Unmanned inspection system for fault and environment monitoring of long-distance coal conveying pipe belt conveyor

Abstract

The invention relates to the technical field of unmanned inspection in pipe belt conveyor fault monitoring, in particular to an unmanned inspection system for long-distance coal conveying pipe belt conveyor fault and environment monitoring, which comprises a remote information and monitoring center, a data communication system and an intelligent bearing platform, the intelligent bearing platform comprises a motion power module, a roadblock recognition module, a pipe belt joint detection and recognition module, a pipe belt machine temperature early warning module, a carrier roller sound abnormity detection module, a fault positioning module and a dust monitoring module. Each module comprises a control level consisting of a corresponding calculator and a controller and a field level consisting of an execution unit, and the control level of each module is connected with a remote information and monitoring center through a data communication system; the invention aims to solve the problems of low inspection efficiency, low inspection accuracy, difficulty in fault positioning and the like caused by high manual participation degree of an existing pipe belt machine, especially a long-distance transportation pipe belt machine.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned inspection in pipe-belt conveyor fault monitoring, and more specifically to an unmanned inspection system for long-distance coal conveying pipe-belt conveyor fault and environment monitoring. Background Art

[0002] The pipe-belt conveyor transports coal through a sealed conveyor belt. As an emerging environmentally friendly way of transporting coal, it has become a recognized development trend in the field of coal transportation. According to statistics, the pipe-belt conveyor transports about 2 million tons of coal per year, which can effectively reduce 63,000 vehicle transportations, reduce major pollutants and carbon emissions by about 40,000 tons, and have a significant overall energy-saving and environmental protection effect. However, due to the structural defects of the pipe-belt conveyor, it is bound to cause failures such as expansion and twisting of the pipe. Once a torsional failure occurs, it will bring significant economic losses. Torsion failure is the result of long-term accumulation of torsional phenomena. Timely correction of torsional phenomena can effectively prevent the occurrence of torsional failures, so regular inspections of pipe-belt failures are required. At present, the main problems of the pipe-belt conveyor are as follows: the pipe-belt conveyor is installed at a high height, and there is a greater risk of falling during inspections; there may be greater safety hazards if people or objects break into the area along the pipe-belt conveyor; the efficiency of accident warning or accident investigation of long-distance transport pipe-belt conveyors by manual inspections is low; it is difficult to locate the pipe-belt conveyor after an abnormality occurs. Inspection robots can replace manual inspections and have been used in some industrial scenarios. For example, in relatively static scenarios such as the power industry, chemical industry, and underground corridors, they can conduct video shooting, meter reading of equipment, gas leakage and other inspections with relatively simple logic. Therefore, this technology can be applied to the safety inspection of long-distance pipe-belt machines, which not only improves work efficiency, but also reduces inspection and maintenance costs and improves the overall safety factor of the system. It is necessary to install an intelligent inspection system with inspection robots and online monitoring systems along the pipe-belt machine, combined with intelligent AI recognition technology, to monitor the frame, rollers, pipes, surrounding environment, and personnel behavior of the pipe-belt machine in the area, warn of illegal operations and timely discover hidden dangers, thereby improving inspection efficiency, reducing operational risks, and ensuring the safe operation of the pipe-belt machine. Realizing intelligent operation and maintenance has become an urgent problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide an unmanned inspection system for long-distance coal conveying pipe belt machine fault and environmental monitoring, so as to solve the problems of low inspection efficiency, low inspection accuracy, and difficulty in fault locating caused by high manual participation in existing pipe belt machines, especially long-distance transport pipe belt machines.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An unmanned inspection system for long-distance coal conveying pipe belt machine fault and environment monitoring, including a remote information and monitoring center, a data communication system and an intelligent bearing platform, wherein the intelligent bearing platform includes a motion power module, a roadblock identification module, a pipe belt joint detection and identification module, a pipe belt machine temperature early warning module, a roller sound abnormality detection module, a fault location module and a dust monitoring module, each module includes a control level composed of a corresponding calculator and a controller and a field level composed of an execution unit, and the control level of each module is connected to the remote information and monitoring center through a data communication system;

[0006] The execution unit of the motion power module is a power chassis, which includes a vehicle shell and a wheeled structure, the wheeled structure is connected to the vehicle shell, the wheeled structure can drive the vehicle shell to move, the vehicle shell is provided with a speed-changing gear train for adjusting the rotation speed of the wheeled structure, and the vehicle shell is provided with a motion controller for controlling the rotation direction and rotation speed of the wheeled structure;

[0007] There are multiple chambers in the vehicle shell, with functional device installation slots in the chambers, and threaded interfaces in the slots, which are used to hold and connect the positioning platform, laser radar platform, battery compartment, edge processor and communication module respectively. There are functional device installation slots designed on the vehicle shell, and threaded interfaces in the slots, which are used to hold and connect the bottom optical platform, guide platform, telescopic rotating bearing device, acoustic vibration platform, dust monitoring platform and roof optical platform respectively.

[0008] The bottom of the vehicle body is fixedly connected with a guide platform for controlling the wheeled structure to turn, the guide platform includes two rows of side wheels, the two rows of side wheels are respectively in contact with the left and right sides of the moving track set on the coal conveyor belt conveyor, and the two rows of side wheels drive the steering rod to drive the wheeled structure to turn according to the curvature of the moving track;

[0009] A battery compartment is provided at the bottom of the power chassis, and a battery for powering the unmanned inspection system is provided in the battery compartment; providing energy for long-distance inspections;

[0010] The execution unit of the roadblock recognition module is a roof optical platform and a laser radar platform. The roof optical platform is installed on the top of the power chassis. The roof optical platform includes visual hardware I. The visual hardware I is installed on the upper end of the vehicle shell through the connection mounting plate I. The visual hardware I is used to identify the turning and slope changes of the motion track, and adjust the steering and power output changes of the wheeled structure according to the turning and slope changes of the motion track. The visual hardware I is provided with an optical sensor controller I;

[0011] Visual hardware I can be used to monitor the activities of people around the track, warn of possible danger sources, identify obstacle types, and take pictures of obstacles;

[0012] The laser radar platform is installed at the front of the vehicle body. The laser radar platform is used to measure the distance of obstacles on the moving track, determine the movement state of obstacles, and formulate the obstacle removal method. The laser radar platform is equipped with a laser radar controller;

[0013] The execution unit of the dust monitoring module is a dust monitoring platform, which is installed on the vehicle shell and includes a dust sensor and a dust sensor controller;

[0014] The execution units of the pipe belt joint detection and identification module are the vehicle side optical platform and the vehicle bottom optical platform;

[0015] The left and right sides of the vehicle shell are provided with telescopic rotating bearing devices, and two vehicle-side optical platforms are installed on each telescopic rotating bearing device. The vehicle-side optical platform includes visual hardware II, and the visual hardware II is installed on the telescopic rotating bearing device by connecting the mounting plate II. The telescopic rotating bearing device can drive the vehicle-side optical platform to rise and fall and rotate, and the visual hardware II is provided with an optical sensor controller II;

[0016] The underbody optical platform is installed on the lower side of the vehicle shell, and the underbody optical platform includes visual hardware III, a light source and an infrared night vision device, which are all installed on the lower side of the vehicle shell through a connecting mounting plate III, and an optical sensor controller III is provided on the visual hardware III;

[0017] The execution unit of the temperature warning module of the belt conveyor is an infrared monitoring platform. The infrared monitoring platform is installed on the two telescopic and rotating bearing devices. The infrared monitoring platform includes an infrared thermal imager and an infrared thermal imager data controller. The telescopic and rotating bearing device can drive the infrared monitoring platform to rise and fall and rotate.

[0018] The execution unit of the roller sound abnormality detection module is an acoustic vibration platform, which is installed at the bottom of the vehicle shell and includes a vibration sensor and a vibration sensor controller;

[0019] The execution unit of the fault location module is a positioning platform, which is installed at the front of the power chassis. The positioning platform includes a Beidou positioning system, an RFID chip reader and an RFID identifier. The RFID technology is used for inspection and positioning. An anti-metal RFID chip is deployed at intervals on the inner side of the belt conveyor truss. Each RFID chip is numbered. When the unmanned inspection system moves to the corresponding RFID chip position, the RFID chip reader reads the number of the current RFID chip to perform positioning.

[0020] An edge processor is fixedly connected to the rear side of the vehicle shell, and the edge processor includes an optical data processor I, a laser radar data processor, a motion data processor, an optical data processor II, an optical data processor III, an infrared thermal imager data processor, a vibration sensor data processor, a dust sensor data processor and an RFID chip data processor. The optical data processor I is connected to the optical sensor controller I, the optical data processor II is connected to the optical sensor controller II, the optical data processor III is connected to the optical sensor controller III, the laser radar data processor is connected to the laser radar controller, the motion data processor is connected to the motion controller, the infrared thermal imager data processor is connected to the infrared thermal imager data controller, the vibration sensor data processor is connected to the vibration sensor controller, the dust sensor data processor is connected to the dust sensor controller, and the RFID chip data processor is connected to the positioning platform. The edge processor is used to receive a control signal sent by a remote information and monitoring center, and send a signal to the optical sensor controller I, the optical sensor controller II, the optical sensor controller III, the laser radar controller, the motion controller, the infrared thermal imager data controller, the vibration sensor controller, the dust sensor controller and the RFID chip data processor;

[0021] The data communication system includes a communication module, which is installed on the power chassis; the communication module is located above the positioning platform, and the communication transmission system uses dual-link operation. Existing 4G base stations or future 5G base stations are used in places with good signals, and base stations are built separately in places with poor signals or no signals, using industrial-grade WIFI and microwave technology; the communication system communication protocol establishes a wireless communication network between the inspection system and the central control platform; the command signal is uploaded and sent through the MQTT protocol, and large-capacity video data is communicated using the RTMP / RTSP protocol to reduce mutual interference; the unmanned inspection robot makes autonomous decisions in weak signal areas, and the strong signal responds to the instructions of the central control platform in real time; video communication is only carried out in some strong signal areas or areas specified by the instructions, and all inspection video signals are uploaded after returning to the base station; reliable operation is achieved in weak signal coverage areas;

[0022] The hardware construction of the remote information and monitoring center mainly includes video management server, streaming media server, video recording playback server, intelligent analysis server, map location server, operation and maintenance server, application server, video cloud storage, display screen, intelligent inspection car takeover system and supporting facilities. The software interface of the remote information and monitoring center consists of task management module, vehicle management module and history management module. The remote control function of the information and monitoring center is realized by the task management module. The vehicle management module displays the information of the vehicle used, the location and power of the vehicle, calculates the remaining working time, and records the operation time and maintenance information. The history management module can record and retrieve according to time and space, and can retrieve historical information such as historical site and vehicle maintenance.

[0023] The beneficial effects of the present invention are:

[0024] The unmanned inspection system can reduce the manual participation of inspections, increase inspection frequency and environmental compatibility, and reduce labor intensity and accident rate; it can realize multi-physical quantity perception: equipped with machine vision shooting, thermal imaging shooting, noise detection and temperature and humidity measurement functions, and a variety of sensors are used to extract various operating characteristics of the coal conveyor belt conveyor; autonomous obstacle avoidance: the unmanned inspection system can sense obstacles, realize intelligent anti-collision and obstacle avoidance functions, and automatically stop and alarm when encountering obstacles; autonomous planning of inspection tasks: according to the operation of the coal conveyor belt conveyor, autonomous planning of inspection tasks and charging strategies; positioning function: when an abnormal situation occurs, the location can be determined quickly and accurately, and manual work can be guided to arrive at the scene quickly; background terminal monitoring: log in to the background on the computer to control the unmanned inspection system and process the collected information;

[0025] The unmanned inspection system can complete the inspection of the coal conveyor pipe-belt machine when it is working or stopped; it can detect faults such as torsion, leakage, pipe expansion, pipe collapse, deviation, abnormal roller temperature and sound, belt tearing, and frame deformation of the coal conveyor pipe-belt machine; it can accurately locate the location of the fault; it can remotely monitor the operation of the unmanned inspection system; it can identify obstacles such as wires, branches, people, and animals and make emergency stops to avoid them; it can adapt to complex weather such as rain, snow, strong winds, dust, and low temperatures, and complex sections such as tunnels and slopes; the unmanned inspection system will automatically alarm when a fault occurs; it can work reliably in mountainous areas, tunnels and other areas with weak signal coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0027] Figure 1 This is a schematic diagram of the hierarchical framework of the functional systems of the unmanned inspection system of the present invention.

[0028] Figure 2 It is a schematic diagram of the structural hierarchy framework of the unmanned inspection system of the present invention;

[0029] Figure 3 It is a structural diagram of the intelligent bearing platform of the present invention;

[0030] Figure 4 It is a schematic diagram of the operation of the telescopic and rotating bearing device of the present invention;

[0031] Figure 5 This is a schematic diagram of the inspection of the intelligent bearing platform of the present invention on the belt conveyor;

[0032] Figure 6 is a data processing flow chart of the edge processor of the present invention;

[0033] Figure 7It is a schematic diagram of the communication system structure of the present invention.

[0034] In the figure: power chassis 1; positioning platform 2; laser radar platform 3; bottom optical platform 4; side optical platform 5; infrared monitoring platform 6; guide platform 7; telescopic rotating bearing device 8; acoustic vibration platform 9; battery compartment 10; edge processor 11; dust monitoring platform 12; roof optical platform 13; communication module 14. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below with reference to the accompanying drawings.

[0036] like Figures 1 to 7 As shown, in order to achieve the technical effect of "the purpose is to solve the problems of low inspection efficiency, low inspection accuracy, and difficulty in fault location caused by high manual participation in existing pipe belt machines, especially long-distance transport pipe belt machines", the structure and function of an unmanned inspection system for fault and environmental monitoring of long-distance coal conveying pipe belt machines are described in detail below;

[0037] An unmanned inspection system for long-distance coal conveying pipe belt machine fault and environment monitoring, including a remote information and monitoring center, a data communication system and an intelligent bearing platform, wherein the intelligent bearing platform includes a motion power module, a roadblock identification module, a pipe belt joint detection and identification module, a pipe belt machine temperature early warning module, a roller sound abnormality detection module, a fault location module and a dust monitoring module, each module includes a control level composed of a corresponding calculator and a controller and a field level composed of an execution unit, and the control level of each module is connected to the remote information and monitoring center through a data communication system;

[0038] The execution unit of the motion power module is a power chassis 1, which includes a vehicle body and a wheeled structure. The wheeled structure is connected to the vehicle body, and the wheeled structure can drive the vehicle body to move. The vehicle body is provided with a motion controller for controlling the rotation direction and rotation speed of the wheeled structure; the vehicle body is fixedly connected with a motor for driving the wheeled structure to move, and a speed change gear train is provided between the output shaft of the motor and the wheeled structure;

[0039] A plurality of chambers are arranged in the vehicle shell, and functional device installation slots are arranged in the chambers, and threaded interfaces are arranged in the slots, which are respectively used to hold and connect the positioning platform 2, the laser radar platform 3, the battery compartment 10, the edge processor 11 and the communication module 14. Functional device installation slots are designed on the vehicle shell, and threaded interfaces are arranged in the slots, which are respectively used to hold and connect the bottom optical platform 4, the guide platform 7, the telescopic rotating bearing device 8, the acoustic vibration platform 9, the dust monitoring platform 12 and the roof optical platform 13;

[0040] The bottom of the vehicle body is fixedly connected with a guide platform 7 for controlling the wheeled structure to turn. The guide platform 7 includes two rows of side wheels, which are respectively in contact with the left and right sides of the moving track provided on the coal conveyor belt conveyor. The two rows of side wheels drive the steering rod to drive the wheeled structure to turn according to the curvature of the moving track.

[0041] like Figure 5 As shown, a moving track is installed on the coal conveyor belt conveyor, the wheel structure is in contact with the outer shell of the coal conveyor belt conveyor, and the two rows of side wheels of the guide platform 7 are in contact with the left and right sides of the moving track respectively, so as to guide the power chassis 1;

[0042] A battery compartment 10 is provided at the bottom of the power chassis 1, and a battery for powering the unmanned inspection system is provided in the battery compartment 10; the battery provides energy for long-distance inspections;

[0043] The execution unit of the roadblock recognition module is a roof optical platform 13 and a laser radar platform. The roof optical platform 13 is installed on the top of the power chassis 1. The roof optical platform 13 includes visual hardware I. The visual hardware I is installed on the upper end of the vehicle shell through the connection mounting plate I. The visual hardware I is used to identify the turning and slope changes of the motion track, and adjust the steering and power output changes of the wheeled structure according to the turning and slope changes of the motion track. The visual hardware I is provided with an optical sensor controller I;

[0044] Visual hardware I can be used to monitor the activities of people around the track, warn of possible danger sources, identify obstacle types, and take pictures of obstacles;

[0045] The laser radar platform 3 is installed at the front of the vehicle body. The laser radar platform 3 is used to measure the distance of obstacles on the moving track, determine the movement state of obstacles, and formulate the obstacle removal method. The laser radar platform 3 is provided with a laser radar controller;

[0046] The execution unit of the dust monitoring module is a dust monitoring platform 12, which is installed on the vehicle body. The dust monitoring platform 12 includes a dust sensor and a dust sensor controller; the dust sensor is used to monitor the dust environment around the track and the distribution of harmful gases, and to warn of pipe and belt leakage that is difficult to detect;

[0047] The execution units of the pipe belt joint detection and identification module are the vehicle side optical platform 5 and the vehicle bottom optical platform 4;

[0048] The left and right sides of the vehicle shell are provided with telescopic rotating bearing devices 8, and each telescopic rotating bearing device 8 is provided with two vehicle-side optical platforms 5, and the vehicle-side optical platform 5 includes visual hardware II, which is installed on the telescopic rotating bearing device 8 by connecting the mounting plate II, and the telescopic rotating bearing device 8 can drive the vehicle-side optical platform 5 to rise and fall and rotate, and the visual hardware II is provided with an optical sensor controller II; the vehicle-side optical platform 5 is used to monitor the abnormal state of the pipe belt and roller; it can identify the failure forms such as the torsion, expansion and tearing of the pipe belt; the vehicle-side optical platform 5 can identify the failure forms such as the deformation of the frame, the loosening of the roller, and the excessive wear of the roller;

[0049] The underbody optical platform 4 is installed on the lower side of the vehicle shell. The underbody optical platform 4 includes visual hardware III, a light source and an infrared night vision device. The visual hardware III, the light source and the infrared night vision device are all installed on the lower side of the vehicle shell through a connecting mounting plate III. An optical sensor controller III is provided on the visual hardware III. The underbody optical platform 4 mainly monitors the upper pipe belt interface and separately monitors the fault forms such as torsion, deviation and instability of the interface. The light source and the infrared night vision device can effectively monitor even in an environment with poor lighting.

[0050] The execution unit of the pipe belt machine temperature warning module is an infrared monitoring platform 6. The infrared monitoring platform 6 is installed on the two telescopic rotating bearing devices 8. The infrared monitoring platform 6 includes an infrared thermal imager and an infrared thermal imager data controller. The telescopic rotating bearing device 8 can drive the infrared monitoring platform 6 to rise and fall and rotate; the infrared monitoring platform 6 monitors the temperature rise caused by structural interference during the high-speed pipe belt movement; the key monitoring areas are the contact surface between the roller and the pipe belt, the roller shaft, and the connection between the roller and the frame; the structural failure mode is analyzed through the temperature peak and temperature distribution of the local area;

[0051] The execution unit of the roller sound abnormality detection module is an acoustic vibration platform 9, which is installed at the bottom of the vehicle body. The acoustic vibration platform 9 includes a vibration sensor and a vibration sensor controller; the acoustic vibration platform 9 monitors the noise between the roller and the pipe belt during the high-speed pipe belt movement;

[0052] The execution unit of the fault location module is a positioning platform 2, which is installed at the front of the power chassis 1. The positioning platform 2 includes a Beidou positioning system, an RFID chip reader and an RFID identifier. The RFID technology is used for inspection and positioning. An anti-metal RFID chip is deployed at intervals on the inner side of the belt conveyor truss. Each RFID chip is numbered. When the unmanned inspection system moves to the corresponding RFID chip position, the RFID chip reader reads the number of the current RFID chip to perform positioning.

[0053] An edge processor 11 is fixedly connected to the rear side of the vehicle shell, and the edge processor 11 includes an optical data processor I, a laser radar data processor, a motion data processor, an optical data processor II, an optical data processor III, an infrared thermal imager data processor, a vibration sensor data processor, a dust sensor data processor and an RFID chip data processor. The optical data processor I is connected to the optical sensor controller I, the optical data processor II is connected to the optical sensor controller II, the optical data processor III is connected to the optical sensor controller III, the laser radar data processor is connected to the laser radar controller, the motion data processor is connected to the motion controller, the infrared thermal imager data processor is connected to the infrared thermal imager data controller, the vibration sensor data processor is connected to the vibration sensor controller, the dust sensor data processor is connected to the dust sensor controller, and the RFID chip data processor is connected to the positioning platform 2. The edge processor 11 is used to receive a control signal sent by a remote information and monitoring center, and send a signal to the optical sensor controller I, the optical sensor controller II, the optical sensor controller III, the laser radar controller, the motion controller, the infrared thermal imager data controller, the vibration sensor controller, the dust sensor controller and the RFID chip data processor;

[0054] The remote information and monitoring center realizes the motion control of the power chassis 1, the control of the roof optical platform 13 and the control of the laser radar platform 3 by controlling the motion data processor, the optical data processor I and the laser radar data processor, and analyzes the information of the roof optical platform 13, the laser radar platform 3 and the power chassis 1 at the same time, and feeds back the environmental analysis results, obstacle judgment results and motion data to the remote information and monitoring center;

[0055] The optical sensor processor II, the optical sensor processor III, the infrared thermal imager data processor, the vibration sensor processor and the dust sensor processor are used to receive control signals from the remote information and monitoring center, send signals to the optical sensor controller II, the optical sensor controller III, the infrared thermal imager data controller, the vibration sensor controller and the dust sensor controller, realize the control of the vehicle side optical platform 5, the vehicle bottom optical platform 4, the infrared monitoring platform 6, the acoustic vibration platform 9 and the dust monitoring platform 12, and analyze the information of the vehicle side optical platform 5, the vehicle bottom optical platform 4, the infrared monitoring platform 6, the acoustic vibration platform 9 and the dust monitoring platform 12 and feed back the fault judgment results to the remote information and monitoring center;

[0056] When an abnormal alarm occurs through the RFID chip data processor, it will combine GPS and RFID positioning information and alarm information and send them to the remote information and monitoring center for inspection and maintenance personnel to quickly locate the problem point;

[0057] The data communication system includes a communication module 14, which is installed on the power chassis 1; the communication module is located above the positioning platform, and the communication transmission system uses dual-link operation. Existing 4G base stations or future 5G base stations are used in places with good signals, and base stations are built separately in places with poor signals or no signals, using industrial-grade WIFI and microwave technology; the communication system communication protocol establishes a wireless communication network between the inspection system and the central control platform; the command signal is uploaded and sent through the MQTT protocol communication, and the large-capacity video data uses the RTMP / RTSP protocol communication to reduce mutual interference; the unmanned inspection robot makes autonomous decisions in weak signal areas, and the strong signal responds to the central control platform instructions in real time; video communication is only carried out in some strong signal areas or areas specified by the instructions, and all inspection video signals are uploaded after returning to the base station; reliable operation is achieved in weak signal coverage areas;

[0058] The hardware construction of the remote information and monitoring center mainly includes video management server, streaming media server, video recording and playback server, intelligent analysis server, map location server, operation and maintenance server, application server, video cloud storage, display screen, intelligent inspection car takeover system and supporting facilities. The software interface of the remote information and monitoring center consists of task management module, vehicle management module and history management module. The remote control function of the information and monitoring center is realized by the task management module. The vehicle management module displays the information of the vehicle used, the location and power of the vehicle, calculates the remaining working time, and records the operation time and maintenance information. The history management module can record and retrieve according to time and space, and can retrieve historical information such as historical site and vehicle maintenance;

[0059] When the present invention is in operation, the speed of the power chassis 1 is between 0 and 12 km / h, which is adjusted by the speed change gear train. A single-segment round-trip cruise of 7.5 km can be achieved. The power chassis 1 works during the day, and the battery compartment 10 is charged at night. The power chassis 1 travels at a constant speed in the flat section, slows down in the climbing section to provide greater traction, and brakes appropriately in the downhill section to ensure smooth driving of the vehicle. The guide platform 7 rolls in accordance with the guide track, driving the steering rod to steer the power chassis. The environmental security detection module collects data through the sensors in the roof optical platform 13 and the laser radar platform 3 installed on the power chassis, and analyzes the data through the information control center in the edge processor 11, and provides feedback on obstacles along the line. The telescopic load-bearing rotating device 8 is rotated down, such as Figure 4 As shown, the vehicle side optical platform 5 and the infrared monitoring platform 6 are sent to the working position, and the acoustic vibration platform 9, the vehicle side optical platform 5, the infrared monitoring platform 6, the vehicle bottom optical platform 4, and the dust monitoring platform 12 collect sound, pictures, temperature, dust particles and other information to the edge processor 11 for information control center analysis, such as Figure 6As shown, the calculator includes image information, thermal image information, radar information, sound wave information, and environmental information processing modules. When identifying a fault, the calculator maps the image data of the camera, the temperature data of the infrared thermal imager, the waveform data of the sound sensor, and the pollution data of the environmental sensor, classifies them, and then merges them for processing. The merged image data is then judged for straightness, length, and critical lines through a processing algorithm, the waveform data is filtered, modally analyzed, and spectrally analyzed, and the temperature data and pollution data are directly compared with standard values ​​to judge the fault. The controller controls the sensor to work. The RFID identifier in the positioning platform 2 numbers each RFID chip. When the inspection system moves to the corresponding chip position, the system will automatically read the current chip number for positioning. When an abnormal alarm occurs at the current position during the inspection, it will be sent to the background together with the GPS and RFID positioning information and alarm information. The mileage benchmark provides the inspection system with fault location benchmark information; the edge processor 11 solves and obtains the fault mode information; fault code generation: mainly includes mileage benchmark, fault mode and alarm time, that is, generates the fault code "145A02092811" instruction communication: the fault code only contains twelve characters, and the inspection system moves autonomously to the nearest area with good signal, during which the fault code is continuously sent until the confirmation signal from the central control platform is received. Fault location calculation: the belt conveyor is still moving at high speed during the period from the alarm signal to the central control platform stopping. Taking the mileage benchmark as the starting point, the distance between the fault point and the alarm point is obtained according to the time difference between the alarm time and the shutdown time, so as to locate the fault location. Communication system communication protocol, establish a wireless communication network between the inspection module 14 and the central control platform. Figure 7As shown, the command signal is uploaded and sent through the MQTT protocol communication, and the large-capacity video data is communicated using the RTMP / RTSP protocol to reduce mutual interference; the unmanned inspection robot makes autonomous decisions in the weak signal area, and the strong signal responds to the central control platform command in real time; the video communication is only carried out in some strong signal areas or areas specified by the command, and all inspection video signals are uploaded after returning to the base station. When a problem occurs on the carrier platform, its rescue mechanism is as follows: Power saving mode: turn off the fault inspection sensor, and send a power saving mode signal to the central control platform, only turn on the movement, communication and obstacle avoidance modules, and move towards the charging pile. Emergency mode: stop the inspection, calculate the location of the carrier platform through the RFID tag position, send the emergency mode signal and the inspection position to the information and monitoring center, only turn on the communication module 14 and the roof optical platform 13, and repair the carrier platform according to the fault type. If the repair can be completed at the fault location, continue to work. If not, another inspection vehicle will take the inspection vehicle back to the maintenance station. The task management module of the remote information and monitoring center software interface is the main control module, including task lists, real-time images and electronic maps. The task list is the main module, which displays the location and working status of each carrier platform; the real-time image module displays the on-site information captured by the carrier platform; the electronic map displays the location of the vehicle; select different vehicles in the task list, and the real-time image and electronic map will switch with the on-site pictures and map information captured by the selected vehicle in real time; select the vehicle to enter the task list. The secondary module controls the selected vehicle and issues commands such as start and stop, sensor adjustment, acceleration and deceleration, lifting platform adjustment, signal testing, and data export. At the same time, the electronic map bar changes to display environment and vehicle speed data. The vehicle management module displays the information of the vehicle used, displays the location and power of the vehicle, calculates the remaining working time, and records the running time and maintenance information. When the vehicle fails, the fault type and error time are displayed. The history management module records and retrieves according to time and space, and can retrieve historical information such as historical sites and vehicle maintenance. Among them, for different types of faults, the alarm form is shown in Table 1.

[0060]

[0061] Table 1 Alarm forms for different fault types

[0062] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An unmanned inspection system for long-distance coal conveyor belt machine fault and environment monitoring, including a remote information and monitoring center, a data communication system and an intelligent bearing platform, characterized in that: The intelligent load-bearing platform includes a motion power module, a roadblock identification module, a pipe belt joint detection and identification module, a pipe belt machine temperature warning module, a roller sound abnormality detection module, a fault location module and a dust monitoring module. Each module includes a control level composed of corresponding calculators and controllers and a field level composed of execution units. The control level of each module is connected to the monitoring center through a data communication system and remote information.

2. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 1 is characterized by: The execution unit of the motion power module is a power chassis (1), which comprises a vehicle body and a wheeled structure, wherein the wheeled structure is connected to the vehicle body and can drive the vehicle body to move, a speed-changing gear train for adjusting the rotation speed of the wheeled structure is arranged on the vehicle body, and a motion controller for controlling the rotation direction and rotation speed of the wheeled structure is arranged on the vehicle body; A guide platform (7) for controlling the steering of the wheeled structure is fixedly connected to the bottom of the vehicle body. The guide platform (7) includes two rows of side wheels. The two rows of side wheels are respectively in contact with the left and right sides of a moving track arranged on the coal conveyor belt conveyor. The two rows of side wheels drive the steering rod to drive the wheeled structure to steer according to the curvature of the moving track.

3. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 2 is characterized by: A battery compartment (10) is provided at the bottom of the power chassis (1), and a battery for supplying power to the unmanned inspection system is provided in the battery compartment (10).

4. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 2 is characterized by: The execution unit of the roadblock recognition module is a roof optical platform (13) and a laser radar platform. The roof optical platform (13) is installed on the top of the power chassis (1). The roof optical platform (13) includes visual hardware I. The visual hardware I is installed on the upper end of the vehicle shell through a connecting mounting plate I. The visual hardware I is used to identify the turning and slope changes of the motion track, and adjust the steering and power output changes of the wheeled structure according to the turning and slope changes of the motion track. The visual hardware I is provided with an optical sensor controller I; The laser radar platform (3) is installed at the front of the vehicle body. The laser radar platform (3) is used to measure the distance of obstacles on the moving track, determine the movement state of obstacles, and formulate an obstacle removal method. The laser radar platform (3) is provided with a laser radar controller.

5. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 4 is characterized by: The execution unit of the dust monitoring module is a dust monitoring platform (12); the dust monitoring platform (12) is installed on a vehicle shell; the dust monitoring platform (12) comprises a dust sensor and a dust sensor controller.

6. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 5 is characterized by: The execution units of the tube belt joint detection and identification module are a vehicle side optical platform (5) and a vehicle bottom optical platform (4); The left and right sides of the vehicle shell are both provided with telescopic rotating bearing devices (8), and two vehicle-side optical platforms (5) are installed on each telescopic rotating bearing device (8). The vehicle-side optical platform (5) includes visual hardware II, and the visual hardware II is installed on the telescopic rotating bearing device (8) by connecting the mounting plate II. The telescopic rotating bearing device (8) can drive the vehicle-side optical platform (5) to rise and fall and rotate, and the visual hardware II is provided with an optical sensor controller II; The underbody optical platform (4) is installed on the lower side of the vehicle shell, and comprises visual hardware III, a light source and an infrared night vision device, and the visual hardware III, the light source and the infrared night vision device are all installed on the lower side of the vehicle shell via a connecting mounting plate III, and an optical sensor controller III is arranged on the visual hardware III.

7. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 6 is characterized by: The execution unit of the temperature warning module of the belt conveyor is an infrared monitoring platform (6), and the infrared monitoring platform (6) is installed on the two telescopic rotating bearing devices (8). The infrared monitoring platform (6) includes an infrared thermal imager and an infrared thermal imager data controller. The telescopic rotating bearing device (8) can drive the infrared monitoring platform (6) to rise and fall and rotate; The execution unit of the roller sound abnormality detection module is an acoustic vibration platform (9), which is installed at the bottom of the vehicle shell, and comprises a vibration sensor and a vibration sensor controller.

8. The unmanned inspection system for long-distance coal conveyor belt fault and environment monitoring according to claim 7 is characterized by: The execution unit of the fault location module is a positioning platform (2). The positioning platform (2) is installed at the front of the power chassis (1). The positioning platform (2) includes a Beidou positioning system, an RFID chip reader and an RFID identifier. The RFID technology is used for patrol positioning. An anti-metal RFID chip is deployed at intervals on the inner side of the belt conveyor truss. Each RFID chip is numbered. When the unmanned patrol system moves to the corresponding RFID chip position, the RFID chip reader reads the number of the current RFID chip, thereby performing positioning.

9. The unmanned inspection system for long-distance coal conveyor belt failure and environment monitoring according to claim 8 is characterized by: An edge processor (11) is fixedly connected to the rear side of the vehicle shell. The edge processor (11) includes an optical data processor I, a laser radar data processor, a motion data processor, an optical data processor II, an optical data processor III, an infrared thermal imager data processor, a vibration sensor data processor, a dust sensor data processor and an RFID chip data processor. The optical data processor I is connected to the optical sensor controller I, the optical data processor II is connected to the optical sensor controller II, the optical data processor III is connected to the optical sensor controller III, the laser radar data processor is connected to the laser radar controller, the motion data processor is connected to the infrared thermal imager data controller, the vibration sensor data processor is connected to the vibration sensor controller, the dust sensor data processor is connected to the dust sensor controller, and the RFID chip data processor is connected to the positioning platform (2). The edge processor (11) is used to receive control signals sent by a remote information and monitoring center, and send signals to the optical sensor controller I, the optical sensor controller II, the optical sensor controller III, the laser radar controller, the motion controller, the infrared thermal imager data controller, the vibration sensor controller, the dust sensor controller and the RFID chip data processor.

10. The unmanned inspection system for long-distance coal conveyor belt failure and environment monitoring according to claim 1 is characterized by: The data communication system comprises a communication module (14), and the communication module (14) is installed on the power chassis (1).

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