Power plant coal conveying robot inspection control system based on industrial internet

Abstract

The invention discloses a power plant coal conveying robot inspection control system based on the industrial internet. The inspection control system comprises a plurality of inspection subsystems and a server group, the inspection subsystems and the coal conveying trestles are arranged in a one-to-one correspondence mode, and each inspection subsystem comprises a track arranged above a belt assembly of the corresponding coal conveying trestle; the inspection robot is arranged on the track and can move along the track; the plurality of first cameras are arranged along the belt assembly, and each first camera is used for acquiring a belt image of the corresponding position of the belt assembly; and the local processing assembly is in wireless communication connection with the inspection robot, the local processing assembly is in communication connection with the multiple first cameras and the server group, and the local processing assembly is configured to generate belt tearing detection information based on the belt image and send the belt tearing detection information to the server group. According to the inspection control system, belt tearing detection can be carried out, and the safety of the production environment is improved.

Description

Technical Field

[0001] The present application relates to the field of patrol control, and in particular to a patrol control system of a coal handling robot in a power plant based on the industrial Internet. Background Art

[0002] During coal transportation in power plants, inspection robots are usually installed to inspect the coal transportation area and improve the safety of industrial production.

[0003] The current inspection system does not monitor belt tearing, which creates safety hazards in the power plant's coal transportation system. Summary of the invention

[0004] The present application provides a power plant coal conveying robot inspection and control system based on the industrial Internet, which can perform belt tear detection and synchronize the belt tear detection information to a server group to improve the safety of the production environment.

[0005] An embodiment of the present application provides a power plant coal conveying robot inspection and control system based on the industrial Internet, including multiple inspection subsystems and a server group, wherein the multiple inspection subsystems are arranged in a one-to-one correspondence with multiple coal conveying trestles, and each of the inspection subsystems includes: a track, arranged above the belt assembly corresponding to the coal conveying trestles; an inspection robot, arranged on the track and movable along the track; multiple first cameras, arranged along the belt assembly, each of the first cameras being used to obtain a belt image at a corresponding position of the belt assembly; a local processing component, wirelessly connected to the inspection robot, the local processing component is communicatively connected to the multiple first cameras and the server group, and the local processing component is configured to generate belt tear detection information based on the belt image and send it to the server group.

[0006] According to the aforementioned embodiment of the present application, the belt of the belt assembly is surrounded in a loop closed shape, the belt has a transmission surface for carrying materials and a back side opposite to the transmission surface, the belt has an upper belt part and a lower belt part arranged opposite to each other, the first camera is located between the upper belt part and the lower belt part and is arranged toward the back side, the first camera can obtain a belt image of the back side at a corresponding position of the belt assembly, and the local processing component is configured to: based on the belt image and the reference belt image, identify a tear area in the belt image; compare the tear area with a preset tear threshold size, and generate a belt tear alarm information when the size of the tear area is greater than or equal to the tear threshold size; send the belt tear alarm information and the belt image corresponding to the belt tear alarm information to the server group.

[0007] According to any of the aforementioned embodiments of the present application, each of the inspection subsystems further includes: a second camera, disposed above the belt assembly, the second camera being capable of acquiring an actual belt direction of the belt assembly, the second camera being communicatively connected to the local processing component, the local processing component being configured to generate belt deviation detection information based on the actual belt direction and send the information to the server group.

[0008] According to any of the aforementioned embodiments of the present application, the inspection robot includes an onboard camera, which can obtain the actual belt direction of the belt assembly in a first preset mode, and the onboard camera is communicatively connected to the local processing component, and the local processing component is configured to generate belt deviation detection information based on the actual belt direction and send it to the server group.

[0009] According to any of the aforementioned embodiments of the present application, the local processing component is configured to: obtain an actual offset of the actual belt direction relative to the reference belt direction based on the actual belt direction and a preset reference belt direction; generate a belt deviation alarm message when the actual offset is greater than or equal to a preset offset threshold; and send the belt deviation alarm message and the actual offset to the server group.

[0010] According to any of the aforementioned embodiments of the present application, the inspection robot includes an infrared thermal imaging temperature measurement module, and the infrared thermal imaging temperature measurement module can obtain an infrared temperature measurement image of a preset monitoring position on the belt assembly in a second preset mode. The infrared thermal imaging temperature measurement module is communicatively connected to the local processing component, and the local processing component is configured to send the infrared temperature measurement image to the server group; the local processing component is also configured to: based on the corresponding temperature thresholds preset at different preset monitoring positions, obtain the highest temperature information in the infrared temperature measurement image, and when the highest temperature information is greater than or equal to the temperature threshold corresponding to the preset monitoring position, generate a temperature alarm information and send it to the server group.

[0011] According to any of the foregoing embodiments of the present application, the inspection robot includes an onboard camera, which can obtain the material image on the belt assembly in a third preset mode, and the onboard camera is communicatively connected to the local processing component, and the local processing component is configured to obtain foreign object detection information based on the material image recognition and send it to the server group.

[0012] According to any of the aforementioned embodiments of the present application, the inspection robot includes a multidimensional sensor module, and the multidimensional sensor module includes at least two of a methane concentration sensor, a carbon monoxide concentration sensor, a sulfur dioxide concentration sensor, a smoke concentration sensor or a dust concentration sensor. The multidimensional sensor module is communicatively connected to the local processing component, and the local processing component is configured to send the detection information of the multidimensional sensor module to the server group.

[0013] According to any of the foregoing embodiments of the present application, the coal conveyor trestle also includes a drive motor and a reducer, and the drive motor is transmission-connected to the belt assembly via the reducer, and each of the inspection subsystems also includes: a composite sensor installed on the drive motor and / or the reducer, and the composite sensor can detect and obtain equipment temperature information and equipment vibration information of the drive motor and / or the reducer, and the composite sensor is electrically connected to the local processing component, and the local processing component is configured to send the equipment temperature information and the equipment vibration information to the server group.

[0014] According to any of the aforementioned embodiments of the present application, the power plant coal handling robot inspection and control system based on the industrial Internet also includes: a display device, electrically connected to the server group; and a monitoring terminal, communicatively connected to the server group.

[0015] According to the patrol control system of the coal handling robot of the power plant based on the industrial Internet of the embodiment of the present application, it includes multiple patrol subsystems and server groups, each patrol subsystem includes multiple first cameras and local processing components, and the local processing components are connected to the multiple first cameras and the server group in communication. The local processing component is configured to generate belt tear detection information based on the belt image and send it to the server group. Multiple first cameras are arranged along the belt assembly, and each first camera is used to obtain the belt image of the corresponding position of the belt assembly. The local processing component can generate belt tear detection information based on the belt image and send it to the server group. Therefore, the above-mentioned patrol control system of the coal handling robot of the power plant based on the industrial Internet can perform belt tear detection on the belt of the belt assembly, and can synchronize the acquired belt tear detection information to the server group, so that the staff can grasp the relevant information in time when the belt has a tear with safety hazards, thereby improving the safety of the production environment. The local processing components of multiple patrol subsystems are all connected to the server group in communication, so as to facilitate the grasp of the belt tear detection information at multiple coal handling trestle bridges and improve the convenience of information acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application 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 only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0017] Figure 1 This is a structural schematic diagram of an embodiment of a power plant coal handling robot inspection and control system based on the industrial Internet in this application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0019] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0021] An embodiment of the present application provides a power plant coal transport robot inspection and control system based on the Industrial Internet. Figure 1 This is a schematic diagram of the structure of an embodiment of the power plant coal handling robot inspection and control system based on the industrial Internet of this application. The power plant coal handling robot inspection and control system based on the industrial Internet includes multiple inspection subsystems 100 and a server group 200. The multiple inspection subsystems 100 are arranged in a one-to-one correspondence with multiple coal handling trestle bridges. The number of coal handling trestle bridges is, for example, five, six or eight, or other numbers. The number of inspection subsystems 100 is the same as that of coal handling trestle bridges.

[0022] Each inspection subsystem 100 includes a track, an inspection robot 110, a plurality of first cameras 130, and a local processing component 120. The track is arranged above the belt assembly corresponding to the coal conveying trestle. The inspection robot 110 is arranged on the track and can move along the track. The plurality of first cameras 130 are arranged along the belt assembly, and each first camera 130 is used to obtain a belt image at a corresponding position of the belt assembly.

[0023] The local processing component 120 is wirelessly connected to the inspection robot 110, and is also communicatively connected to the plurality of first cameras 130 and the server group 200. The local processing component 120 is configured to generate belt tear detection information based on the belt image and send the information to the server group 200.

[0024] In some embodiments, the local processing component 120 includes a local algorithm host and a local integrated control box. In some embodiments, the local processing component 120 also includes a network control box.

[0025] During the material conveying process of the belt assembly, the belt is easily torn due to uneven force, foreign matter jamming, etc. In the entire material transportation process, the belt is the weakest point, and the belt cost accounts for more than 40% of the transportation equipment. The failure of the belt may cause great economic losses.

[0026] According to the patrol control system of the coal handling robot of a power plant based on the industrial Internet in the embodiment of the present application, it includes a plurality of patrol subsystems 100 and a server group 200, each patrol subsystem 100 includes a plurality of first cameras 130 and a local processing component 120, and the local processing component 120 is connected in communication with the plurality of first cameras 130 and the server group 200. The local processing component 120 is configured to generate belt tear detection information based on the belt image and send it to the server group 200. The plurality of first cameras 130 are arranged along the belt assembly, and each first camera 130 is used to obtain a belt image at a corresponding position of the belt assembly, and the local processing component 120 can generate belt tear detection information based on the belt image and send it to the server group 200. Therefore, the patrol control system of the coal handling robot of a power plant based on the industrial Internet can perform belt tear detection on the belt of the belt assembly, and can synchronize the acquired belt tear detection information to the server group 200, so that the staff can grasp the relevant information in time when the belt is torn with a safety hazard, thereby improving the safety of the production environment. The local processing components 120 of the multiple inspection subsystems 100 are all connected to the server group 200 for communication, thereby facilitating the acquisition of belt tear detection information at multiple coal transport trestles and improving the convenience of information acquisition.

[0027] In some embodiments, the belt of the belt assembly is in a closed loop shape, the belt has a transmission surface for carrying materials and a back surface opposite to the transmission surface, and the belt has an upper belt portion and a lower belt portion that are arranged opposite to each other. The first camera 130 is located between the upper belt portion and the lower belt portion and is arranged toward the back surface, and the first camera 130 can obtain a belt image of the back surface of the corresponding position of the belt assembly.

[0028] In some embodiments, the local processing component 120 is configured to: identify a tear region in the belt image based on the belt image and the reference belt image; compare the tear region with a preset tear threshold size, and generate a belt tear alarm message when the size of the tear region is greater than or equal to the tear threshold size; and send the belt tear alarm message and the belt image corresponding to the belt tear alarm message to the server group 200. The local processing component 120 can analyze the belt image to determine whether there is a tear region in the belt image, and when the tear region reaches a preset degree, analyze and obtain the belt tear alarm message, so as to warn the staff through the belt tear alarm message, timely warn of safety hazards, and improve production safety.

[0029] In some embodiments, each inspection subsystem 100 further includes a second camera 140, which is disposed above the belt assembly and can obtain the actual belt direction of the belt assembly. The second camera 140 is in communication with the local processing component 120, and the local processing component 120 is configured to generate belt deviation detection information based on the actual belt direction and send it to the server group 200.

[0030] The second camera 140 can be installed above the belt assembly by means of a mounting frame or the like. The number of the second camera 140 can be multiple.

[0031] In some embodiments, the inspection robot 110 includes an onboard camera 111. The onboard camera 111 can obtain the actual belt direction of the belt assembly in the first preset mode. The onboard camera 111 is in communication connection with the local processing component 120. The local processing component 120 is configured to generate belt deviation detection information based on the actual belt direction and send it to the server group 200.

[0032] In some embodiments, the local processing component 120 is configured to: obtain an actual offset of the actual belt direction relative to a reference belt direction based on the actual belt direction and a preset reference belt direction; generate a belt deviation alarm message when the actual offset is greater than or equal to a preset offset threshold; and send the belt deviation alarm message and the actual offset to the server group 200.

[0033] In some embodiments, the actual offset of the actual belt direction relative to the reference belt direction may be an angle offset or a displacement offset. By setting the position of the second camera 140, or controlling the inspection robot 110 to move to a specific position in the first preset mode, the user can customize the belt deviation identification selection point. When the actual belt direction deviates beyond the offset threshold during the production process, the inspection control system can automatically identify the abnormal situation and alarm.

[0034] In some embodiments, the inspection robot 110 includes an infrared thermal imaging temperature measurement module 112. The infrared thermal imaging temperature measurement module 112 can obtain an infrared temperature measurement image of a preset monitoring position on the belt assembly in the second preset mode. The infrared thermal imaging temperature measurement module 112 is communicatively connected to the local processing component 120. The local processing component 120 is configured to send the infrared temperature measurement image to the server group 200. The local processing component 120 can send the infrared temperature measurement image to the server group 200 in real time, so that the user can view the real-time temperature of any position of the infrared temperature measurement image, and can record and take pictures of the infrared temperature measurement image for easy analysis.

[0035] In some embodiments, the local processing component 120 is further configured to: obtain the highest temperature information in the infrared temperature measurement image based on the corresponding temperature thresholds preset at different preset monitoring locations, and generate temperature alarm information and send it to the server group 200 when the highest temperature information is greater than or equal to the temperature threshold of the corresponding preset monitoring location. In this embodiment, corresponding temperature thresholds are preset based on different preset monitoring locations, so that each preset monitoring location can be independently measured and alarmed. The above embodiment can prevent coal from igniting the conveying equipment. At the same time, the above embodiment can also detect the heating phenomenon of belts and rollers caused by aging, friction, etc., and play a warning role in time, thereby reducing or avoiding accidents of belt components.

[0036] In some embodiments, the inspection robot 110 includes an onboard camera 111. The onboard camera 111 can obtain a material image on the belt assembly in a third preset mode. The onboard camera 111 is in communication connection with the local processing component 120. The local processing component 120 is configured to obtain foreign object detection information based on material image recognition and send it to the server group 200.

[0037] In some embodiments, the local processing component 120 integrates technologies such as AI algorithms, machine vision, and deep learning to accurately identify foreign objects on the belt in the material image, help the production system improve the detection of material purity, avoid accidental damage to the belt caused by foreign objects, and ensure safe and orderly production of the conveyor belt system.

[0038] In some embodiments, the inspection robot 110 includes a multi-dimensional sensor module 113, which includes at least two of a methane concentration sensor, a carbon monoxide concentration sensor, a sulfur dioxide concentration sensor, a smoke concentration sensor, or a dust concentration sensor. The multi-dimensional sensor module 113 is communicatively connected to the local processing component 120. The local processing component 120 is configured to send the detection information of the multi-dimensional sensor module 113 to the server group 200.

[0039] In this embodiment, the multidimensional sensor module 113 and the local processing component 120 integrate scattered multidimensional sensor detection information for analysis, display, and recording, thereby improving the convenience of obtaining multidimensional detection information on the coal conveyor trestle, predicting many faults of the transportation system in advance, and eliminating safety hazards.

[0040] In some embodiments, the coal conveyor trestle also includes a drive motor and a reducer, and the drive motor is connected to the belt assembly through the reducer.

[0041] In some embodiments, each inspection subsystem 100 further includes a composite sensor 150. The composite sensor 150 is installed on the drive motor and / or the reducer, and the composite sensor 150 can detect the device temperature information and device vibration information of the drive motor and / or the reducer. The composite sensor 150 is electrically connected to the local processing component 120. The local processing component 120 is configured to send the device temperature information and the device vibration information to the server group 200.

[0042] The composite sensor 150 can be mounted on the drive motor and / or the reducer by magnetism, bonding, or through a connector.

[0043] During operation, the drive motor and reducer will experience changes in physical and chemical parameters such as energy, heat, wear, and vibration. If a part of the drive motor and reducer fails during operation, the corresponding vibration and temperature conditions will undergo a series of changes, but this change is weak and cannot be detected by manual inspection alone. In this embodiment, a composite sensor 150 is used to perform fixed-point temperature and vibration measurement on key equipment. The composite sensor 150 is used as a sensing carrier to continuously collect temperature and vibration information of key parts of the on-site drive motor and / or reducer. The local processing component 120 analyzes the temperature change and vibration spectrum of the drive motor and / or reducer, calculates relevant information about the fault, accurately determines the fault state of the equipment, and accurately identifies the fault.

[0044] In some embodiments, the power plant coal handling robot inspection and control system based on the industrial Internet further includes a display device 300 and a monitoring terminal 400. The display device 300 is electrically connected to the server group 200. The monitoring terminal 400 is communicatively connected to the server group 200.

[0045] The display device 300 is, for example, a display panel installed in the central control room, so that various inspection and detection information and images can be displayed. The monitoring terminal 400 is, for example, a computer, which is connected to the server group 200 in communication, so that various inspection and detection information and images can be displayed, so that users can grasp the inspection and detection information and control the inspection control system.

[0046] In some embodiments, the server group 200 includes an inspection server, an inspection robot 110 graphics workstation, a belt tear detection algorithm server, a foreign object detection algorithm server, a deviation identification algorithm server, etc.

[0047] The present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0048] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0049] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0050] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A power plant coal handling robot inspection and control system based on industrial Internet, characterized in that: It includes multiple inspection subsystems and server groups, and the multiple inspection subsystems are arranged in one-to-one correspondence with multiple coal transport trestles. Each of the inspection subsystems includes: A track is arranged above the belt assembly corresponding to the coal conveying trestle; An inspection robot is arranged on the track and is movable along the track; A plurality of first cameras are arranged along the belt assembly, each of the first cameras is used to obtain a belt image at a corresponding position of the belt assembly; A local processing component is wirelessly connected to the inspection robot, the local processing component is communicatively connected to the multiple first cameras and the server group, and the local processing component is configured to generate belt tear detection information based on the belt image and send it to the server group.

2. The power plant coal handling robot inspection and control system based on the industrial Internet as claimed in claim 1 is characterized in that: The belt of the belt assembly is wound in a loop-closed shape, the belt has a transmission surface for carrying materials and a back surface opposite to the transmission surface, the belt has an upper belt portion and a lower belt portion that are arranged opposite to each other, the first camera is located between the upper belt portion and the lower belt portion and is arranged toward the back surface, and the first camera can obtain a belt image of the back surface at a corresponding position of the belt assembly, The local processing component is configured to: identify a tear region in the belt image based on the belt image and the reference belt image; compare the tear region with a preset tear threshold size, and generate a belt tear alarm message when the size of the tear region is greater than or equal to the tear threshold size; The belt tearing alarm information and the belt image corresponding to the belt tearing alarm information are sent to the server group.

3. The power plant coal handling robot inspection and control system based on the industrial Internet as claimed in claim 1 is characterized in that: Each of the inspection subsystems also includes: A second camera is disposed above the belt assembly, and the second camera can obtain an actual belt direction of the belt assembly. The second camera is communicatively connected to the local processing component, and the local processing component is configured to generate belt deviation detection information based on the actual belt direction and send it to the server group.

4. The power plant coal handling robot inspection and control system based on the industrial Internet as claimed in claim 1 is characterized in that: The inspection robot includes an onboard camera, which can obtain the actual belt direction of the belt assembly in a first preset mode. The onboard camera is communicatively connected to the local processing component, and the local processing component is configured to generate belt deviation detection information based on the actual belt direction and send it to the server group.

5. The power plant coal handling robot inspection and control system based on the industrial Internet as claimed in claim 3 or 4, characterized in that: The local processing component is configured to: obtain an actual offset of the actual belt direction relative to the reference belt direction according to the actual belt direction and the preset reference belt direction; and generate a belt deviation alarm message when the actual offset is greater than or equal to a preset offset threshold; The belt deviation alarm information and the actual deviation are sent to the server group.

6. The power plant coal handling robot inspection and control system based on industrial Internet as claimed in claim 1, characterized in that: The inspection robot includes an infrared thermal imaging temperature measurement module, which can obtain an infrared temperature measurement image of a preset monitoring position on the belt assembly in a second preset mode, and the infrared thermal imaging temperature measurement module is communicatively connected with the local processing component, and the local processing component is configured to send the infrared temperature measurement image to the server group; The local processing component is also configured to: obtain the maximum temperature information in the infrared temperature measurement image based on the corresponding temperature thresholds preset at different preset monitoring locations, and generate temperature alarm information and send it to the server group when the maximum temperature information is greater than or equal to the temperature threshold corresponding to the preset monitoring location.

7. The power plant coal handling robot inspection and control system based on the industrial Internet as claimed in claim 1, characterized in that: The inspection robot includes an onboard camera, which can obtain the material image on the belt assembly in a third preset mode. The onboard camera is communicatively connected to the local processing component, and the local processing component is configured to obtain foreign object detection information based on the material image recognition and send it to the server group.

8. The power plant coal handling robot inspection and control system based on industrial Internet as claimed in claim 1, characterized in that: The inspection robot includes a multidimensional sensor module, which includes at least two of a methane concentration sensor, a carbon monoxide concentration sensor, a sulfur dioxide concentration sensor, a smoke concentration sensor or a dust concentration sensor. The multidimensional sensor module is communicatively connected to the local processing component, and the local processing component is configured to send the detection information of the multidimensional sensor module to the server group.

9. The power plant coal handling robot inspection and control system based on industrial Internet as claimed in claim 1, characterized in that: The coal transport trestle also includes a drive motor and a reducer, the drive motor is connected to the belt assembly through the reducer, and each inspection subsystem also includes: A composite sensor is installed on the drive motor and / or the reducer, and the composite sensor can detect the device temperature information and the device vibration information of the drive motor and / or the reducer. The composite sensor is electrically connected to the local processing component, and the local processing component is configured to send the device temperature information and the device vibration information to the server group.

10. The power plant coal handling robot inspection and control system based on industrial Internet as claimed in claim 1, characterized in that: Also includes: A display device electrically connected to the server group; A monitoring terminal is communicatively connected with the server group.

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