Robot inspection system for coal conveying gallery

Abstract

The invention provides a robot inspection system for a coal conveying gallery, and the system is characterized in that the system comprises an inspection robot module which is used for carrying out the automatic inspection in the coal conveying gallery, detecting an abnormal condition, and carrying out the early warning and alarming; the fixed camera module is arranged in the gallery to acquire field image data; the wireless communication module is used for realizing network coverage in a factory area so as to transmit data; the monitoring module is used for receiving and processing data of the inspection robot and the fixed camera module and controlling the inspection process; and the mobile terminal module has positioning and information receiving and transmitting functions and is used for assisting inspection. The inspection robot can work automatically and continuously and is not limited by factors such as artificial fatigue and working time. Compared with a traditional manual inspection mode, the inspection task of the coal conveying gallery can be completed in a shorter time, and the inspection efficiency is greatly improved. Meanwhile, the intelligent inspection flow control further optimizes the inspection path and time arrangement, and reduces unnecessary inspection actions and time waste.

Description

Technical Field

[0001] The present application relates to the field of industrial inspection technology, and specifically to a coal transportation corridor robot inspection system. Background Art

[0002] Coal transportation corridors are accident-prone areas due to their long lines and poor environment. Currently, they are mainly supervised by industrial cameras combined with manual inspections, but this method has many problems.

[0003] 1. The inspection method is single and rough: it mainly relies on visual inspection, which is affected by human factors such as the quality and status of the operators. The professional level, work experience and concentration of the operators will affect the inspection results. For example, inexperienced operators may not be able to accurately judge the potential problems of the equipment; when the operators are tired or in a bad mood, they may be negligent and miss some important abnormal situations.

[0004] 2. Low work efficiency: manual inspections cannot be carried out frequently, resulting in blind spots. Coal transportation corridors are usually long, and it is difficult for operators to cover all areas within a limited time, which results in some defects and faults not being discovered in time. For example, some equipment may have problems in an area that the operator has just inspected, but the next inspection will not be carried out until a long interval, so the problem cannot be detected in time.

[0005] 3. Harsh working environment and heavy workload: The environment in the coal transportation corridor is poor, with a lot of dust and noise. Operators working in such an environment for a long time not only affects their health, but also easily causes fatigue. At the same time, due to the heavy inspection tasks, the operating personnel are under great work pressure.

[0006] 4. High operation and maintenance costs: With the increase in labor costs, the operation and maintenance costs of the coal transportation system continue to increase. Manual inspections require a large amount of manpower, including wages, benefits and other costs, which brings a large economic burden to the company. Summary of the invention

[0007] In order to solve the above technical problems, this application proposes an intelligent inspection system for coal transportation corridors, including:

[0008] Inspection robot module, used for automatic inspection and detection of abnormal conditions in the coal transportation corridor, and capable of early warning and alarm. The inspection robot module is adapted to the harsh environment of the coal transportation corridor, including dust, high temperature, humidity and narrow space;

[0009] A fixed camera module is set in the corridor to obtain on-site image data. The fixed camera module has the function of adjusting the angle and focal length to obtain images with different viewing angles and clarity;

[0010] Wireless communication module, which realizes network coverage within the factory area to transmit data. The wireless communication module adopts advanced wireless communication technology and has the characteristics of high bandwidth, low latency, anti-interference and data encryption;

[0011] The monitoring module receives and processes data from the inspection robot and fixed camera module, controls the inspection process, and has an intelligent data analysis algorithm that can automatically identify abnormal data patterns and classify them;

[0012] The mobile terminal module has positioning and information sending and receiving functions to assist inspections. The mobile terminal module has a user-friendly operation interface, which facilitates the staff to quickly obtain and process inspection information during the mobile process. The inspection robot module is characterized by:

[0013] It includes an inspection robot, which is connected to the wireless communication module to collect and transmit inspection data. The inspection robot has a sturdy and durable shell made of high-strength and corrosion-resistant materials, and the shell surface is dust-proof, waterproof and anti-static;

[0014] There is a patrol track to provide a path for the robot in the corridor and there are sensors to sense the robot. The patrol track has high-precision positioning marks to ensure the accurate operation of the robot on the track;

[0015] Equipped with a charging device to charge the inspection robot. The charging device has an automatic charging docking function. When the robot's battery power is lower than the set threshold, it can automatically navigate to the charging device for charging;

[0016] There is a cleaning device that can automatically clean the inspection robot. The cleaning device includes multiple cleaning steps such as pre-rinsing, main cleaning and drying to ensure that the surface of the robot is clean;

[0017] It includes a garage device for temporarily storing the inspection robot. The garage device has temperature and humidity adjustment functions to protect the performance of the robot when it is not working.

[0018] Specifically, it has a camera unit, including one or more rotatable cameras to collect video data, the camera unit has high-definition imaging capabilities, can clearly capture images under low-light conditions, and has an image stabilization function to prevent image blur caused by robot movement;

[0019] It includes an audio unit to collect audio data along the way. The audio unit has a highly sensitive microphone that can accurately capture weak sound signals and perform real-time noise reduction on the audio data.

[0020] A gas unit is equipped to collect gas data along the way. The gas unit contains a variety of gas sensors that can detect carbon monoxide, hydrogen sulfide, methane and other harmful gases, and has the function of accurately measuring gas concentration;

[0021] There is a temperature unit to collect temperature data along the way. The temperature unit uses a high-precision temperature sensor that can measure temperatures in the range of 20°C to 100°C, and the temperature measurement error is within ±0.5°C;

[0022] It includes a cleaning unit to clean and inspect the track to ensure it is unobstructed. The cleaning unit has a powerful cleaning brush and dust suction device to effectively remove dust, cinders and debris from the track;

[0023] Equipped with a communication unit, connected to the wireless communication module to transmit data. The communication unit adopts a high-speed communication interface to ensure the stability and real-time performance of data transmission;

[0024] There is a voice speaker unit, which receives warning information and plays it out. The voice speaker unit has volume adjustment and speech synthesis functions, and can play corresponding voice prompts according to different warning information;

[0025] It includes a power detection unit, which detects the power and reports low power. The power detection unit has a high-precision power measurement function and can accurately measure the remaining battery power with a power measurement error within ±2%;

[0026] It has a positioning unit, which senses and transmits the position with the track sensor. The positioning unit adopts advanced positioning technology and can determine the precise position of the robot on the track in real time, with a position error within ±0.1 meters.

[0027] Specifically, it has a storage unit to store inspection and camera module data as well as corridor maps and fault information. The storage unit has a large storage capacity and can store at least 1 year of inspection data. It also uses data redundancy technology to prevent data loss.

[0028] A human-computer interaction unit is provided for displaying and inputting data. The human-computer interaction unit has a high-definition display screen and convenient input devices such as a touch screen, a mouse and a keyboard, which facilitates operators to view and operate data;

[0029] Contains a dirt detection unit that analyzes and reports on obstructions in video data. The dirt detection unit uses advanced image recognition algorithms to accurately identify dirt, dust and other obstructions in the video and calculate their coverage area and location.

[0030] It has a map integration unit that generates a real-time corridor map in combination with relevant location information. The map integration unit can update the map information in real time to reflect the location changes of the inspection robot and staff, as well as the status changes of the equipment in the corridor;

[0031] It includes a region division unit, which divides the region according to the map and the corridor type. The region division unit can divide the corridor into multiple regions according to different equipment distribution and work requirements, and number and mark each region;

[0032] There is a permission allocation unit to set the permissions of staff. The permission allocation unit can allocate different operation permissions according to the duties and levels of staff, such as data viewing, equipment control and system settings;

[0033] It includes a safety detection unit to detect corridor safety and generate early warning or alarm information. The safety detection unit uses a variety of detection methods, including video analysis, audio analysis, gas detection and temperature detection, to comprehensively detect the safety status of the corridor;

[0034] It has a track planning unit to plan the inspection robot path. The track planning unit can automatically plan the optimal inspection path according to the inspection task, equipment status and corridor environment to improve the inspection efficiency.

[0035] It includes an alarm processing unit, which processes alarm information and refers to historical solutions. The alarm processing unit can automatically match similar fault handling solutions in history according to the type and severity of the alarm information, and provide them to operators for reference.

[0036] Specifically, it can detect the location of personnel, determine whether personnel have entered unauthorized areas based on real-time maps and related information, and issue warnings. Personnel location detection uses high-precision positioning technology to determine the location of staff in the corridor in real time, with a position error within ±0.1 meters;

[0037] It can detect the wearing of helmets, judge whether the staff are wearing helmets through video data and warn them. The helmet wearing detection adopts advanced image recognition algorithm, which can accurately identify the shape, color and logo of the helmet.

[0038] It has a face detection function to determine the identity of staff through video data. Face detection uses a high-precision face recognition algorithm to accurately identify the facial features of staff and match them with the personnel information in the database;

[0039] It can detect work clothes and judge whether the staff are wearing work clothes correctly through video data and issue warnings. The work clothes detection uses image recognition algorithms to accurately identify the style, color and logo of work clothes.

[0040] It can detect belt deviation and alarm when the coal conveyor belt is found to be deviated through video data. The belt deviation detection adopts video analysis algorithm to accurately measure the deviation and direction of the belt.

[0041] It can detect coal piles and issue an early warning when coal piles are found in non-raw coal storage areas through video data. The coal pile detection uses image recognition algorithms to accurately identify the shape, location and size of coal piles.

[0042] It has an abnormal sound detection function, which detects abnormal sound of the equipment through audio data and issues an early warning. The abnormal sound detection uses an audio analysis algorithm to accurately identify abnormal sounds emitted by the equipment and determine their source and nature;

[0043] It can detect gas, detect the gas content in the corridor in real time and issue an early warning when it exceeds the standard. Gas detection uses high-precision gas sensors and data analysis algorithms to accurately measure gas concentration and determine whether it exceeds the standard;

[0044] It can detect temperature, detect the temperature in the corridor in real time and issue an early warning when it exceeds the standard. The temperature detection uses high-precision temperature sensors and data analysis algorithms to accurately measure the temperature and determine whether it exceeds the standard.

[0045] Specifically, it includes the inspection track planning function, which plans the robot inspection track and inspection points. After the robot inspects, it returns to the garage for temporary storage. The inspection track planning function can reasonably set the inspection track and inspection points according to the inspection tasks and equipment distribution to ensure the comprehensiveness and accuracy of the inspection.

[0046] It has a charging track planning function. It plans the charging track according to the low battery report. After charging, the robot returns to the garage for temporary storage. The charging track planning function can plan the shortest charging path according to the location of the robot and the location of the charging device to improve the charging efficiency.

[0047] It includes a cleaning track planning function. The cleaning track is planned according to the dirt report. After cleaning, the robot returns to the garage for temporary storage. The cleaning track planning function can plan the shortest cleaning path according to the position of the robot and the position of the cleaning device to improve the cleaning efficiency.

[0048] It has the function of abnormal track planning, stops at the warning or alarm location and collects information. The abnormal track planning function can stop the robot at the corresponding location according to the type and severity of the alarm information, and conduct continuous data collection and analysis;

[0049] It is equipped with a temporary track control function, which controls the robot's operation through the human-machine interaction unit. The temporary track control function can manually control the robot's operation path and speed according to the operator's needs.

[0050] Specifically, it has a location unit, which determines the location of the staff by setting an electronic tag in combination with a wireless communication module. The location unit adopts high-precision positioning technology and can determine the location of the staff in the corridor in real time, with a location error within ±0.1 meters;

[0051] Contains a map unit to obtain a corridor map containing the inspection robot and its own position. The map unit has a real-time update function and can promptly reflect the equipment status and personnel position changes in the corridor;

[0052] An early warning unit is provided to receive and process early warning information, which can be converted into alarm information and transmitted. The early warning unit has an intelligent judgment function, which can automatically judge whether it needs to be converted into alarm information according to the type and severity of the early warning information, and transmit the processing results to the monitoring module;

[0053] It includes an alarm unit, which receives and displays alarm information and solutions. The alarm unit has a detailed alarm information display function, which can display the type, location, time and cause of the alarm, as well as the corresponding solutions;

[0054] It has a reminder unit to receive and display alarm information. The reminder unit has multiple reminder methods, such as sound, vibration and text reminder, which can remind staff to pay attention to relevant information in time;

[0055] It includes an input unit for inputting the fault handling process and transmitting and storing it. The input unit has convenient input methods, such as handwriting input, voice input and keyboard input, which is convenient for staff to record the fault handling process.

[0056] Specifically, the wireless network used by the wireless communication module has high bandwidth and low latency characteristics to ensure real-time data transmission. The wireless network also has automatic switching and redundant backup functions. When a communication link fails, it can automatically switch to the backup link to ensure the continuity of data transmission.

[0057] Specifically, the charging device has fast charging capability as well as overcharging, short circuit and over-temperature protection functions. The charging device also has a charging status monitoring function, which can display the charging progress and battery status in real time, making it convenient for operators to understand the charging status.

[0058] Specifically, the storage unit of the monitoring module has a large-capacity storage capacity and can store inspection data for a long time for analysis. The storage unit also has data retrieval and classification functions, which facilitates operators to quickly find and use required data. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and are used together with the description to explain the principles of the present application. It will be easy to recognize other embodiments and many expected advantages of the embodiments because they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding similar parts.

[0060] Figure 1It is a structural schematic diagram of a coal conveyor corridor robot inspection system according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] In the following detailed description, reference is made to the accompanying drawings, which form a part of the detailed description and are shown by illustrative specific embodiments in which the present application can be practiced. To this end, directional terms, such as "top", "bottom", "left", "right", "up", "down", etc., are used with reference to the orientation of the figures described. Because the components of the embodiments can be positioned in several different orientations, directional terms are used for the purpose of illustration and are by no means limiting. It should be understood that other embodiments may be utilized or logical changes may be made without departing from the scope of the present application. Therefore, the following detailed description should not be adopted in a limiting sense, and the scope of the present application is defined by the appended claims.

[0062] like Figure 1 As shown in the figure, the intelligent inspection system for coal transportation corridor includes:

[0063] Inspection robot module, used for automatic inspection and detection of abnormal conditions in the coal transportation corridor, and capable of early warning and alarm. The inspection robot module is adapted to the harsh environment of the coal transportation corridor, including dust, high temperature, humidity and narrow space;

[0064] A fixed camera module is set in the corridor to obtain on-site image data. The fixed camera module has the function of adjusting the angle and focal length to obtain images with different viewing angles and clarity;

[0065] Wireless communication module, which realizes network coverage within the factory area to transmit data. The wireless communication module adopts advanced wireless communication technology and has the characteristics of high bandwidth, low latency, anti-interference and data encryption;

[0066] The monitoring module receives and processes data from the inspection robot and fixed camera module, controls the inspection process, and has an intelligent data analysis algorithm that can automatically identify abnormal data patterns and classify them;

[0067] The mobile terminal module has positioning and information sending and receiving functions to assist inspections. The mobile terminal module has a user-friendly operation interface, which facilitates the staff to quickly obtain and process inspection information during the mobile process. The inspection robot module is characterized by:

[0068] It includes an inspection robot, which is connected to the wireless communication module to collect and transmit inspection data. The inspection robot has a sturdy and durable shell made of high-strength and corrosion-resistant materials, and the shell surface is dust-proof, waterproof and anti-static;

[0069] There is a patrol track to provide a path for the robot in the corridor and there are sensors to sense the robot. The patrol track has high-precision positioning marks to ensure the accurate operation of the robot on the track;

[0070] Equipped with a charging device to charge the inspection robot. The charging device has an automatic charging docking function. When the robot's battery power is lower than the set threshold, it can automatically navigate to the charging device for charging;

[0071] There is a cleaning device that can automatically clean the inspection robot. The cleaning device includes multiple cleaning steps such as pre-rinsing, main cleaning and drying to ensure that the surface of the robot is clean;

[0072] It includes a garage device for temporarily storing the inspection robot. The garage device has temperature and humidity adjustment functions to protect the performance of the robot when it is not working.

[0073] Specifically, it has a camera unit, including one or more rotatable cameras to collect video data, the camera unit has high-definition imaging capabilities, can clearly capture images under low-light conditions, and has an image stabilization function to prevent image blur caused by robot movement;

[0074] It includes an audio unit to collect audio data along the way. The audio unit has a highly sensitive microphone that can accurately capture weak sound signals and perform real-time noise reduction on the audio data.

[0075] A gas unit is equipped to collect gas data along the way. The gas unit contains a variety of gas sensors that can detect carbon monoxide, hydrogen sulfide, methane and other harmful gases, and has the function of accurately measuring gas concentration;

[0076] There is a temperature unit to collect temperature data along the way. The temperature unit uses a high-precision temperature sensor that can measure temperatures in the range of 20°C to 100°C, and the temperature measurement error is within ±0.5°C;

[0077] It includes a cleaning unit to clean and inspect the track to ensure it is unobstructed. The cleaning unit has a powerful cleaning brush and dust suction device to effectively remove dust, cinders and debris from the track;

[0078] Equipped with a communication unit, connected to the wireless communication module to transmit data. The communication unit adopts a high-speed communication interface to ensure the stability and real-time performance of data transmission;

[0079] There is a voice speaker unit, which receives warning information and plays it out. The voice speaker unit has volume adjustment and speech synthesis functions, and can play corresponding voice prompts according to different warning information;

[0080] It includes a power detection unit, which detects the power and reports low power. The power detection unit has a high-precision power measurement function and can accurately measure the remaining battery power with a power measurement error within ±2%;

[0081] It has a positioning unit, which senses and transmits the position with the track sensor. The positioning unit adopts advanced positioning technology and can determine the precise position of the robot on the track in real time, with a position error within ±0.1 meters.

[0082] Specifically, it has a storage unit to store inspection and camera module data as well as corridor maps and fault information. The storage unit has a large storage capacity and can store at least 1 year of inspection data. It also uses data redundancy technology to prevent data loss.

[0083] A human-computer interaction unit is provided for displaying and inputting data. The human-computer interaction unit has a high-definition display screen and convenient input devices such as a touch screen, a mouse and a keyboard, which facilitates operators to view and operate data;

[0084] Contains a dirt detection unit that analyzes and reports on obstructions in video data. The dirt detection unit uses advanced image recognition algorithms to accurately identify dirt, dust and other obstructions in the video and calculate their coverage area and location.

[0085] It has a map integration unit that generates a real-time corridor map in combination with relevant location information. The map integration unit can update the map information in real time to reflect the location changes of the inspection robot and staff, as well as the status changes of the equipment in the corridor;

[0086] It includes a region division unit, which divides the region according to the map and the corridor type. The region division unit can divide the corridor into multiple regions according to different equipment distribution and work requirements, and number and mark each region;

[0087] There is a permission allocation unit to set the permissions of staff. The permission allocation unit can allocate different operation permissions according to the duties and levels of staff, such as data viewing, equipment control and system settings;

[0088] It includes a safety detection unit to detect corridor safety and generate early warning or alarm information. The safety detection unit uses a variety of detection methods, including video analysis, audio analysis, gas detection and temperature detection, to comprehensively detect the safety status of the corridor;

[0089] It has a track planning unit to plan the inspection robot path. The track planning unit can automatically plan the optimal inspection path according to the inspection task, equipment status and corridor environment to improve the inspection efficiency.

[0090] It includes an alarm processing unit, which processes alarm information and refers to historical solutions. The alarm processing unit can automatically match similar fault handling solutions in history according to the type and severity of the alarm information, and provide them to operators for reference.

[0091] Specifically, it can detect the location of personnel, determine whether personnel have entered unauthorized areas based on real-time maps and related information, and issue warnings. Personnel location detection uses high-precision positioning technology to determine the location of staff in the corridor in real time, with a position error within ±0.1 meters;

[0092] It can detect the wearing of helmets, judge whether the staff are wearing helmets through video data and warn them. The helmet wearing detection adopts advanced image recognition algorithm, which can accurately identify the shape, color and logo of the helmet.

[0093] It has a face detection function to determine the identity of staff through video data. Face detection uses a high-precision face recognition algorithm to accurately identify the facial features of staff and match them with the personnel information in the database;

[0094] It can detect work clothes and judge whether the staff are wearing work clothes correctly through video data and issue warnings. The work clothes detection uses image recognition algorithms to accurately identify the style, color and logo of work clothes.

[0095] It can detect belt deviation and alarm when the coal conveyor belt is found to be deviated through video data. The belt deviation detection adopts video analysis algorithm to accurately measure the deviation and direction of the belt.

[0096] It can detect coal piles and issue an early warning when coal piles are found in non-raw coal storage areas through video data. The coal pile detection uses image recognition algorithms to accurately identify the shape, location and size of coal piles.

[0097] It has an abnormal sound detection function, which detects abnormal sound of the equipment through audio data and issues an early warning. The abnormal sound detection uses an audio analysis algorithm to accurately identify abnormal sounds emitted by the equipment and determine their source and nature;

[0098] It can detect gas, detect the gas content in the corridor in real time and issue an early warning when it exceeds the standard. Gas detection uses high-precision gas sensors and data analysis algorithms to accurately measure gas concentration and determine whether it exceeds the standard;

[0099] It can detect temperature, detect the temperature in the corridor in real time and issue an early warning when it exceeds the standard. The temperature detection uses high-precision temperature sensors and data analysis algorithms to accurately measure the temperature and determine whether it exceeds the standard.

[0100] Specifically, it includes the inspection track planning function, which plans the robot inspection track and inspection points. After the robot inspects, it returns to the garage for temporary storage. The inspection track planning function can reasonably set the inspection track and inspection points according to the inspection tasks and equipment distribution to ensure the comprehensiveness and accuracy of the inspection.

[0101] It has a charging track planning function. It plans the charging track according to the low battery report. After charging, the robot returns to the garage for temporary storage. The charging track planning function can plan the shortest charging path according to the location of the robot and the location of the charging device to improve the charging efficiency.

[0102] It includes a cleaning track planning function. The cleaning track is planned according to the dirt report. After cleaning, the robot returns to the garage for temporary storage. The cleaning track planning function can plan the shortest cleaning path according to the position of the robot and the position of the cleaning device to improve the cleaning efficiency.

[0103] It has the function of abnormal track planning, stops at the warning or alarm location and collects information. The abnormal track planning function can stop the robot at the corresponding location according to the type and severity of the alarm information, and conduct continuous data collection and analysis;

[0104] It is equipped with a temporary track control function, which controls the robot's operation through the human-machine interaction unit. The temporary track control function can manually control the robot's operation path and speed according to the operator's needs.

[0105] Specifically, it has a location unit, which determines the location of the staff by setting an electronic tag in combination with a wireless communication module. The location unit adopts high-precision positioning technology and can determine the location of the staff in the corridor in real time, with a location error within ±0.1 meters;

[0106] Contains a map unit to obtain a corridor map containing the inspection robot and its own position. The map unit has a real-time update function and can promptly reflect the equipment status and personnel position changes in the corridor;

[0107] An early warning unit is provided to receive and process early warning information, which can be converted into alarm information and transmitted. The early warning unit has an intelligent judgment function, which can automatically judge whether it needs to be converted into alarm information according to the type and severity of the early warning information, and transmit the processing results to the monitoring module;

[0108] It includes an alarm unit, which receives and displays alarm information and solutions. The alarm unit has a detailed alarm information display function, which can display the type, location, time and cause of the alarm, as well as the corresponding solutions;

[0109] It has a reminder unit to receive and display alarm information. The reminder unit has multiple reminder methods, such as sound, vibration and text reminder, which can remind staff to pay attention to relevant information in time;

[0110] It includes an input unit for inputting the fault handling process and transmitting and storing it. The input unit has convenient input methods, such as handwriting input, voice input and keyboard input, which is convenient for staff to record the fault handling process.

[0111] Specifically, the wireless network used by the wireless communication module has high bandwidth and low latency characteristics to ensure real-time data transmission. The wireless network also has automatic switching and redundant backup functions. When a communication link fails, it can automatically switch to the backup link to ensure the continuity of data transmission.

[0112] Specifically, the charging device has fast charging capability as well as overcharging, short circuit and over-temperature protection functions. The charging device also has a charging status monitoring function, which can display the charging progress and battery status in real time, making it convenient for operators to understand the charging status.

[0113] Specifically, the storage unit of the monitoring module has a large-capacity storage capacity and can store inspection data for a long time for analysis. The storage unit also has data retrieval and classification functions, which facilitates operators to quickly find and use required data.

[0114] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present application without departing from the spirit and scope of the present application. In this way, if these modifications and changes are within the scope of the claims of the present application and their equivalents, the present application is also intended to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recorded in mutually different dependent claims does not indicate that the combination of these measures cannot be used to profit. Any figure mark in the claims should not be considered to limit the scope.

Claims

1. Coal conveyor corridor robot inspection system, characterized by include: Inspection robot module, used for automatic inspection and detection of abnormal conditions in the coal transportation corridor, and capable of early warning and alarm; A fixed camera module is set up in the corridor to obtain on-site image data; Wireless communication module to achieve network coverage within the factory for data transmission; The monitoring module receives and processes data from the inspection robot and fixed camera module to control the inspection process; The mobile terminal module has positioning and information sending and receiving functions to assist inspections.

2. The coal transportation corridor robot inspection system according to claim 1, wherein the inspection robot module is characterized by: It includes an inspection robot, which is connected to the wireless communication module to collect and transmit inspection data; There are inspection tracks to provide paths for the robots in the corridors and sensors to sense the robots; Equipped with a charging device to charge the inspection robot; Equipped with a cleaning device that can automatically clean the inspection robot; Includes a garage device for temporarily storing the inspection robot.

3. The coal transportation corridor robot inspection system according to claim 2, wherein the inspection robot is characterized by: A camera unit is provided, comprising one or more rotatable cameras for collecting video data; Including an audio unit to collect audio data along the way; Equipped with a gas unit to collect gas data along the way; There is a temperature unit to collect temperature data along the way; Contains a cleaning unit to clean the inspection track to ensure it is free of obstructions; Equipped with a communication unit, connected to a wireless communication module to transmit data; There is a voice speaker unit to receive warning information and play it out; Includes a power detection unit to detect power and report low power conditions; It has a positioning unit that senses with the track sensor to determine the position and transmit it.

4. According to the coal transportation corridor robot inspection system of claim 3, the monitoring module is characterized by: It has a storage unit to store inspection and camera module data as well as corridor maps and fault information; It is equipped with a human-computer interaction unit for displaying and inputting data; Contains a dirt detection unit that analyzes and reports on occlusions in video data; It has a map integration unit that generates real-time corridor maps in combination with relevant location information; It includes regional division units, which divide regions according to maps and corridor types; There is an authority allocation unit to set the authority of staff; It includes a safety detection unit to detect corridor safety and generate early warning or alarm information; It has a track planning unit to plan the inspection robot path; Includes an alarm processing unit that processes alarm information and refers to historical scenarios.

5. According to the coal transportation corridor robot inspection system of claim 4, the safety detection unit is characterized by: Able to detect personnel location, determine whether personnel have entered unauthorized areas based on real-time maps and related information, and issue warnings; Can detect helmet wearing, judge whether the staff is wearing helmet through video data and issue a warning; It has face detection function to determine the identity of staff through video data; Capable of performing work clothes detection, judging through video data whether workers are wearing work clothes correctly and issuing warnings; It can detect belt deviation and alarm when coal conveyor belt deviation is found through video data; It can detect coal piles and issue an early warning when coal piles are found in non-raw coal storage areas through video data; It has abnormal sound detection function, which can detect abnormal sound of equipment through audio data and issue an early warning; Capable of detecting gas, real-time detection of gas content in the corridor and issuing warnings when the gas content exceeds the standard; It can detect temperature, monitor the temperature in the corridor in real time and issue an early warning when it exceeds the standard.

6. According to the coal transportation corridor robot inspection system of claim 4, the track planning unit is characterized by: It includes the inspection track planning function, which plans the robot inspection track and inspection points, and the robot returns to the garage for temporary storage after inspection; It has a charging track planning function. It plans the charging track according to the low battery report. After charging, the robot returns to the garage for temporary storage. It includes a cleaning track planning function, which plans the cleaning track according to the dirt report, and the robot returns to the garage for temporary storage after cleaning; It has the function of abnormal track planning, stops at the warning or alarm location and collects information; It is equipped with a temporary track control function, which controls the robot operation through the human-machine interaction unit.

7. According to the coal transportation corridor robot inspection system of claim 1, the mobile terminal module is characterized by: It has a location unit, which determines the location of the staff by setting electronic tags and combining wireless communication modules; it also contains a map unit, which obtains a corridor map including the inspection robot and its own location; An early warning unit is provided to receive and process early warning information, which can be converted into alarm information and transmitted; It includes an alarm unit that receives and displays alarm information and solutions; It has a reminder unit to receive and display alarm information; Contains an input unit that inputs the fault handling process and transmits it for storage.

8. The coal transportation corridor robot inspection system according to claim 1, characterized in that: The wireless network used by the wireless communication module has high bandwidth and low latency characteristics to ensure real-time transmission of data.

9. The coal transportation corridor robot inspection system according to claim 2, characterized in that: The charging device has fast charging capability as well as overcharge, short circuit and over-temperature protection functions.

10. The coal transportation corridor robot inspection system according to claim 1, characterized in that: The storage unit of the monitoring module has a large-capacity storage capability and can store the inspection data for a long time for analysis.

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