets (608).

2. The rail-mounted inspection robot according to claim 1, characterized in that: The track (1) is an "I"-shaped structure, and vertical rods (201) are symmetrically provided on both sides of the top of the shell (2), and the top of the vertical rod (201) is horizontally rotatably connected to a guide wheel (202), and the guide wheels (202) on both sides are respectively in contact with the inner walls of both sides of the track (1).

3. The rail-mounted inspection robot according to claim 1, characterized in that: The inspection unit (3) comprises a rotating motor (301), the rotating motor (301) is arranged at the bottom of the housing (2), the bottom output shaft of the rotating motor (301) is provided with a fixing rod (302), the bottom end of the fixing rod (302) is provided with a monitoring component (303), and the monitoring component (303) comprises an edge computing module, an infrared thermal imager, a temperature and humidity sensor, a laser radar, a high-definition camera and a wireless network module.

4. The rail-mounted inspection robot according to claim 1, characterized in that: The two fixing seats (401) are respectively arranged on two sides of the interior of the housing (2), and the bottoms of the driving wheels (404) on both sides are respectively in contact with the bottom surfaces on both sides of the track (1); A U-shaped seat (405) is symmetrically arranged at the bottom of the opposite side of the two mounting seats (402), an auxiliary wheel (406) is rotatably connected inside the U-shaped seat (405), an electromagnetic latch (407) is arranged on the side of the mounting seat (402), a telescopic rod of the electromagnetic latch (407) penetrates the U-shaped seat (405) and is provided with an arc plate (408), and the arc plate (408) corresponds to the auxiliary wheel (406).

5. The rail-mounted inspection robot according to claim 1, characterized in that: The support (501) and the movable seat (502) are both L-shaped structures. The support (501) is arranged on the top of the mounting seat (402). An auxiliary permanent magnet is arranged at the bottom of the movable seat (502). An auxiliary electromagnet is arranged at the top of the side seat (505). The limiting wheel (504) is in contact with the inner top surface of the track (1). A pressure sensor is arranged between the bottom end of the limiting spring (506) and the side seat (505).

6. The rail-mounted inspection robot according to claim 1, characterized in that: The two transverse plates (602) are respectively arranged at the two ends of the shell (2) and located at the bottom of the track (1); the bracket (603) is an L-shaped structure; the auxiliary plates (605) located on both sides of the same transverse plate (602) respectively correspond to the inner bottom surface of the track (1); the ends of the auxiliary plates (605) located at the two ends of the shell (2) that are away from each other are provided with inclined surfaces (606); and a connecting spring (609) is provided between the adjusting electromagnet (607) and the adjusting permanent magnet (608).

7. An inspection system, comprising the rail-mounted inspection robot according to any one of claims 1 to 6, characterized in that: It also includes power supply system, integrated management and control system, belt tearing fixed-point detection and coal blockage detection system, intelligent camera, Sanguang intelligent pan-tilt video analysis and detection system, temperature and vibration online monitoring system, communication system, docking station and background algorithm server.

8. Application of the inspection system as claimed in claim 7 in a coal transportation system.

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