An unmanned inspection system for fault and environment monitoring of long-distance coal pipe belt conveyor

Abstract

The present application relates to the unmanned inspection technology field in the pipe belt machine fault monitoring, more specifically, it is a kind of long-distance coal conveying pipe belt machine fault and environmental monitoring unmanned inspection system, including remote information and monitoring center, data communication system and intelligent bearing platform, the intelligent bearing platform includes movement power module, roadblock identification module, pipe belt joint detection and identification module, pipe belt machine temperature early warning module, roller sound anomaly detection module, fault positioning module and dust monitoring module, each module includes the control level of corresponding calculator and controller and the field level of execution unit, the control level of each module is connected by data communication system and remote information and monitoring center;The purpose is to solve the problems, such as low inspection efficiency, low inspection accuracy and difficult fault positioning caused by high artificial participation in existing pipe belt machine, especially long-distance transport pipe belt machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned inspection in pipe belt machine fault monitoring, more specifically, it is an unmanned inspection system for long-distance coal conveying pipe belt machine fault and environment monitoring. BACKGROUND

[0002] The pipe belt machine transmits coal through a sealed transmission belt. As a new emerging environmentally friendly coal conveying method, it has become the recognized development trend in the field of coal conveying. According to statistics, the pipe belt machine conveys about 2 million tons of coal per year, which can effectively reduce 63,000 vehicle trips and reduce about 40,000 tons of major pollutants and carbon emissions, with significant overall energy saving and environmental protection effects. However, due to the structural defects of the pipe belt machine, it will inevitably cause pipe expansion and pipe twisting faults, and once the twisting fault occurs, it will cause significant economic losses. The twisting fault is the result of long-term accumulation of twisting phenomenon, and timely correction of the twisting phenomenon can effectively prevent the occurrence of the twisting fault, so it is necessary to regularly inspect the pipe belt fault. At present, the pipe belt machine mainly has the following problems: the pipe belt machine is erected at a high height, and personnel inspection has a high risk of falling; there is a possibility of personnel and object intrusion along the pipe belt machine line, which may cause a high safety hazard; the work efficiency of manual inspection of long-distance pipe belt machine accident early warning or accident investigation is low; and it is difficult to locate the pipe belt machine after an abnormality occurs. The inspection robot can replace manual inspection and has been applied in some industrial scenes, such as the power industry, the chemical industry, and the relatively static scenes such as underground corridors, to carry out video shooting, meter reading of equipment, and logical inspection of gas leakage. Therefore, this technology can be applied to the safety inspection of long-distance pipe belt machines, which not only improves the work efficiency but also reduces the inspection and maintenance cost and improves the overall safety factor of the system. The intelligent inspection system combining the inspection robot and the online monitoring system installed along the pipe belt machine and the intelligent AI recognition technology is used to monitor the behavior of the pipe belt machine rack, roller, pipe belt, surrounding environment, and personnel in the monitoring area, to warn against illegal operation and timely find hidden dangers, so as to improve the inspection efficiency, reduce the operation risk, and ensure the safe operation of the pipe belt machine. And looking at the domestic belt conveyor and pipe belt conveyor operation and maintenance industry, there has been a low degree of equipment intelligence, a poor working environment, a low quality of operation and maintenance personnel, a large personnel mobility, and a backward training method, and personnel safety accidents have occurred from time to time, so it is urgent to realize intelligent operation and maintenance. SUMMARY

[0003] The purpose of the present application is to provide an unmanned inspection system for long-distance coal conveying pipe belt machine fault and environment monitoring, which aims to solve the problems of low inspection efficiency, low inspection accuracy, and difficult fault positioning caused by high manual participation in existing pipe belt machines, especially long-distance pipe belt machines.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] The application discloses an unmanned inspection system for fault and environment monitoring of a long-distance coal conveying pipe belt machine.

[0006] The execution unit of the motion power module is a power chassis, the power chassis comprises a vehicle shell and a wheel structure, the wheel structure is connected to the vehicle shell, the wheel structure can drive the vehicle shell to move, the vehicle shell is provided with a variable speed gear train for adjusting the rotating speed of the wheel structure, and the vehicle shell is provided with a motion controller for controlling the rotating direction and rotating speed of the wheel structure.

[0007] The vehicle shell is provided with a plurality of cavities, the cavities are provided with functional device mounting grooves, the grooves are provided with threaded interfaces, and the threaded interfaces are respectively used for containing a connection positioning platform, a laser radar platform, a battery compartment, an edge processor and a communication module.

[0008] The bottom of the vehicle shell is fixedly connected with a guide platform for controlling the steering of the wheel structure, the guide platform comprises two rows of side wheels, the two rows of side wheels are respectively in contact with the left and right sides of a motion track arranged on the coal conveying pipe belt machine, and the two rows of side wheels drive the wheel structure to steer according to the curvature of the motion track.

[0009] The bottom of the power chassis is provided with a battery compartment, and the battery compartment is provided with a battery for supplying power to the unmanned inspection system.

[0010] The execution unit of the roadblock identification 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 comprises 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 for identifying the turning and slope change of the motion track, and the turning and slope change of the motion track is used for adjusting the steering and power output change of the wheel structure, and the visual hardware I is provided with an optical sensor controller I.

[0011] The visual hardware I can be used for monitoring the personnel activity around the track, warning possible danger sources, identifying the types of obstacles and taking photos of the obstacles.

[0012] The laser radar platform is installed at the front of the vehicle shell, and is used for moving track obstacle ranging, judging the moving state of the obstacle, and formulating an obstacle driving mode.

[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 unit of the pipe belt joint detection and identification module is a vehicle side optical platform and a vehicle bottom optical platform.

[0015] Each of the left and right sides of the vehicle shell is provided with a telescopic rotary bearing device, and two vehicle side optical platforms are installed on each telescopic rotary bearing device, the vehicle side optical platform includes visual hardware II, the visual hardware II is installed on the telescopic rotary bearing device through a connecting mounting plate II, the telescopic rotary bearing device can drive the vehicle side optical platform to lift and rotate, and the visual hardware II is provided with an optical sensor controller II.

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

[0017] The execution unit of the pipe belt machine temperature early warning module is an infrared monitoring platform, and the infrared monitoring platform is installed on each of the two telescopic rotary bearing devices, the infrared monitoring platform includes an infrared thermal imager and an infrared thermal imager data controller, and the telescopic rotary bearing device can drive the infrared monitoring platform to lift and rotate.

[0018] The execution unit of the idler 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 positioning module is a positioning platform, which is installed at the front of the power chassis and includes a positioning Beidou system, an RFID chip reader and an RFID identifier, and adopts an RFID technology for inspection positioning, an anti-metal RFID chip is arranged on the inner side of the pipe belt machine truss at intervals, each RFID chip is numbered, and when the unmanned inspection system travels to the position of the corresponding RFID chip, the RFID chip reader reads the number of the current RFID chip, so that positioning is performed.

[0020] The rear side of the vehicle shell is fixedly connected with an edge processor, which comprises 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 and an optical sensor controller I are connected, the optical data processor II and an optical sensor controller II are connected, the optical data processor III and an optical sensor controller III are connected, the laser radar data processor and a laser radar controller are connected, the motion data processor and a motion controller are connected, the infrared thermal imager data processor and an infrared thermal imager data controller are connected, the vibration sensor data processor and a vibration sensor controller are connected, the dust sensor data processor and a dust sensor controller are connected, the RFID chip data processor and a positioning platform are connected, the edge processor is used for receiving control signals sent by the remote information and monitoring center and sending 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;

[0021] The data communication system comprises a communication module installed on the power chassis; the communication module is located above the positioning platform, the communication transmission system works in double links, existing 4G base stations or future 5G base stations are used in places with good signals, and base stations are separately built in places with poor signals or no signals, industrial-grade WIFI and microwave technology are adopted; the communication protocol of the communication system establishes a wireless communication network between the inspection system and the central control platform; the uploading and issuing of instruction signals are realized through MQTT protocol communication, RTMP / RTSP protocol communication is adopted for large-capacity video data to reduce mutual interference; the unmanned inspection robot in the weak signal area makes autonomous decisions, and the strong signal area responds to the central control platform instructions in real time; video communication is only carried out in part of the strong signal area or the instruction specified area, and all inspection video signals are uploaded after returning to the base station; reliable work in the weak signal coverage area is realized;

[0022] The hardware construction of the remote information and monitoring center mainly comprises a video management server, a streaming media server, a video recording playback server, an intelligent analysis server, a map location server, an operation and maintenance server, an application server, a video cloud storage, a display large screen, an intelligent inspection car takeover system and supporting facilities. The software interface of the remote information and monitoring center comprises a task management module, a vehicle management module and a historical 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 used vehicles, displays the position, power and calculated remaining working time of the vehicles, records the running time and maintenance information, and the historical management module can record and search according to time and space, can call historical scenes, vehicle maintenance and other historical information.

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

[0024] The unmanned inspection system can reduce the labor intensity and accident rate, improve the inspection frequency and environmental compatibility, and realize multi-physical quantity sensing, autonomous obstacle avoidance, autonomous planning of inspection tasks, positioning function, and background terminal monitoring.

[0025] The unmanned inspection system can complete the detection of the coal conveying pipe belt machine in both working and stopping states, detect the fault types of the coal conveying pipe belt machine such as twisting, material leakage, pipe expansion, pipe collapse, deviation, roller temperature, sound anomaly, belt tearing, and rack deformation of the coal conveying pipe belt machine, accurately locate the position of the fault, remotely monitor the operation of the unmanned inspection system, recognize obstacles such as wires, branches, people, and animals and stop to avoid, adapt to complex weather such as rain, snow, strong wind, sand, and low temperature, and complex road sections such as tunnels and climbing, automatically alarm when the unmanned inspection system itself fails, and reliably work in weak signal coverage areas such as mountainous areas and tunnels. BRIEF DESCRIPTION OF DRAWINGS

[0026] The present application will be further described in detail below in combination with the drawings and specific implementation methods.

[0027] Figure 1 is a schematic diagram of the functional system hierarchy of the unmanned inspection system of the present application

[0028] Figure 2 is a schematic diagram of the structural hierarchy of the unmanned inspection system of the present application

[0029] Figure 3 is a structural diagram of the intelligent bearing platform of the present application

[0030] Figure 4 is a schematic diagram of the operation of the telescopic rotary bearing device of the present application

[0031] Figure 5 is a schematic diagram of the intelligent bearing platform of the present application

[0032] Figure 6 is a data processing flowchart of the edge processor of the present application

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

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

[0035] The present application will be further described in detail below with reference to the accompanying drawings.

[0036] As Figures 1 to 7 shown, in order to achieve the technical effect of "the purpose is to solve the problems of low inspection efficiency, low inspection accuracy and difficult fault positioning caused by high manual participation of existing pipe belt machines, especially long-distance transportation pipe belt machines", the structure and function of an unmanned inspection system for long-distance coal pipe belt machine fault and environment monitoring will be described in detail below;

[0037] An unmanned inspection system for long-distance coal pipe belt machine fault and environment monitoring, comprising a remote information and monitoring center, a data communication system and an intelligent bearing platform, the intelligent bearing platform comprising 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 anomaly detection module, a fault positioning module and a dust monitoring module, each module comprising a control level composed of a corresponding calculator and controller and a field level composed of an execution unit, the control level of each module being connected through the data communication system and the remote information and monitoring center;

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

[0039] The vehicle shell is provided with a plurality of cavities, the cavities being provided with functional device mounting grooves, the grooves being provided with threaded interfaces for respectively containing the positioning platform 2, the laser radar platform 3, the battery compartment 10, the edge processor 11 and the communication module 14; the vehicle shell is provided with functional device mounting grooves, the grooves being provided with threaded interfaces for respectively containing the vehicle bottom optical platform 4, the guide platform 7, the telescopic rotary bearing device 8, the acoustic vibration platform 9, the dust monitoring platform 12 and the vehicle top optical platform 13;

[0040] The bottom of the vehicle body is fixedly connected to a guide platform 7 for controlling the steering of the wheeled structure. 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 steer 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, for guiding the power chassis 1;

[0042] A battery compartment 10 is provided at the bottom of the power chassis 1. The battery compartment 10 contains batteries for powering the unmanned inspection system. The batteries provide energy for long-distance inspections.

[0043] The execution units of the roadblock recognition module are the roof optical platform 13 and the 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, which is installed on the upper end of the vehicle shell through the 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;

[0044] Vision 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 LiDAR platform 3 is installed at the front of the vehicle body. It is used to measure the distance to obstacles on the moving track, determine the obstacle's motion state, and formulate the obstacle removal method. The LiDAR platform 3 is equipped with a LiDAR controller.

[0046] The dust monitoring module is implemented as a dust monitoring platform 12, which is mounted on the vehicle body and includes a dust sensor and a dust sensor controller. The dust sensor is used to monitor the dust environment and harmful gas distribution around the track, providing early warning of potentially difficult-to-find pipe and belt leaks.

[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] Both sides of the vehicle shell are provided with telescopic rotary bearing devices 8, two vehicle-side optical platforms 5 are installed on each telescopic rotary bearing device 8, the vehicle-side optical platform 5 comprises visual hardware II, the visual hardware II is installed on the telescopic rotary bearing device 8 through a connecting mounting plate II, the telescopic rotary bearing device 8 can drive the vehicle-side optical platform 5 to lift and rotate, and the visual hardware II is provided with an optical sensor controller II; the vehicle-side optical platform 5 is used for monitoring abnormal states of the pipe belt and the carrier roller; can identify fault modes such as pipe belt twisting, pipe expansion and tearing; the vehicle-side optical platform 5 can identify fault modes such as rack deformation, carrier roller loosening and carrier roller excessive wear;

[0049] The vehicle-bottom optical platform 4 is installed on the lower side of the vehicle shell, the vehicle-bottom optical platform 4 comprises visual hardware III, a light source and an infrared night vision instrument, the visual hardware III, the light source and the infrared night vision instrument are all installed on the lower side of the vehicle shell through a connecting mounting plate III, and the visual hardware III is provided with an optical sensor controller III; the vehicle-bottom optical platform 4 mainly monitors the upper pipe belt interface and separately monitors fault modes such as interface twisting, deviation and instability; the light source and the infrared night vision instrument can also effectively monitor in an environment with poor illumination;

[0050] The execution unit of the pipe belt machine temperature early warning module is an infrared monitoring platform 6, the infrared monitoring platform 6 is installed on each telescopic rotary bearing device 8, the infrared monitoring platform 6 comprises an infrared thermal imager and an infrared thermal imager data controller, and the telescopic rotary bearing device 8 can drive the infrared monitoring platform 6 to lift and rotate; the infrared monitoring platform 6 monitors temperature rise caused by structural interference in the high-speed pipe belt movement process; the key monitoring areas are the contact surface of the carrier roller and the pipe belt, the carrier roller shaft and the connection position of the carrier roller and the rack; the structure fault mode is analyzed through the local area temperature peak value and the temperature distribution condition;

[0051] The execution unit of the carrier roller sound abnormality detection module is an acoustic vibration platform 9, the acoustic vibration platform 9 is installed at the bottom of the vehicle shell, the acoustic vibration platform 9 comprises a vibration sensor and a vibration sensor controller; the acoustic vibration platform 9 monitors the noise between the carrier roller and the pipe belt in the high-speed pipe belt movement process;

[0052] The execution unit of the fault positioning module is a positioning platform 2, the positioning platform 2 is installed at the front of the power chassis 1, the positioning platform 2 comprises a Beidou positioning system, an RFID chip reader and an RFID identifier, adopts the RFID technology to perform inspection positioning, an anti-metal RFID chip is arranged on the inner side of the pipe belt machine truss at every certain distance, each RFID chip is numbered, and when the unmanned inspection system travels to the position of the corresponding RFID chip, the RFID chip reader reads the number of the current RFID chip, so that positioning is performed;

[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 lidar 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 lidar data processor is connected to the lidar 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 control signals from the 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 lidar 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 controls the motion data processor, optical data processor I, and lidar data processor to achieve motion control of the power chassis 1, control of the roof optical platform 13, and control of the lidar platform 3. At the same time, it analyzes the information of the roof optical platform 13, the lidar platform 3, and the power chassis 1 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, and 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 to 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. At the same time, the processor analyzes the information from 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 feeds back the results of each fault judgment to the remote information and monitoring center;

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

[0057] The data communication system comprises a communication module 14 installed on the power chassis 1; the communication module is located above the positioning platform, the communication transmission system works in double link, uses existing 4G base stations or future 5G base stations in places with good signals, and separately constructs base stations in places with poor signals or no signals, and adopts industrial-grade WIFI and microwave technology; the communication protocol of the communication system establishes a wireless communication network between the inspection system and the central control platform; the uploading and issuing of instruction signals are realized through MQTT protocol communication, the communication of large-capacity video data is realized through RTMP / RTSP protocol, and mutual interference is reduced; the unmanned inspection robot in the weak signal area makes autonomous decisions, and the strong signal area responds to the central control platform instructions in real time; video communication is only carried out in part of the strong signal area or the instruction specified area, and all inspection video signals are uploaded after returning to the base station; reliable work in the weak signal coverage area is realized.

[0058] The hardware construction of the remote information and monitoring center mainly comprises a video management server, a streaming media server, a video recording playback server, an intelligent analysis server, a map location server, an operation and maintenance server, an application server, a video cloud storage, a display large screen, an intelligent inspection trolley interface system and supporting facilities. The software interface of the remote information and monitoring center comprises a task management module, a vehicle management module and a historical 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 used vehicle, displays the position, power and calculated remaining working time of the vehicle, and records the running time and maintenance information, the historical management module can record and search according to time and space, and can call historical information such as the scene and vehicle maintenance;

[0059] In the running of the application, the speed of the power chassis 1 is 0-12km / h, which is adjusted by a variable speed gear train. The single section 7.5km round trip cruise can be realized. The power chassis 1 works during the day and charges the battery compartment 10 at night. The power chassis 1 drives at a constant speed on flat sections, slows down on climbing sections to provide more traction, and brakes appropriately on downhill sections to ensure smooth driving. The guide platform 7 rolls along the guide rail to drive the steering pull 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 information in the edge processor 11 information control center to feedback the obstacles along the line. The telescopic rotary bearing device 8 is rotated down as shown in the figure, and the vehicle side optical platform 5 and the infrared monitoring platform 6 are sent to the working position, 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, picture, temperature, dust particle and other information to the edge processor 11 information control center for analysis, Figure 4 Figure 6 ​As shown, the calculator contains image information, thermal image information, radar information, sound wave information, environmental information processing module, when identifying faults, the calculator will map 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, and then merge and process after classification. The merged image data is subjected to straightness, length, and critical line discrimination through processing algorithms, the waveform data is subjected to filtering, modal analysis, and spectral analysis, and the temperature data and pollution data are directly compared with standard values to determine faults. The controller controls the operation of the sensor. The RFID identifier in the positioning platform 2 numbers each RFID chip. When the inspection system travels to the corresponding chip position, the system automatically reads the current chip number, thereby positioning. When an abnormal alarm is detected at the current position, the GPS and RFID positioning information and alarm information are sent to the background together. The mileage reference provides fault position reference information for the inspection system. The edge processor 11 solves and obtains fault mode information. Fault code generation: mainly includes mileage reference, fault mode, and alarm time, i.e. generates fault code "145A02092811" instruction communication: the fault code contains only twelve characters. The inspection system moves autonomously to the nearest signal good area, sends the fault code uninterruptedly in between, and stops until the confirmation signal from the central control platform is received. Fault position calculation: the pipe belt machine still moves at high speed from the time the alarm signal is sent to the time the central control platform stops. With the mileage reference 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 stop time, thereby positioning the fault position. The communication system communication protocol establishes a wireless communication network between the communication module 14 and the central control platform. For example Figure 7As shown, command signals are uploaded and sent via the MQTT protocol, while 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, while responding to commands from the central control platform in real time when signals are strong. Video communication is limited to certain strong signal areas or areas specified by commands, and the entire inspection video signal is uploaded after returning to the base station. When a problem occurs with the load platform, its rescue mechanism is as follows: Power-saving mode: The fault detection sensor is disabled and a power-saving mode signal is sent to the central control platform. Only the motion, communication, and obstacle avoidance modules are enabled, and the vehicle moves toward the charging station. Emergency mode: The inspection stops, the load platform's location is calculated based on the RFID tag, and an emergency mode signal and the inspection location are sent to the information and monitoring center. Only the communication module 14 and the roof optical platform 13 are enabled. The load platform is repaired based on the fault type. If repairs can be completed at the fault location, the robot continues operations. If not, another inspection vehicle takes the vehicle back to the maintenance station. The task management module in the remote information and monitoring center software interface is the main control module and contains a task list, real-time images, and an electronic map. The task list is the primary module, displaying the location and operating status of each platform. Real-time images display on-site information captured by the platform, and an electronic map shows the vehicle's location. Selecting a vehicle in the task list will cause the real-time images and map information captured by the selected vehicle to switch between the real-time images and map information. Selecting a vehicle enters the task list's secondary module, which controls the selected vehicle, issuing commands such as start / stop, sensor adjustment, acceleration / deceleration, platform adjustment, signal testing, and data export. Simultaneously, the electronic map displays environmental and vehicle speed data. The vehicle management module displays vehicle information, including its location, battery level, remaining operating time, and operating hours and maintenance information. In the event of a vehicle failure, the fault type and time of error are displayed. The history management module retrieves records by time and space, retrieving historical site and vehicle maintenance information. Table 1 lists the alarm types for different fault types.

[0060]

[0061] Table 1 Alarm forms for different fault types

[0062] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An unmanned inspection system for long-distance coal conveyor belt fault and environmental monitoring, including a remote information and monitoring center, a data communication system, and an intelligent carrier platform, characterized by: The intelligent load-bearing platform includes a motion power module, a roadblock identification module, a pipe and belt joint detection and identification module, a pipe and 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 computers and controllers and a field level composed of execution units. The control level of each module is connected to the remote information and monitoring center through a data communication system and a remote information and monitoring center. The communication transmission system uses dual-link operation, using 4G base stations or 5G base stations in areas with good signals, and building separate base stations in areas with poor or no signals, using industrial-grade WIFI and microwave technology; The unmanned inspection robot makes autonomous decisions in weak signal areas and responds to instructions from the central control platform in real time when the signal is strong. When an abnormal alarm occurs at the current inspection location, the inspection system autonomously moves to the nearest area with good signal, continuously sending fault codes until a confirmation signal from the central control platform is received. Fault location calculation: The belt conveyor continues to move at high speed from the time the alarm signal is sent to the time the central control platform stops. Starting from the mileage benchmark, the distance between the fault point and the alarm point is obtained based on the time difference between the alarm time and the shutdown time, thereby locating the fault location.

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 includes a vehicle shell and a wheel structure, wherein the wheel structure is connected to the vehicle shell and can drive the vehicle shell to move, and a speed-changing wheel train for adjusting the rotation speed of the wheel structure is provided on the vehicle shell, and a motion controller for controlling the rotation direction and rotation speed of the wheel structure is provided on the vehicle shell; A guide platform (7) for controlling the wheeled structure to steer is fixedly connected to the bottom of the vehicle shell. The guide platform (7) includes two rows of side wheels, which are respectively in contact with the left and right sides of a 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 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 batteries for powering the unmanned inspection system are 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 units of the roadblock recognition module are 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 shell. The laser radar platform (3) is used to measure the distance of obstacles on the moving track, judge the movement state of obstacles, and formulate obstacle removal methods. A laser radar controller is set on the laser radar platform (3).

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 the vehicle shell. The dust monitoring platform (12) includes 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 pipe belt joint detection and identification module are the vehicle side optical platform (5) and the 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) through a connecting mounting plate II. The telescopic rotating bearing device (8) can drive the vehicle-side optical platform (5) to rise and fall and rotate. The visual hardware II is provided with an optical sensor controller II. The vehicle bottom optical platform (4) is installed on the lower side of the vehicle shell. The vehicle bottom 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. The visual hardware III is provided with an optical sensor controller 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 pipe belt machine temperature warning module 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 anomaly detection module is an acoustic vibration platform (9), which is installed on the bottom of the vehicle shell. The acoustic vibration platform (9) includes 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. RFID technology is used for inspection and positioning. An anti-metal RFID chip is deployed at intervals on the inner side of the pipe 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, thereby performing positioning.

9. The unmanned inspection system for long-distance coal conveyor belt fault 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 the 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 fault 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 mounted on the power chassis (1).

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