Belt inspection robot system

Abstract

The invention provides a belt inspection robot system, and relates to the technical field of safety inspection, the belt inspection robot system comprises a robot, a track and a remote control station, the robot moves along the track, one end of the track is provided with a charging unit and a traction device, and base stations are distributed along the track; a walking module, a charging control module, a central control module, a multi-parameter acquisition module and a communication module are arranged in the robot, and the central control module is used for receiving acquisition information transmitted by the multi-parameter acquisition module and transmitting the acquisition information to a remote control station through the communication module and a base station; the remote control station is used for controlling the robot in real time and analyzing and storing data, images and sound transmitted by the base station in real time. According to the invention, continuous 24-hour automatic inspection is realized; multiple parameters such as images, sound, gas and temperature can be acquired and judged at the same time; various database models are automatically established, and automatic analogy is facilitated; and the inspection efficiency in a complex environment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of safety inspection, and in particular to a belt inspection robot system. Background Art

[0002] At present, most of the inspection and maintenance work in places such as large conveyor belt conveyor tunnels and coal corridors of coal washing plants relies on manual regular inspections and on-site guarding. In addition to safety factors, manual inspections also have many problems: first, the environment is complex, the space is small, and water accumulation is common, which hinders and interferes with manual inspections; second, it is easily affected by personal experience, emotions, and subjective consciousness; third, the frequency is low and the intervals are long, and equipment failures cannot be discovered in time; fourth, manual inspections cannot be performed during equipment operation; fifth, the data obtained manually is difficult to form a system and has low reference value.

[0003] Therefore, based on the above problems existing in manual inspection, the present invention provides a belt inspection robot based on digital information collection and control. Summary of the invention

[0004] According to the above technical problems of safety in manual inspection, a belt inspection robot system is provided. The present invention mainly uses a robot suspended on a track to reciprocate in the lane. It is equipped with a variety of sensors to collect real-time images, sounds, infrared thermal images and temperature data, smoke, various gas concentrations and other parameters of the scene; through data analysis, it can judge equipment failures and fault locations, completely replace manual inspections, reduce labor risks, and improve the level of intelligent management.

[0005] The technical means adopted by the present invention are as follows:

[0006] A belt inspection robot system comprises a robot, a track and a remote control station, wherein the robot moves along the track, a charging unit and a traction device are installed at one end of the track, and base stations are distributed along the track;

[0007] The robot is internally provided with a walking module, a charging control module, a central control module, a multi-parameter acquisition module and a communication module. The central control module is used to receive the acquisition information transmitted by the multi-parameter acquisition module, and transmit the acquisition information to the remote control station through the communication module and the base station; the remote control station is used to control the robot in real time, and analyze and store the data, images and sounds transmitted from the base station in real time.

[0008] Furthermore, the charging module is used to supply power to the walking module, the central control module, the multi-parameter acquisition module and the communication module. The central control module is respectively connected to the walking module, the multi-parameter acquisition module and the communication module by signal; the communication module is connected to the base station by signal, and the base station is connected to the remote control station by signal;

[0009] The multi-parameter acquisition module includes an infrared thermal imaging sensor, a smoke sensor, a gas sensor, an audio sensor, and a 360-degree video instrument, and the various sensors and video instruments have a dormant state and a working state. Furthermore, the robot walks along the track in a suspended walking mode, and the power mode adopts a traction drive or a self-propelled drive;

[0010] The traction drive adopts a traction device, which includes an AC motor, a reducer, a transmission wheel, a frequency converter, a control host and a wireless charging controller;

[0011] The self-propelled vehicle is driven by a walking module, which includes a DC motor, a reducer, a transmission wheel, a motor controller and a wireless charging controller.

[0012] Furthermore, a shell is provided outside the robot, a driving device and an upper cover plate are provided at the upper end of the robot, supporting and guiding devices are provided on both sides of the driving device, an encoder is connected to the supporting and guiding device at the rear end, a clamping device is provided at the lower end of the driving device, and a preload force sensor is provided on the clamping device.

[0013] Furthermore, a main switch and an audible and visual alarm are provided on the outer shell of the robot; a pan / tilt platform, a protection switch and a front obstacle avoidance sensor are provided at the front end of the robot; a dual-frequency omnidirectional antenna, a charging switch, a manual charging port and a rear obstacle avoidance sensor are provided at the rear end of the robot; and a number of corridor lights are provided around the outer shell of the robot.

[0014] Furthermore, the base station adopts a camera-communication integrated machine, which is not only a network high-definition camera, but also a communication base station and a small switch.

[0015] Furthermore, the base station adopts a modular design, and the base station has a built-in high-definition blacklight-level network camera, a switching module and a dual-antenna WIFI AP to achieve roaming network coverage, wireless communication and high-definition video monitoring.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. The inspection robot of the present invention is equipped with an infrared thermal imager to obtain infrared thermal images of the inspected equipment in real time, store and analyze the heating conditions of the inspected equipment, and warn of abnormal temperatures of belt motors, reducers, rollers, rollers, front and rear axles of water pumps, cables along the lanes, etc.; the inspection robot is equipped with an audio sensor to collect sounds from the inspection site in real time, identify abnormal sounds through autonomous learning and give alarms, and realize two-way voice intercom between the platform and on-site personnel through high-gain microphones and high-decibel speakers; the robot is equipped with a smoke sensor to realize smoke detection and alarm in the inspection lanes; the robot is equipped with a CH4 methane sensor, a carbon monoxide sensor, an oxygen sensor, a temperature and humidity sensor, and can detect environmental energy in real time to prevent safety accidents.

[0018] 2. The inspection robot of the present invention is equipped with obstacle avoidance sensors at the front and rear, which can sense obstacles and has the characteristics of fast response and high sensitivity; the inspection robot is equipped with an encoder and unique navigation and positioning technology, which can achieve centimeter-level positioning, making the robot positioning alarm more accurate.

[0019] 3. The present invention can query the real-time status, historical records, abnormal records and other information transmitted by the inspection robot through the host computer.

[0020] 4. The present invention realizes 24-hour continuous automatic inspection; avoids the expansion of harmful factors caused by no inspection during the production process; realizes the simultaneous collection and judgment of multiple parameters such as images, sounds, gases, and temperature; realizes the automatic establishment of various database models to facilitate automatic analogy; improves the inspection efficiency in complex environments; avoids dangerous factors caused by personnel inspections during the production process; and improves the level of modernization of management. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 This is a schematic diagram of the traction walking system.

[0023] Figure 2 Schematic diagram of the self-propelled system.

[0024] Figure 3 It is a schematic diagram of the inspection robot main body device in the present invention.

[0025] Figure 4 It is a side view of the inspection robot body device in the present invention.

[0026] Figure 5 This is a workflow diagram of the inspection robot in the present invention.

[0027] In the figure: 1. robot; 11. upper cover; 12. support guide device; 13. drive device; 14. encoder; 15. dual-frequency omnidirectional antenna; 16. shell; 17. clamping device; 18. preload sensor; 19. main switch; 110. sound and light alarm; 111. pan / tilt; 112. front obstacle avoidance sensor; 113. protection switch; 114. charging switch; 115. manual charging port; 116. rear obstacle avoidance sensor; 117. corridor light; 2. track; 3. remote control station; 4. base station; 5. traction device; 6. charging unit. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0032] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0033] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0034] like Figure 1-5 As shown, the present invention provides a belt inspection robot system, including a robot 1, a track 2 and a remote control station 3. The robot 1 is suspended on the track 2 and reciprocates in the lane. A charging unit 6 and a traction device 5 are installed at one end of the track 2. Base stations 4 are distributed along the track 2.

[0035] The robot 1 is internally provided with a walking module, a charging control module, a central control module, a multi-parameter acquisition module and a communication module. The central control module is used to receive the acquisition information transmitted by the multi-parameter acquisition module, and transmit the acquisition information to the remote control station 3 through the communication module and the base station 4; the remote control station 3 is used to control the robot 1 in real time, and analyze and store the data, images and sounds transmitted from the base station 4 in real time.

[0036] The charging module is used to supply power to the walking module, the central control module, the multi-parameter acquisition module and the communication module. The central control module is respectively connected to the walking module, the multi-parameter acquisition module and the communication module by signal; the communication module is connected to the base station 4 by signal, and the base station 4 is connected to the remote control station 3 by signal;

[0037] The multi-parameter acquisition module includes infrared thermal imaging sensors, smoke sensors, gas sensors, audio sensors, and 360-degree video devices. Various sensors and video devices have sleep and working states. The multi-parameter acquisition module can expand the acquisition, judgment or monitoring of multiple parameters such as video, smoke, gas, temperature, audio, thermal imaging, speaker playback, and ultrasonic obstacle avoidance through the extended application of Internet of Things technology.

[0038] The robot walks along the track 2 in a suspended walking manner, and the power mode adopts traction drive or self-propelled drive;

[0039] The traction drive adopts a traction device 5, which includes an AC motor, a reducer, a transmission wheel, a frequency converter, a control host and a wireless charging controller;

[0040] The self-propelled vehicle is driven by a walking module, which includes a DC motor, a reducer, a transmission wheel, a motor controller and a wireless charging controller.

[0041] Base Station 4 is a camera and communication all-in-one machine, which is not only a network HD camera, but also a communication base station 4 and a small switch. Base Station 4 adopts modular design, with built-in HD blacklight-level network camera, switching module and dual-antenna WIFI AP to achieve roaming network coverage, wireless communication and HD video surveillance.

[0042] The robot 1 is provided with a shell 16 as an outer shell protection. The upper end of the robot 1 is provided with a driving device 13 and an upper cover plate 11. The driving device 13 provides power for the robot 1 to move, and the upper cover plate 11 has the functions of sealing, waterproofing and dustproofing. Support guide devices 12 are respectively provided on both sides of the driving device 13 to turn, guide and support the robot 1. An encoder 14 is connected to the rear end support guide device 12 to provide accurate walking position and speed feedback for the robot 1. A clamping device 17 is provided at the lower end of the driving device 13 to provide clamping force for the driving device 13, which is used to clamp the track 2 and stabilize the robot. A preload sensor 18 is provided on the clamping device 17 to detect the clamping force in real time. If the clamping force becomes smaller, an alarm signal will be transmitted to the remote control station 3.

[0043] A main switch 19 and an audible and visual alarm 110 are provided on the outer shell 16 of the robot 1. The main switch 19 is used to control the power on and off of the robot 1; the audible and visual alarm 110 is used to warn people when danger occurs, reminding them that there is danger, allowing them to evacuate safely, and ensuring their lives.

[0044] The front end of the robot 1 is provided with a pan-tilt 111, a protection switch 113 and a front obstacle avoidance sensor 112; the pan-tilt 111 is a thermal imaging dual-spectrum pan-tilt camera, which provides thermal imaging and high-definition camera functions; the front obstacle avoidance sensor 112 is used to detect whether there is an obstacle when the robot 1 is driving, to prevent the robot 1 from colliding with the obstacle, and the robot 1 immediately turns back when an obstacle is detected; the protection switch 113 is normally closed to prevent the robot 1 from running out of the track due to excessive speed and not reading the label. If the protection switch 113 is triggered and the robot 1 is powered off, it only needs to be moved to the normal driving range and restarted;

[0045] The rear end of the robot 1 is provided with a dual-frequency omnidirectional antenna 15, a charging switch 114, a manual charging port 115 and a rear obstacle avoidance sensor 116; the charging switch 114 is used by the robot 1 to confirm that it has reached the designated charging position and prevent the robot from running out of the track in the forward direction, one at the front and one at the back; the manual charging port 115 is used as an emergency charging port to prevent the charging unit 6 from malfunctioning and other problems that make it impossible to continue charging the robot 1; the rear obstacle avoidance sensor 116 has the same function as the front obstacle avoidance sensor 112;

[0046] A plurality of corridor lights 117 are arranged around the outer shell of the robot 1 to observe the current position of the robot 1 and detect whether the robot 1 is powered after the main switch 9 of the robot is pressed.

[0047] The inspection robot 1 should be deployed in high-altitude corridors, tunnels, lanes and other environmental places.

[0048] 1. Sensor type of inspection robot 1

[0049] The robot is equipped with a variety of intelligent sensors such as infrared thermal imaging sensors, gas sensors, audio sensors, 360-degree video cameras, etc., which can collect, store and transmit on-site images, sounds, temperature, smoke, methane and other data in real time. Through data analysis, it can determine equipment failures and fault locations:

[0050] ① Visual sensing

[0051] The telephoto visible light camera, combined with high resolution and 360-degree pan / tilt, can provide a comprehensive view of the on-site situation.

[0052] ②Temperature sensor

[0053] Thermal imaging enables non-contact temperature measurement and alarms for over-temperature areas.

[0054] ③Gas Sensing

[0055] Multi-parameter gas sensor, measuring multiple gas data simultaneously.

[0056] ④ Sound sensor

[0057] The microphone array can realize automatic recognition and positioning of abnormal sounds, effectively judge various abnormal sounds on site, and monitor equipment and on-site environment abnormalities at the same time.

[0058] 2. Power-on self-test: including starting the host computer, i.e. remote control station 3, and setting robot commands and parameters;

[0059] 3. Inspection mode of inspection robot

[0060] Automatic mode: including abnormally high temperatures of cables and equipment; abnormal temperature changes in local spaces and sudden abnormal gas changes; whether the belt conveyor rollers and drums are damaged; sudden abnormal noises such as sudden explosions, friction, and impacts; illegal stays in areas where personnel are strictly prohibited; deformation of the roof and side walls; voice warning prompts in different post areas; and deviation of the conveyor belt.

[0061] Manual mode includes remote and on-site video call command operations; remote control robot pointing for lighting; remote control robot pointing for temperature measurement.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A belt inspection robot system, characterized in that: The invention comprises a robot (1), a track (2) and a remote control station (3), wherein the robot (1) moves along the track (2), a charging unit (6) and a traction device (5) are installed at one end of the track (2), and base stations (4) are distributed along the track (2); The robot (1) is internally provided with a walking module, a charging control module, a central control module, a multi-parameter acquisition module and a communication module, wherein the central control module is used to receive acquisition information transmitted by the multi-parameter acquisition module and transmit the acquisition information to the remote control station (3) via the communication module and the base station (4); The remote control station (3) is used to control the robot (1) in real time, and to analyze and store the data, images and sounds transmitted from the base station (4) in real time.

2. The belt inspection robot system according to claim 1, characterized in that: The charging module is used to supply power to the walking module, the central control module, the multi-parameter acquisition module and the communication module. The central control module is respectively connected to the walking module, the multi-parameter acquisition module and the communication module by signal. The communication module is connected to the base station (4) by signal, and the base station (4) is connected to the remote control station (3) by signal. The multi-parameter acquisition module includes an infrared thermal imaging sensor, a smoke sensor, a gas sensor, an audio sensor, and a 360-degree video instrument. Various sensors and video instruments have a sleep state and a working state.

3. The belt inspection robot system according to claim 1, characterized in that: The robot walks along the track (2) in a suspended walking manner, and the power mode is traction drive or self-propelled drive; The traction drive adopts a traction device (5), wherein the traction device (5) comprises an AC motor, a reducer, a transmission wheel, a frequency converter, a control host and a wireless charging controller; The self-propelled vehicle is driven by a walking module, which includes a DC motor, a reducer, a transmission wheel, a motor controller and a wireless charging controller.

4. The belt inspection robot system according to claim 1, characterized in that: The robot (1) is provided with a shell (16) outside, a driving device (13) and an upper cover plate (11) are provided at the upper end of the robot (1), supporting guide devices (12) are provided on both sides of the driving device (13), an encoder (14) is connected to the supporting guide device (12) at the rear end, a clamping device (17) is provided at the lower end of the driving device (13) for clamping the track (2), and a preload force sensor (18) is provided on the clamping device (17).

5. The belt inspection robot system according to claim 4, characterized in that: The outer shell (16) of the robot (1) is provided with a main switch (19) and an audible and visual alarm (110); the front end of the robot (1) is provided with a pan / tilt platform (111), a protection switch (113) and a front obstacle avoidance sensor (112); the rear end of the robot (1) is provided with a dual-frequency omnidirectional antenna (15), a charging switch (114), a manual charging port (115) and a rear obstacle avoidance sensor (116); and a plurality of corridor indicator lights (117) are respectively provided around the outer shell of the robot (1).

6. The belt inspection robot system according to claim 1, characterized in that: The base station (4) is a camera-communication integrated machine, which is not only a network high-definition camera, but also a communication base station and a small switch.

7. The belt inspection robot system according to claim 6, characterized in that: The base station (4) adopts a modular design, and the base station (4) has a built-in high-definition black light-level network camera, a switching module and a dual-antenna WIFIAP to achieve roaming network coverage, wireless communication and high-definition video monitoring.

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