Tobacco factory pipe gallery inspection system and method

Abstract

The embodiment of the invention discloses a tobacco factory pipe gallery inspection system and method, and the system comprises an overhead rail, an inspection robot, and a central control subsystem. Wherein the hanger rail is fixed at the top of the pipe gallery of the cigarette factory, and the inspection robot comprises a moving module and a detection module; wherein the central control subsystem is used for acquiring a target inspection task and sending the target inspection task to the inspection robot; the moving module is used for controlling the inspection robot to move along a track in the hanger rail according to the target inspection task; and the detection module is used for detecting at least one preset index of the target cigarette factory pipe gallery which moves and passes according to the target inspection task, obtaining an inspection result corresponding to the target inspection task, and sending the inspection result to the central control subsystem. According to the technical scheme, the inspection robot can be used for mobile inspection at the top of the pipe gallery, interference of ground obstacles is avoided, and the inspection efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent inspection, and in particular, to a patrol inspection system and method for a tobacco factory pipe gallery. Background Art

[0002] In recent years, newly renovated and technologically improved cigarette factories have basically standardized the laying of steam, positive (negative) pressure, cold (frozen) water pipelines, etc. through underground comprehensive pipe galleries, which are sent from the power workshop to the using workshops such as the silk-making workshop, the cigarette-making and packaging workshop, the forming workshop, and the experimental workshop. The underground comprehensive pipe gallery of a tobacco factory is an important infrastructure of the underground space, and pipelines such as steam pipes, positive (negative) pipes, and cold (frozen) water pipes are laid inside. During long-term operation, potential safety hazards such as leakage points, corrosion, or water accumulation are likely to occur.

[0003] Traditional manual inspection has low efficiency, especially in the case of high temperature, high humidity, or leakage of toxic and harmful gases, there are high safety risks and difficulties in night operations. Most of the existing inspection robots are wheeled or tracked mobile platforms that rely on ground movement and are limited by the complex terrain of the pipe gallery (such as water accumulation and obstacles), and cannot achieve full coverage monitoring. Summary of the Invention

[0004] The embodiments of the present invention provide a patrol inspection system and method for a tobacco factory pipe gallery, which can avoid interference from ground obstacles and improve the inspection efficiency.

[0005] In a first aspect, the embodiments of the present invention provide a patrol inspection system for a tobacco factory pipe gallery, the system includes: a suspension rail, an inspection robot, and a central control subsystem; wherein, the suspension rail is fixed on the top of the tobacco factory pipe gallery, and the inspection robot includes a movement module and a detection module; wherein,

[0006] The central control subsystem is configured to obtain a target inspection task and send the target inspection task to the inspection robot;

[0007] The movement module is configured to control the inspection robot to move along the track in the suspension rail according to the target inspection task;

[0008] The detection module is configured to detect at least one preset index of the target tobacco factory pipe gallery passed during movement according to the target inspection task, obtain the inspection result corresponding to the target inspection task, and send the inspection result to the central control subsystem.

[0009] In a second aspect, the embodiments of the present invention provide a patrol inspection method for a tobacco factory pipe gallery, the method includes:

[0010] The central control subsystem obtains a target inspection task and sends the target inspection task to the inspection robot;

[0011] The mobile module controls the inspection robot to move along the track in the suspension rail according to the target inspection task;

[0012] The detection module detects at least one preset index of the target tobacco factory pipe gallery passed by during movement according to the target inspection task, obtains the inspection result corresponding to the target inspection task, and sends the inspection result to the central control subsystem.

[0013] In a third aspect, an embodiment of the present invention provides a computer device, which includes:

[0014] One or more processors;

[0015] A memory for storing one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the tobacco factory pipe gallery inspection method described in any embodiment.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the tobacco factory pipe gallery inspection method described in any embodiment.

[0018] The technical solution provided by the embodiment of the present invention provides a tobacco factory pipe gallery inspection system, including: a suspension rail, an inspection robot and a central control subsystem; wherein, the suspension rail is fixed on the top of the tobacco factory pipe gallery, and the inspection robot includes a mobile module and a detection module; wherein, the central control subsystem is used to obtain a target inspection task and send the target inspection task to the inspection robot; the mobile module is used to control the inspection robot to move along the track in the suspension rail according to the target inspection task; the detection module is used to detect at least one preset index of the target tobacco factory pipe gallery passed by during movement according to the target inspection task, obtain the inspection result corresponding to the target inspection task, and send the inspection result to the central control subsystem. The technical solution of the embodiment of the present invention solves the problems of large inspection difficulty and limited inspection range in the prior art when inspecting the tobacco factory pipe gallery. It can use the inspection robot to move and inspect on the top of the pipe gallery, avoiding interference from ground obstacles and improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a structural diagram of a tobacco factory pipe gallery inspection system provided by an embodiment of the present invention;

[0020] Figure 2 is an environmental schematic diagram of a tobacco factory pipe gallery inspection provided by an embodiment of the present invention;

[0021] Figure 3It is a schematic structural diagram of an inspection robot provided by an embodiment of the present invention;

[0022] Figure 4 It is a schematic layout diagram of a sensor module in an inspection robot provided by an embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of the running track of an inspection robot provided by an embodiment of the present invention;

[0024] Figure 6 It is a flowchart of a method for inspecting a tobacco factory pipe gallery provided by an embodiment of the present invention;

[0025] Figure 7 It is a schematic structural diagram of a computer device provided by an embodiment of the present invention. Detailed implementation manners

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] Figure 1 It is a structural diagram of a tobacco factory pipe gallery inspection system provided by an embodiment of the present invention. The embodiments of the present invention are applicable to scenarios where abnormal detection of preset instructions in a tobacco factory pipe gallery is performed, and the system can be implemented in a software and / or hardware manner.

[0028] As Figure 1 shown, the tobacco factory pipe gallery inspection system includes: a suspension rail, an inspection robot, and a central control subsystem; wherein, the suspension rail is fixed to the top of the tobacco factory pipe gallery, and the inspection robot includes a moving module and a detection module; wherein, the central control subsystem is configured to obtain a target inspection task and send the target inspection task to the inspection robot; the moving module is configured to control the inspection robot to move along the track in the suspension rail according to the target inspection task; the detection module is configured to detect at least one preset index of the target tobacco factory pipe gallery passed by during the movement according to the target inspection task, obtain an inspection result corresponding to the target inspection task, and send the inspection result to the central control subsystem.

[0029] Figure 2 It is an environmental schematic diagram of a tobacco factory pipe gallery inspection provided by an embodiment of the present invention. As Figure 2As shown in the figure, label 101: the top of the pipe gallery, used to fix the suspension rail. Label 102: the suspension rail, horizontally arranged along the top of the pipe gallery, and the robot moves on the rail through pulleys. The grid lines represent the internal space of the pipe gallery, in which positive (negative) pressure pipes (label 103), steam pipes (label 104), cold (frozen) water pipes (label 105) and sump pits (label 106) are arranged. Label 107: the charging station, located at one end of the suspension rail, used for the robot to automatically return for charging.

[0030] Next, each part of the inspection system for the tobacco factory pipe gallery will be introduced separately. First, the suspension rail will be introduced. The suspension rail can be made of corrosion-resistant lightweight alloy (aluminum alloy) or composite materials, fixed to the top of the pipe gallery through embedded parts, and supports straight, curved and bifurcated paths. The track of the suspension rail can be embedded with a conductive slide rail or a wireless power supply module (electromagnetic induction), and a communication bus is synchronously integrated to realize continuous power supply and real-time data transmission of the inspection robot. Optionally, when installing the suspension rail, the track can be laid along the center line of the top of the pipe gallery, support points are set at intervals of ≤ 10 meters, and an electric switch is configured at the bifurcation, and the path is remotely switched by the central control subsystem.

[0031] Furthermore, the inspection robot will be introduced below. The top of the inspection robot can be connected to the suspension rail, move along the top of the pipe gallery through the suspension rail, and detect the index parameters of the tobacco factory pipe gallery below to determine whether there is an abnormal situation. Optionally, the inspection robot can include a driving motor (servo) and a roller skating component, which are engaged with the track rack to achieve precise movement. Preferably, magnetic adsorption wheels or guide wheels can ensure stability under complex paths.

[0032] In an optional implementation manner, the mobile module includes: a path determination unit and a path movement unit; wherein, the path determination unit is used to determine a target inspection rail path from the suspension rail according to the target inspection task; the path movement unit is used to control the roller skating component of the inspection robot to move along the target inspection rail path.

[0033] Among them, the target inspection task can be the inspection task that the inspection robot needs to execute. The target inspection task can be set manually and sent to the inspection robot through the central control subsystem. Exemplarily, the target inspection task can include the position points that need to be inspected, and the index parameters that need to be detected at different position points. The target inspection rail path can be the movement path corresponding to the execution of the target inspection task. Specifically, the path determination unit can determine an optimal path with a smaller movement distance and a smaller movement difficulty from the suspension rail according to the target inspection task, and use this path as the target inspection rail path. Furthermore, the roller skating component preferably uses magnetic adsorption wheels or guide wheels, which can ensure the movement stability under complex paths.

[0034] In an alternative embodiment, the path movement unit includes: a speed control subunit; wherein, the speed control subunit is configured to control the inspection robot to move uniformly along the target inspection track path at a preset speed; when reaching the docking position point on the target inspection track path, control the inspection robot to dock at the docking position point, and when receiving the position point detection completion instruction sent by the detection module, control the inspection robot to move uniformly again; when receiving the abnormal index detection instruction sent by the detection module, control the inspection robot to stop moving.

[0035] Among them, the docking position point is used to represent a specific position point that needs to be inspected key points. Such as sumps and key pipeline interfaces. The inspection robot needs to detect more indicators at the docking position point. Therefore, by controlling the inspection robot to dock at the docking position point, sufficient inspection time can be provided for the inspection robot. Optionally, the docking position point can be preset manually, and the indicators to be detected corresponding to each docking position point can also be set in advance.

[0036] Furthermore, the position point detection completion instruction is used to indicate that the inspection robot has completed the index detection steps corresponding to the docking position point. Therefore, when the speed control subunit receives the position point detection completion instruction sent by the detection module, it can control the inspection robot to move uniformly again and continue to execute the subsequent inspection tasks. The abnormal index detection instruction is used to indicate that the detected index has an abnormal situation. For example, if the detection module detects that the specific data of the index is not within the preset normal range, it can issue an abnormal index detection instruction so that the speed control subunit can control the inspection robot to stop moving, facilitating the subsequent investigation of the abnormal situation at the location point.

[0037] In an alternative embodiment, the detection module includes: a data acquisition unit and a data analysis unit; wherein, the data acquisition unit is configured to collect the preset indicators of the target tobacco factory pipe gallery to obtain the target index parameters corresponding to the preset indicators; wherein, the preset index parameters include at least one of temperature, humidity, pipe wall thickness, gas composition, smoke concentration, and seepage area; the data analysis unit is configured to determine the inspection result corresponding to the target inspection task according to the target index parameters and send the inspection result to the central control subsystem.

[0038] Among them, the target index parameter can be the specific parameter data corresponding to the preset index. Optionally, the detection module can continuously detect the temperature, humidity, gas composition, and smoke concentration of the surrounding environment, and continuously detect the wall thickness of the pipes passing by, and detect the water seepage area at the preset position points. Specifically, the data acquisition unit can detect the specific data of the preset index of the passing pipe gallery to obtain the target index parameter. Further, the data analysis unit can summarize the detection data of the data acquisition unit, analyze the abnormal data in the detection data, and then obtain the inspection result corresponding to the target inspection task. By locally analyzing the collected data, the inspection robot can improve the real-time performance of determining the inspection result.

[0039] Optionally, if the inspection robot is unable to analyze complex detection data, the complex detection data can be sent to the central control subsystem so that the central control subsystem analyzes the complex detection data to obtain the corresponding inspection result.

[0040] Optionally, the data acquisition unit includes at least one of a temperature sensor, a humidity sensor, a gas sensor, a thermal imager, a flame sensor, a smoke sensor, and a preset intelligent camera. Among them, the temperature sensor can be used to detect abnormal surface temperature of the steam pipe. The humidity sensor can be used to monitor the humidity change near the chilled water pipe. The gas sensor can be used to detect leaking gas. The infrared thermal imager can be used to accurately locate the leak point. The preset intelligent camera can be used to photograph the appearance of the pipes in the pipe gallery, the state of the sump, and the environmental state, etc.

[0041] Optionally, when detecting the water seepage area, the inspection robot can take a picture of the preset sump based on the preset intelligent camera, then identify the water accumulation area in the captured image, and use the identified water accumulation area as the water seepage area.

[0042] Exemplarily, Figure 3 is a schematic structural diagram of an inspection robot provided by an embodiment of the present invention. As Figure 3As shown in the figure, the inspection robot includes the following components: Label 201: The robot main body shell, made of lightweight materials. Label 202: The pulley device, enabling the robot to move through the suspension rail. Label 203: The driving motor, providing power to control the robot to run smoothly along the track. Label 204: The sensor module, including a temperature sensor, a humidity sensor, a gas sensor, an infrared thermal imager, and an industrial camera. Temperature sensor (Label 204a): Used to detect abnormal surface temperature of the steam pipeline. Humidity sensor (Label 204b): Used to monitor the humidity change near the chilled water pipe. Gas sensor (Label 204c): Used to detect leaked gas. Infrared thermal imager (Label 204d): Used to accurately locate the leak point. Industrial AI camera (Label 204e): Used to photograph the appearance of the pipelines in the pipe gallery, the state of the sump pit, and the environmental state, etc. Label 205: The robotic arm module, optionally used to clean the sundries in the sump pit or collect samples. Label 206: The power system, with a large-capacity lithium battery built-in, supporting long-term operation.

[0043] Furthermore, Figure 4 is a schematic layout diagram of the sensor module in an inspection robot provided by an embodiment of the present invention. As Figure 4 shown in the figure, Label 301: The temperature sensor, installed on the left side of the robot facing the steam pipeline. Label 302: The humidity sensor, installed on the right side of the robot near the chilled water pipe. Label 303: The gas sensor, installed directly in front of the left side of the robot, used to detect leaked gas. Label 304: The infrared thermal imager, installed directly in front of the right side of the robot, used to scan the surface temperature distribution such as steam leakage and frosting of the chilled water pipe. Label 305: The flame sensor, installed under the left side of the robot, used to detect the flame situation in the pipe gallery. Label 306: The smoke sensor, installed under the right side of the robot, used to detect the temperature and smoke concentration in the pipe gallery. Label 307: Industrial AI cameras (two), installed directly below the robot, capable of surveying the entire pipe gallery area.

[0044] Exemplarily, Figure 5 is a schematic diagram of the running trajectory of an inspection robot provided by an embodiment of the present invention. As Figure 5As shown, marking 501: the starting point of the suspension rail, corresponding to the charging station location. Marking 502: the end point of the suspension rail, where the robot returns to the starting point after completing one inspection. The dashed arrow indicates the moving direction of the robot along the suspension rail. The circled markings indicate the robot docking points, which are used to focus on detecting specific areas (such as sumps or key pipeline interfaces). Marking 601: positive (negative) pressure pipeline, and the robot detects leak points through temperature sensors and infrared thermal imagers. It is mainly at pipeline joints, elbows, branch points, and high-risk areas (such as historical fault points, etc.). Marking 602: steam pipeline, and the robot detects leak points through temperature sensors and infrared thermal imagers. It is mainly at pipeline joints, elbows, branch points, and high-risk areas (such as historical fault points, etc.). Marking 603: cold (frozen) water pipe, and the robot monitors leaks through humidity sensors and gas sensors. It is mainly at pipeline joints, elbows, branch points, and high-risk areas (such as historical fault points, etc.). Marking 604: sump, and the robot monitors the water accumulation status through a preset intelligent camera. Marking 605: the robot body, which is moving along the suspension rail and performing inspection tasks.

[0045] In an alternative embodiment, the data analysis unit includes: an anomaly determination subunit; wherein, the anomaly determination subunit is configured to, for each target metric parameter, determine at least one anomaly determination range corresponding to the target metric parameter, determine the anomaly level corresponding to the target metric parameter according to the anomaly determination range, and determine the inspection result according to the anomaly levels corresponding to multiple target metric parameters.

[0046] Among them, the anomaly level can be a parameter used to represent the anomaly degree of a preset metric. Exemplarily, multiple anomaly levels can be set for each preset metric respectively, which are used to indicate the degree to which the preset metric deviates from the normal range, facilitating subsequent execution of corresponding feedback actions according to the anomaly level. For example, the anomaly level can be divided into a normal level, a deviation level, and a danger level. Among them, the normal level indicates that the parameter of the preset metric is within the normal range; the deviation level indicates that the parameter of the preset metric is not within the normal range but the deviation degree is limited; the danger level indicates that the parameter of the preset metric is not within the normal range and the deviation degree is relatively large.

[0047] The anomaly determination range can be a reference range for determining the anomaly level of a preset metric. Specifically, for each preset metric, a first determination range corresponding to the normal level and a second determination range corresponding to the deviation level can be set, and the first determination range and the second determination range are used as the anomaly determination range. If the parameter data of the preset metric is within the first determination range, it can be determined that the preset metric is at the normal level; if the parameter data of the preset metric is not within the first determination range but within the second determination range, it can be determined that the preset metric is at the deviation level; if the parameter data of the preset metric is not within the first determination range and within the second determination range, it can be determined that the preset metric is at the danger level.

[0048] In an alternative embodiment, the data analysis unit further includes: an abnormal emergency subunit; wherein, the abnormal emergency subunit is configured to send a pipeline section closing instruction to the valve control device when the abnormal level corresponding to the target index parameter reaches the dangerous level, so that the valve control device closes the target pipeline section corresponding to the target index parameter.

[0049] Wherein, when the abnormal level corresponding to the target index parameter reaches the dangerous level, it means that the parameter data of the preset index has deviated seriously from the normal range. To prevent accidents, at this time, a pipeline section closing instruction can be sent to the valve control device so that the valve control device closes the target pipeline section corresponding to the target index parameter. Among them, it can be detected that when the abnormal level of the target index parameter reaches the dangerous level, the pipeline section where the inspection robot is currently located is used as the target pipeline.

[0050] In an alternative embodiment, the inspection robot further includes: an abnormal alarm module; wherein, the abnormal alarm module is configured to send out an abnormal alarm message when the abnormal level corresponding to the target index parameter is not the normal level.

[0051] Wherein, the abnormal alarm message can be a warning message for prompting that the preset index appears abnormal. Specifically, the abnormal alarm message includes but is not limited to sound and light alarms. By sending out the abnormal alarm message, it can remind the operators that the preset index appears abnormal, facilitating the operators to carry out subsequent verification work in a timely manner. Optionally, the abnormal alarm module can also feedback the target index parameter and the corresponding abnormal level to the central control subsystem in a timely manner, so that the staff of the central control subsystem can know the abnormal situation of the preset index in a timely manner.

[0052] Finally, the central control subsystem is introduced below. The central control subsystem can display the inspection results sent by the inspection robot on a preset interaction interface.

[0053] In an alternative embodiment, the inspection robot further includes: a positioning module; wherein, the positioning module is configured to send the real-time position information of the inspection robot (such as real-time BIM (Building Information Modeling) information) to the central control subsystem at every preset period; the central control subsystem is configured to update the position point of the inspection robot in the preset three-dimensional environment model according to the real-time position information; wherein, the preset three-dimensional environment model is used to simulate the working environment of the inspection robot. For example, the preset three-dimensional environment model can include the association relationship between the inspection robot, the suspension rail and the pipe gallery. Optionally, the central control subsystem can also mark the inspection results in the preset three-dimensional environment model. Among them, BIM (Building Information Modeling) can be preferably used as the preset three-dimensional environment model.

[0054] The technical solution provided by the embodiment of the present invention provides a patrol inspection system for a tobacco factory pipe gallery, including: a suspension rail, a patrol inspection robot, and a central control subsystem; wherein, the suspension rail is fixed on the top of the tobacco factory pipe gallery, and the patrol inspection robot includes a moving module and a detection module; wherein, the central control subsystem is configured to obtain a target patrol inspection task and send the target patrol inspection task to the patrol inspection robot; the moving module is configured to control the patrol inspection robot to move along the track in the suspension rail according to the target patrol inspection task; the detection module is configured to detect at least one preset index of the target tobacco factory pipe gallery passed by during movement according to the target patrol inspection task, obtain a patrol inspection result corresponding to the target patrol inspection task, and send the patrol inspection result to the central control subsystem. The technical solution of the embodiment of the present invention solves the problems of large patrol inspection difficulty and limited patrol inspection range in the prior art when patrolling the tobacco factory pipe gallery. The patrol inspection robot can be used to move and patrol on the top of the pipe gallery to avoid interference from ground obstacles and improve the patrol inspection efficiency.

[0055] Figure 6 It is a flowchart of a method for patrolling a tobacco factory pipe gallery provided by an embodiment of the present invention. The embodiment of the present invention is applicable to a scenario of detecting abnormalities in preset instructions in a tobacco factory pipe gallery. The device can be implemented in a software and / or hardware manner and integrated into a computer device with application development functions.

[0056] As Figure 6 shown, the patrol inspection system for the tobacco factory pipe gallery includes the following steps:

[0057] S110, the central control subsystem obtains a target patrol inspection task and sends the target patrol inspection task to the patrol inspection robot.

[0058] S120, the moving module controls the patrol inspection robot to move along the track in the suspension rail according to the target patrol inspection task.

[0059] In an optional implementation manner, the moving module includes: a path determination unit and a path movement unit; wherein, the path determination unit is configured to determine a target patrol inspection track path from the suspension rail according to the target patrol inspection task; the path movement unit is configured to control the roller skating component of the patrol inspection robot to move along the target patrol inspection track path.

[0060] In an alternative embodiment, the path movement unit includes: a moving speed control subunit; wherein, the moving speed control subunit is configured to control the inspection robot to move uniformly along the target inspection track path based on a preset speed; when reaching a docking position point on the target inspection track path, control the inspection robot to dock at the docking position point, and when receiving a position point detection completion instruction sent by the detection module, control the inspection robot to resume uniform movement; wherein, the docking position point is used to represent a specific position point that needs to be inspected with emphasis; when receiving an index detection anomaly instruction sent by the detection module, control the inspection robot to stop moving.

[0061] S130. The detection module detects at least one preset index of the target tobacco factory pipe gallery passed by during movement according to the target inspection task, obtains the inspection result corresponding to the target inspection task, and sends the inspection result to the central control subsystem.

[0062] In an alternative embodiment, the detection module includes: a data acquisition unit and a data analysis unit; wherein, the data acquisition unit is configured to acquire the preset index of the target tobacco factory pipe gallery to obtain target index parameters corresponding to the preset index; wherein, the target index parameters include at least one of temperature, humidity, pipe wall thickness, gas composition, smoke concentration, and water seepage area; the data analysis unit is configured to determine the inspection result corresponding to the target inspection task according to the target index parameters and send the inspection result to the central control subsystem.

[0063] In an alternative embodiment, the data acquisition unit includes at least one of a temperature sensor, a humidity sensor, a gas sensor, a thermal imager, a flame sensor, a smoke sensor, and a preset intelligent camera.

[0064] In an alternative embodiment, the data analysis unit includes: an anomaly determination subunit; wherein, the anomaly determination subunit is configured to, for each target index parameter, determine at least one anomaly determination range corresponding to the target index parameter, determine the anomaly level corresponding to the target index parameter according to the anomaly determination range, and determine the inspection result according to the anomaly levels corresponding to multiple target index parameters.

[0065] In an alternative embodiment, the data analysis unit further includes: an anomaly emergency subunit; wherein, the anomaly emergency subunit is configured to, when the anomaly level corresponding to the target index parameter reaches the danger level, send a pipe section closing instruction to the valve control device so that the valve control device closes the target pipe section corresponding to the target index parameter.

[0066] In an alternative embodiment, the inspection robot further includes: a positioning module; wherein, the positioning module is configured to send the real-time position information of the inspection robot to the central control subsystem at intervals of a preset period; the central control subsystem is configured to update the position point of the inspection robot in the preset three-dimensional environment model according to the real-time position information; wherein, the preset three-dimensional environment model is used to simulate the working environment of the inspection robot.

[0067] In an alternative embodiment, the inspection robot further includes: an abnormal alarm module; wherein, the abnormal alarm module is configured to send an abnormal alarm message when the abnormal level corresponding to the target index parameter is not the normal level.

[0068] The technical solution provided by the embodiments of the present invention obtains a target inspection task through the central control subsystem, and sends the target inspection task to the inspection robot; the moving module controls the inspection robot to move along the track in the suspension rail according to the target inspection task; the detection module detects at least one preset index of the target tobacco factory pipe gallery passed during the movement according to the target inspection task, obtains the inspection result corresponding to the target inspection task, and sends the inspection result to the central control subsystem. The technical solution of the embodiments of the present invention solves the problems of large inspection difficulty and limited inspection range in the prior art when inspecting the tobacco factory pipe gallery. The inspection robot can be used to perform mobile inspections on the top of the pipe gallery, avoiding interference from ground obstacles and improving the inspection efficiency.

[0069] Figure 7 It is a schematic structural diagram of a computer device provided by an embodiment of the present invention. Figure 7 The block diagram of an exemplary computer device 12 suitable for implementing the embodiments of the present invention is shown. Figure 7 The shown computer device 12 is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured in the tobacco factory pipe gallery inspection device.

[0070] As Figure 7 shown, the computer device 12 is presented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0071] The bus 18 can be one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an Accelerated Graphics Port, a processor bus, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0072] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and nonvolatile media, removable and non-removable media.

[0073] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. The computer device 12 can further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, a storage system 34 can be used for reading and writing on non-removable, nonvolatile magnetic media ( Figure 7 not shown, typically referred to as a "hard disk drive"). Although Figure 7 not shown in the figure, a disk drive for reading and writing on removable nonvolatile disks (such as a "floppy disk"), and an optical disk drive for reading and writing on removable nonvolatile optical disks (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. The system memory 28 can include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0074] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, and an implementation of a network environment may be included in each or some combination of these examples. The program modules 42 generally perform the functions and / or methods described in the embodiments of the present invention.

[0075] The computer device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the computer device 12, and / or communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 22. Moreover, the computer device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As Figure 7 shown, the network adapter 20 communicates with other modules of the computer device 12 through the bus 18. It should be understood that although Figure 7 not shown in the figure, other hardware and / or software modules can be used in combination with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0076] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28. For example, it implements the method for inspecting the tobacco factory pipe gallery provided by the embodiments of the present invention. The method includes:

[0077] The central control subsystem obtains a target inspection task and sends the target inspection task to the inspection robot;

[0078] The mobile module controls the inspection robot to move along the track in the suspension rail according to the target inspection task;

[0079] The detection module detects at least one preset index of the target tobacco factory pipe gallery passed by during the movement according to the target inspection task, obtains the inspection result corresponding to the target inspection task, and sends the inspection result to the central control subsystem.

[0080] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the method for inspecting the tobacco factory pipe gallery provided by any embodiment of the present invention, including:

[0081] The central control subsystem obtains a target inspection task and sends the target inspection task to the inspection robot;

[0082] The mobile module controls the inspection robot to move along the track in the suspension rail according to the target inspection task;

[0083] The detection module detects at least one preset index of the target tobacco factory pipe gallery passing by according to the target inspection task, obtains the inspection result corresponding to the target inspection task, and sends the inspection result to the central control subsystem.

[0084] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0085] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0087] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as C, Java, Smalltalk, C++, C#, and Python, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0088] Those of ordinary skill in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Optionally, they can be implemented with program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0089] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A pipe gallery inspection system for a cigarette factory, characterized in that, Including: An overhead rail, an inspection robot, and a central control subsystem; wherein, the overhead rail is fixed to the top of the tobacco factory pipe gallery, and the inspection robot includes a moving module and a detection module; wherein, The central control subsystem is configured to obtain a target inspection task and send the target inspection task to the inspection robot; The moving module is configured to control the inspection robot to move along the track in the overhead rail according to the target inspection task; The detection module is configured to detect at least one preset index of the target tobacco factory pipe gallery passed by during movement according to the target inspection task, obtain the inspection result corresponding to the target inspection task, and send the inspection result to the central control subsystem.

2. The system according to claim 1, characterized in that The moving module includes: a path determination unit and a path movement unit; wherein, The path determination unit is configured to determine a target inspection rail path from the overhead rail according to the target inspection task; The path movement unit is configured to control the roller skating assembly of the inspection robot to move along the target inspection rail path.

3. The system according to claim 2, wherein The path movement unit includes: a speed control subunit; wherein, The speed control subunit is configured to control the inspection robot to move uniformly along the target inspection rail path based on a preset speed; In the case of reaching a docking position point in the target inspection rail path, control the inspection robot to dock at the docking position point, and in the case of receiving a position point detection completion instruction sent by the detection module, control the inspection robot to move uniformly again; wherein, the docking position point is used to represent a specific position point that needs to be inspected intensively; In the case of receiving an index detection abnormality instruction sent by the detection module, control the inspection robot to stop moving.

4. The system according to claim 1, wherein The detection module includes: a data acquisition unit and a data analysis unit; wherein, The data acquisition unit is configured to collect the preset index of the target tobacco factory pipe gallery to obtain target index parameters corresponding to the preset index; wherein, the target index parameters include at least one of temperature, humidity, pipe wall thickness, gas composition, smoke concentration, and water seepage area; The data analysis unit is configured to determine the inspection result corresponding to the target inspection task according to the target index parameters and send the inspection result to the central control subsystem.

5. The system according to claim 4, characterized in that, The data analysis unit includes: an abnormality determination subunit; wherein, The abnormality determination subunit is configured to, for each target index parameter, determine at least one abnormality determination range corresponding to the target index parameter, determine the abnormality level corresponding to the target index parameter according to the abnormality determination range, and determine the inspection result according to the abnormality levels corresponding to multiple target index parameters.

6. The system according to claim 5, wherein The data analysis unit further includes: an abnormality emergency subunit; wherein, The abnormality emergency subunit is configured to, in the case that the abnormality level corresponding to the target index parameter reaches the danger level, send a pipe section closing instruction to the valve control device so that the valve control device closes the target pipe section corresponding to the target index parameter.

7. The system according to claim 1, wherein The inspection robot further includes: a positioning module; wherein, The positioning module is configured to send the real-time position information of the inspection robot to the central control subsystem at every preset period; The central control subsystem is configured to update the position point of the inspection robot in the preset three-dimensional environment model according to the real-time position information; wherein, the preset three-dimensional environment model is used to simulate the working environment of the inspection robot.

8. The system according to claim 1, characterized in that The inspection robot further includes: an abnormal alarm module; wherein, The abnormal alarm module is configured to send out an abnormal alarm message when the abnormal level corresponding to the target index parameter is not the normal level.

9. The system according to claim 4, wherein The data acquisition unit includes at least one of a temperature sensor, a humidity sensor, a gas sensor, a thermal imager, a flame sensor, a smoke sensor, and a preset intelligent camera.

10. A method for inspecting the pipe gallery in a cigarette factory, characterized in that, Applied to the inspection system of the tobacco factory pipe gallery, the inspection system of the tobacco factory pipe gallery includes: a suspension rail, an inspection robot, and a central control subsystem; wherein, the suspension rail is fixed on the top of the tobacco factory pipe gallery, and the inspection robot includes a moving module and a detection module; the method includes: The central control subsystem obtains a target inspection task and sends the target inspection task to the inspection robot; The moving module controls the inspection robot to move along the track in the suspension rail according to the target inspection task; The detection module detects at least one preset index of the target tobacco factory pipe gallery passed by during the movement according to the target inspection task, obtains the inspection result corresponding to the target inspection task, and sends the inspection result to the central control subsystem.

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