Unmanned aerial vehicle patrol detection method for mining carrier roller

Abstract

The invention relates to the technical field of patrol, and discloses an unmanned aerial vehicle patrol detection method for a mining carrier roller, which comprises the following steps: acquiring a carrier roller path and obstacle information in the carrier roller path, and planning a flight path; image information of the mining carrier roller is obtained through an unmanned aerial vehicle, the image information is analyzed and processed to obtain complete information, and analysis and processing comprise edge detection, target detection and heat map analysis; the complete information is sent to a ground center control center, and the center control center compares the complete information with historical data, detects the damage degree and the repair method of the mining carrier roller and sends the damage degree and the repair method to a management personnel mobile terminal; the repairing method comprises the steps that the geographic position information of the unmanned aerial vehicle and the mine carrier roller damage information are combined and analyzed, and the repairing method is set. The problem that in the prior art, unmanned aerial vehicle patrol cannot judge the damage condition according to patrol information firstly, but the condition of the damaged carrier roller needs to be determined manually after problems are found is solved.

Description

Technical Field

[0001] The present invention relates to the field of inspection technology, and in particular to a method for inspecting and detecting mining rollers using an unmanned aerial vehicle (UAV). Background Art

[0002] Unmanned aerial vehicles (UAVs), also known as "drones" (UAVs), are unmanned aircraft controlled by radio remote control and self-contained programmable devices. They can be categorized as military or civilian. Military drones are divided into reconnaissance and target drones. Civilian drone applications are a real necessity. Current applications in aerial photography, agriculture, plant protection, selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television production, and the creation of romance have greatly expanded the uses of drones. These include inspecting indoor and outdoor walls and damaged wires, and ensuring safe production in factories. They also reduce the risk of manual climbing and improve inspection efficiency.

[0003] However, the area of mining rollers is huge. If manual monitoring is used, it is impossible to conduct comprehensive and accurate inspections of all rollers, and it also requires a lot of time, manpower and material resources. Moreover, in the existing technology, drone inspections cannot first determine the damage status based on inspection information, but it is necessary to manually determine the condition of the damaged rollers after the problem is discovered. Therefore, this application provides a drone inspection and detection method for mining rollers that can first determine the roller problem based on drone detection information. Summary of the Invention

[0004] In view of this, the present invention proposes a drone inspection and detection method for mining rollers to solve the problem in the existing technology that drone inspections cannot first determine the damage status based on inspection information, but require manual determination of the damaged roller status after the problem is discovered.

[0005] The present invention proposes a drone inspection and detection method for mining rollers, comprising:

[0006] Obtain information about the roller path and obstacles in the roller path, and plan the flight path;

[0007] Acquire mining roller image information through drones, and analyze and process the image information to obtain complete information, including edge detection, target detection, and thermal map analysis;

[0008] The complete information is sent to the ground central control center, which compares the complete information with historical data, detects the degree of damage to the mining roller and the repair method, and sends it to the manager's mobile terminal; the repair method includes: combining the drone's geographic location information with the mining roller damage information for analysis and setting a repair method.

[0009] Furthermore, when the image information of the mining roller is obtained by the drone and the image information is analyzed and processed to obtain complete information, the complete information includes: the size of the crack, the degree of wear and the degree of deformation of the roller;

[0010] The UAV geographic location information includes the location information of the broken roller, the temperature information of the broken roller, and the moisture content of the environment where the broken roller is located.

[0011] Furthermore, the repair method of combining the UAV geographic location information with the mining roller damage information for analysis and setting includes:

[0012] Determine the welding difficulty based on the size of the roller crack. After determining the welding difficulty, determine the specific welding difficulty based on the temperature information of the damaged roller. Choose to weld or replace the damaged roller based on the specific welding difficulty.

[0013] Determine the coating thickness based on the degree of roller wear. After determining the coating thickness, determine the specific coating thickness based on the moisture content of the environment where the damaged roller is located. Choose to perform coating treatment or replace the roller based on the specific coating thickness.

[0014] Select a specific treatment method based on the roller deformation mode. If the roller deformation is bending deformation, determine the required heat treatment temperature based on the bending degree of the damaged roller. If the roller deformation is plastic deformation, determine the required cooling degree based on the plastic deformation degree of the damaged roller.

[0015] Further, the welding difficulty is determined according to the size of the roller crack as follows:

[0016] The crack size of the roller is T0, and the crack size of the first roller is T1, the crack size of the second roller is T2, the crack size of the third roller is T3, the crack size of the fourth roller is T4, and the crack size of the fifth roller is T5, and T1<T2<T3<T4<T5; the first level welding difficulty is V1, the second level welding difficulty is V2, the third level welding difficulty is V3, the fourth level welding difficulty is V4, and the fifth level welding difficulty is V5, and 0.8<V1<V2<V3<V4<V5<1.2;

[0017] Determine the welding difficulty level according to the relationship between the roller crack size T0 and the preset roller crack sizes;

[0018] When T0≤T1, the welding difficulty is determined to be level one welding difficulty V1;

[0019] When T1<T0≤T2, the welding difficulty is determined to be level 2 welding difficulty V2;

[0020] When T2<T0≤T3, the welding difficulty is determined to be level three welding difficulty V3;

[0021] When T3<T0≤T4, the welding difficulty is determined to be level 4 welding difficulty V4;

[0022] When T4<T0≤T5, the welding difficulty is determined to be level five welding difficulty V5.

[0023] Furthermore, after determining the welding difficulty, determining the specific welding difficulty based on the temperature information of the damaged roller includes:

[0024] The damaged roller temperature information is P0, and first damaged roller temperature information P1, second damaged roller temperature information P2, third damaged roller temperature information P3, fourth damaged roller temperature information P4, and fifth damaged roller temperature information P5 are preset, and P1<P2<P3<P4<P5; a first welding difficulty adjustment coefficient x1, a second welding difficulty adjustment coefficient x2, a third welding difficulty adjustment coefficient x3, a fourth welding difficulty adjustment coefficient x4, and a fifth welding difficulty adjustment coefficient x5 are preset, and 0.9<x1<x2<x3<x4<x5<1.1;

[0025] Determine a welding difficulty adjustment coefficient according to a magnitude relationship between the damaged roller temperature information P0 and each preset damaged roller temperature information;

[0026] When P0≤P1, the welding difficulty adjustment coefficient is determined to be the first welding difficulty adjustment coefficient x1, and the specific welding difficulty is Vi*x1;

[0027] When P1<P0≤P2, the welding difficulty adjustment coefficient is determined to be the second welding difficulty adjustment coefficient x2, and the specific welding difficulty is Vi*x2;

[0028] When P2<P0≤P3, the welding difficulty adjustment coefficient is determined to be the third welding difficulty adjustment coefficient x3, and the specific welding difficulty is Vi*x3;

[0029] When P3<P0≤P4, the welding difficulty adjustment coefficient is determined to be the fourth welding difficulty adjustment coefficient x4, and the specific welding difficulty is Vi*x4;

[0030] When P4<P0≤P5, the welding difficulty adjustment coefficient is determined to be the fifth welding difficulty adjustment coefficient x5, and the specific welding difficulty is Vi*x5;

[0031] When Vi×xi>1, it is determined that welding should not be continued and the damaged roller is replaced; i in Vi is any one of 1, 2, 3, 4, 5, which represents the welding difficulty, and i in xi is any one of 1, 2, 3, 4, 5, which represents the welding difficulty adjustment coefficient.

[0032] Furthermore, the coating thickness is determined according to the degree of wear of the roller;

[0033] The degree of wear of the roller is N0, and the first roller wear degree N1, the second roller wear degree N2, the third roller wear degree N3, the fourth roller wear degree N4, and the fifth roller wear degree N5 are preset, and N1<N2<N3<N4<N5; the first coating thickness Y1, the second coating thickness Y2, the third coating thickness Y3, the fourth coating thickness Y4, and the fifth coating thickness Y5 are preset, and 0.8<Y1<Y2<Y3<Y4<Y5<1.2;

[0034] Determine the coating thickness according to the relationship between the roller wear degree N0 and the wear degree of each preset roller;

[0035] When N0≤N1, the coating thickness is determined to be the first coating thickness Y1;

[0036] When N1<N0≤N2, the coating thickness is determined to be the second coating thickness Y2;

[0037] When N2<N0≤N3, the coating thickness is determined to be the third coating thickness Y3;

[0038] When N3<N0≤N4, the coating thickness is determined to be the fourth coating thickness Y4;

[0039] When N4<N0≤N5, the coating thickness is determined to be the fifth coating thickness Y5.

[0040] Furthermore, after determining the coating thickness, the specific coating thickness is determined according to the moisture content of the environment at the damaged roller, including:

[0041] The environmental moisture content at the damaged roller is M0, and the environmental moisture content at the first damaged roller is M1, the environmental moisture content at the second damaged roller is M2, the environmental moisture content at the third damaged roller is M3, the environmental moisture content at the fourth damaged roller is M4, and the environmental moisture content at the fifth damaged roller is M5, and M1<M2<M3<M4<M5; the first coating thickness adjustment coefficient z1, the second coating thickness adjustment coefficient z2, the third coating thickness adjustment coefficient z3, the fourth coating thickness adjustment coefficient z4, and the fifth coating thickness adjustment coefficient z5 are preset, and 0.9<z1<z2<z3<z4<z5<1.1;

[0042] Determine the coating thickness adjustment coefficient according to the relationship between the moisture content M0 of the environment at the damaged roller and the moisture content of each preset damaged roller environment;

[0043] When M0≤M1, the coating thickness adjustment coefficient is determined to be the first coating thickness adjustment coefficient z1, and the specific coating thickness is Yi*z1;

[0044] When M1<M0≤M2, the coating thickness adjustment coefficient is determined to be the second coating thickness adjustment coefficient z2, and the specific coating thickness is Yi*z2;

[0045] When M2<M0≤M3, the coating thickness adjustment coefficient is determined to be the third coating thickness adjustment coefficient z3, and the specific coating thickness is Yi*z3;

[0046] When M3<M0≤M4, the coating thickness adjustment coefficient is determined to be the fourth coating thickness adjustment coefficient z4, and the specific coating thickness is Yi*z4;

[0047] When M4<M0≤M5, the coating thickness adjustment coefficient is determined to be the fifth coating thickness adjustment coefficient z5, and the specific coating thickness is Yi*z5;

[0048] When Yi×zi>1, it is determined that the paint coating should not be continued, and the damaged roller is selected to be replaced; i in Yi=any of 1, 2, 3, 4, 5 represents the paint coating thickness, and i in zi=any of 1, 2, 3, 4, 5 represents the paint coating thickness adjustment coefficient.

[0049] Furthermore, when determining the required heat treatment temperature according to the bending degree of the damaged roller, specifically:

[0050] The bending degree of the damaged roller is W0, and the first bending degree of the damaged roller is W1, the second bending degree of the damaged roller is W2, the third bending degree of the damaged roller is W3, the fourth bending degree of the damaged roller is W4, and the fifth bending degree of the damaged roller is W5, and W1<W2<W3<W4<W5; the first heat treatment temperature Q1, the second heat treatment temperature Q2, the third heat treatment temperature Q3, the fourth heat treatment temperature Q4, and the fifth heat treatment temperature Q5 are preset, and Q1<Q2<Q3<Q4<Q5;

[0051] Determine the heat treatment temperature level according to the relationship between the bending degree W0 of the damaged roller and the bending degrees of each preset damaged roller;

[0052] When W0≤W1, the heat treatment temperature is determined to be the first-level heat treatment temperature Q1;

[0053] When W1<W0≤W2, the heat treatment temperature is determined to be the secondary heat treatment temperature Q2;

[0054] When W2<W0≤W3, the heat treatment temperature is determined to be the third-level heat treatment temperature Q3;

[0055] When W3<W0≤W4, the heat treatment temperature is determined to be the fourth-level heat treatment temperature Q4;

[0056] When W4<W0≤W5, the heat treatment temperature is determined to be the fifth-level heat treatment temperature Q5.

[0057] Furthermore, when determining the required cooling degree according to the degree of plastic deformation of the damaged roller, specifically:

[0058] The degree of plastic deformation of the damaged roller is D0, and the plastic deformation degree of the first damaged roller is D1, the plastic deformation degree of the second damaged roller is D2, the plastic deformation degree of the third damaged roller is D3, the plastic deformation degree of the fourth damaged roller is D4, and the plastic deformation degree of the fifth damaged roller is D5, and D1<D2<D3<D4<D5; the first-level cooling temperature R1, the second-level cooling temperature R2, the third-level cooling temperature R3, the fourth-level cooling temperature R4, and the fifth-level cooling temperature R5 are preset, and R1<R2<R3<R4<R5;

[0059] Determining the cooling temperature level according to the relationship between the degree of plastic deformation D0 of the damaged roller and the degree of plastic deformation of each preset damaged roller;

[0060] When D0≤D1, the cooling temperature is determined to be the first-level cooling temperature R1;

[0061] When D1<D0≤D2, the cooling temperature is determined to be the secondary cooling temperature R2;

[0062] When D2<D0≤D3, the cooling temperature is determined to be the third-level cooling temperature R3;

[0063] When D3<D0≤D4, the cooling temperature is determined to be the fourth-level cooling temperature R4;

[0064] When D4<D0≤D5, the cooling temperature is determined to be the fifth-level cooling temperature R5.

[0065] After determining the heat treatment temperature level or cooling level, the specific heat treatment temperature and cooling temperature are determined by the moisture content of the environment at the damaged roller.

[0066] The environmental moisture content at the damaged roller is M0, and the environmental moisture content at the first damaged roller is M1, the environmental moisture content at the second damaged roller is M2, the environmental moisture content at the third damaged roller is M3, the environmental moisture content at the fourth damaged roller is M4, and the environmental moisture content at the fifth damaged roller is M5, and M1<M2<M3<M4<M5; the first heat treatment temperature adjustment coefficient e1, the second heat treatment temperature adjustment coefficient e2, the third heat treatment temperature adjustment coefficient e3, the fourth heat treatment temperature adjustment coefficient e4, and the fifth heat treatment temperature adjustment coefficient e5 are preset, and 0.9<e1<e2<e3<e4<e5<1.1; the first cooling temperature adjustment coefficient s1, the second cooling temperature adjustment coefficient s2, the third cooling temperature adjustment coefficient s3, the fourth cooling temperature adjustment coefficient s4, and the fifth cooling temperature adjustment coefficient s5 are preset, and 0.9<s1<s2<s3<s4<s5<1.1;

[0067] When M0≤M1, the heat treatment temperature adjustment coefficient is determined to be the first heat treatment temperature adjustment coefficient e1, and the specific heat treatment temperature is Qi*e1;

[0068] When M1<M0≤M2, the heat treatment temperature adjustment coefficient is determined to be the second heat treatment temperature adjustment coefficient e2, and the specific heat treatment temperature is Qi*e2;

[0069] When M2<M0≤M3, the heat treatment temperature adjustment coefficient is determined to be a third heat treatment temperature adjustment coefficient e3, and the specific heat treatment temperature is Qi*e3;

[0070] When M3<M0≤M4, the heat treatment temperature adjustment coefficient is determined to be the fourth heat treatment temperature adjustment coefficient e4, and the specific heat treatment temperature is Qi*e4;

[0071] When M4<M0≤M5, the heat treatment temperature adjustment coefficient is determined to be the fifth heat treatment temperature adjustment coefficient e5, and the specific heat treatment temperature is Qi*e5;

[0072] In Qi, i=1, 2, 3, 4, 5, any number, represents the heat treatment temperature; ei, i=1, 2, 3, 4, 5, any number, represents the heat treatment temperature adjustment coefficient;

[0073] When M0≤M1, the cooling temperature adjustment coefficient is determined to be the first cooling temperature adjustment coefficient s1, and the specific cooling temperature is Ri*s1;

[0074] When M1<M0≤M2, the cooling temperature adjustment coefficient is determined to be the second cooling temperature adjustment coefficient s2, and the specific cooling temperature is Ri*s2;

[0075] When M2<M0≤M3, the cooling temperature adjustment coefficient is determined to be the third cooling temperature adjustment coefficient s3, and the specific cooling temperature is Ri*s3;

[0076] When M3<M0≤M4, the cooling temperature adjustment coefficient is determined to be the fourth cooling temperature adjustment coefficient s4, and the specific cooling temperature is Ri*s4;

[0077] When M4<M0≤M5, the cooling temperature adjustment coefficient is determined to be the fifth cooling temperature adjustment coefficient s5, and the specific cooling temperature is Ri*s5;

[0078] In Ri, i=any number among 1, 2, 3, 4, 5 represents the cooling temperature; si, i=any number among 1, 2, 3, 4, 5 represents the cooling temperature adjustment coefficient.

[0079] Compared with the prior art, the beneficial effects of the present invention are: the present invention provides a drone inspection and detection method for mining rollers, which can better plan the flight route of the drone by obtaining the roller path and obstacle information in advance, avoid encountering obstacles in actual inspections, and provide a better inspection route to complete the inspection work more efficiently; by analyzing the information obtained by the drone, the damage condition of the roller can be judged, and the environmental information of the damaged roller can be obtained based on the combined analysis of the geographic location information and the mining roller damage information, so as to provide more accurate advance information for the central control center to select the repair method, so as to facilitate more efficient repair or replacement of the damaged roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0081] Figure 1 A schematic diagram of a drone inspection and detection method for mining rollers provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0082] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0083] In some embodiments of this application, see Figure 1 As shown, this embodiment provides a drone inspection and detection method for mining rollers, comprising:

[0084] Step S100: obtaining information about the roller path and obstacles in the roller path, and planning a flight path;

[0085] S200: acquiring image information of the mining roller by using a drone, and analyzing and processing the image information to obtain complete information, wherein the analysis and processing includes edge detection, target detection, and heat map analysis;

[0086] S300: Send the complete information to the ground central control center, which compares the complete information with historical data, detects the degree of damage of the mining roller and the repair method, and sends it to the manager's mobile terminal; the repair method includes: combining the drone's geographic location information with the mining roller damage information for analysis and setting the repair method.

[0087] In some embodiments of the present application, when the image information of the mining roller is obtained by the drone and the image information is analyzed and processed to obtain complete information, the complete information includes: the crack size, wear degree and deformation degree of the roller;

[0088] The UAV geographic location information includes the location information of the broken roller, the temperature information of the broken roller, and the moisture content of the environment where the broken roller is located.

[0089] It is understandable that by obtaining the roller path and obstacle information in advance, the flight route of the drone can be better planned, obstacles can be avoided during actual inspections, and a better inspection route can be provided to complete the inspection work more efficiently; by analyzing the information obtained by the drone, the damage condition of the roller can be determined, and the environmental information of the damaged roller can be obtained based on the combined analysis of the geographic location information and the damage information of the mining roller, so as to provide more accurate advance information for the central control center to choose the repair method, so as to facilitate more efficient repair or replacement of the damaged roller.

[0090] In some embodiments of the present application, the method of combining the drone geographic location information with the mining roller damage information for analysis and setting a repair method includes:

[0091] Determine the welding difficulty based on the size of the roller crack. After determining the welding difficulty, determine the specific welding difficulty based on the temperature information of the damaged roller. Choose to weld or replace the damaged roller based on the specific welding difficulty.

[0092] Determine the coating thickness based on the degree of roller wear. After determining the coating thickness, determine the specific coating thickness based on the moisture content of the environment where the damaged roller is located. Choose to perform coating treatment or replace the roller based on the specific coating thickness.

[0093] Select a specific treatment method based on the roller deformation mode. If the roller deformation is bending deformation, determine the required heat treatment temperature based on the bending degree of the damaged roller. If the roller deformation is plastic deformation, determine the required cooling degree based on the plastic deformation degree of the damaged roller.

[0094] In some embodiments of the present application, the welding difficulty is determined according to the size of the roller crack as follows:

[0095] The crack size of the roller is T0, and the crack size of the first roller is T1, the crack size of the second roller is T2, the crack size of the third roller is T3, the crack size of the fourth roller is T4, and the crack size of the fifth roller is T5, and T1<T2<T3<T4<T5; the first level welding difficulty is V1, the second level welding difficulty is V2, the third level welding difficulty is V3, the fourth level welding difficulty is V4, and the fifth level welding difficulty is V5, and 0.8<V1<V2<V3<V4<V5<1.2;

[0096] Determine the welding difficulty level according to the relationship between the roller crack size T0 and the preset roller crack sizes;

[0097] When T0≤T1, the welding difficulty is determined to be level one welding difficulty V1;

[0098] When T1<T0≤T2, the welding difficulty is determined to be level 2 welding difficulty V2;

[0099] When T2<T0≤T3, the welding difficulty is determined to be level three welding difficulty V3;

[0100] When T3<T0≤T4, the welding difficulty is determined to be level 4 welding difficulty V4;

[0101] When T4<T0≤T5, the welding difficulty is determined to be level five welding difficulty V5.

[0102] In some embodiments of the present application, after determining the welding difficulty, determining the specific welding difficulty according to the temperature information of the damaged roller includes:

[0103] The damaged roller temperature information is P0, and first damaged roller temperature information P1, second damaged roller temperature information P2, third damaged roller temperature information P3, fourth damaged roller temperature information P4, and fifth damaged roller temperature information P5 are preset, and P1<P2<P3<P4<P5; a first welding difficulty adjustment coefficient x1, a second welding difficulty adjustment coefficient x2, a third welding difficulty adjustment coefficient x3, a fourth welding difficulty adjustment coefficient x4, and a fifth welding difficulty adjustment coefficient x5 are preset, and 0.9<x1<x2<x3<x4<x5<1.1;

[0104] Determine a welding difficulty adjustment coefficient according to a magnitude relationship between the damaged roller temperature information P0 and each preset damaged roller temperature information;

[0105] When P0≤P1, the welding difficulty adjustment coefficient is determined to be the first welding difficulty adjustment coefficient x1, and the specific welding difficulty is Vi*x1;

[0106] When P1<P0≤P2, the welding difficulty adjustment coefficient is determined to be the second welding difficulty adjustment coefficient x2, and the specific welding difficulty is Vi*x2;

[0107] When P2<P0≤P3, the welding difficulty adjustment coefficient is determined to be the third welding difficulty adjustment coefficient x3, and the specific welding difficulty is Vi*x3;

[0108] When P3<P0≤P4, the welding difficulty adjustment coefficient is determined to be the fourth welding difficulty adjustment coefficient x4, and the specific welding difficulty is Vi*x4;

[0109] When P4<P0≤P5, the welding difficulty adjustment coefficient is determined to be the fifth welding difficulty adjustment coefficient x5, and the specific welding difficulty is Vi*x5;

[0110] When Vi×xi>1, it is determined that welding should not be continued and the damaged roller is replaced; i in Vi is any one of 1, 2, 3, 4, 5, which represents the welding difficulty, and i in xi is any one of 1, 2, 3, 4, 5, which represents the welding difficulty adjustment coefficient.

[0111] It is understandable that by setting different roller crack sizes and corresponding welding difficulty levels, multi-level control of different roller damage is achieved. It provides flexibility and can provide different welding difficulties according to the changes in the roller cracks, so as to more effectively calculate whether welding is needed. Different welding difficulties are set from one to five levels for different roller crack sizes. It has a step-by-step welding option. It provides an intelligent welding difficulty judgment strategy that can automatically select the appropriate welding difficulty according to the actual situation, reduce the need for manual intervention, and improve the automation level of the system. By presetting different welding difficulty data and corresponding welding difficulty adjustment coefficients, the system is allowed to perform real-time calculations of welding difficulty under actual conditions. One to five different temperature data are preset, and each temperature data corresponds to a welding difficulty adjustment coefficient. It has a multi-level welding difficulty response mechanism that can be flexibly adjusted according to the real-time temperature to more accurately judge whether welding repairs can still be performed, so that staff can carry replaceable rollers for repairs.

[0112] In some embodiments of the present application, determining the coating thickness according to the degree of wear of the roller is specifically as follows:

[0113] The degree of wear of the roller is N0, and the first roller wear degree N1, the second roller wear degree N2, the third roller wear degree N3, the fourth roller wear degree N4, and the fifth roller wear degree N5 are preset, and N1<N2<N3<N4<N5; the first coating thickness Y1, the second coating thickness Y2, the third coating thickness Y3, the fourth coating thickness Y4, and the fifth coating thickness Y5 are preset, and 0.8<Y1<Y2<Y3<Y4<Y5<1.2;

[0114] Determine the coating thickness according to the relationship between the roller wear degree N0 and the wear degree of each preset roller;

[0115] When N0≤N1, the coating thickness is determined to be the first coating thickness Y1;

[0116] When N1<N0≤N2, the coating thickness is determined to be the second coating thickness Y2;

[0117] When N2<N0≤N3, the coating thickness is determined to be the third coating thickness Y3;

[0118] When N3<N0≤N4, the coating thickness is determined to be the fourth coating thickness Y4;

[0119] When N4<N0≤N5, the coating thickness is determined to be the fifth coating thickness Y5.

[0120] In some embodiments of the present application, after determining the coating thickness, determining the specific coating thickness according to the moisture content of the environment at the damaged roller includes:

[0121] The environmental moisture content at the damaged roller is M0, and the environmental moisture content at the first damaged roller is M1, the environmental moisture content at the second damaged roller is M2, the environmental moisture content at the third damaged roller is M3, the environmental moisture content at the fourth damaged roller is M4, and the environmental moisture content at the fifth damaged roller is M5, and M1<M2<M3<M4<M5; a first coating thickness adjustment coefficient z1, a second coating thickness adjustment coefficient z2, a third coating thickness adjustment coefficient z3, a fourth coating thickness adjustment coefficient z4, and a fifth coating thickness adjustment coefficient z5 are preset, and 0.9<z1<z2<z3<z4<z5<1.1;

[0122] Determine the coating thickness adjustment coefficient according to the relationship between the moisture content M0 of the environment at the damaged roller and the moisture content of each preset damaged roller environment;

[0123] When M0≤M1, the coating thickness adjustment coefficient is determined to be the first coating thickness adjustment coefficient z1, and the specific coating thickness is Yi*z1;

[0124] When M1<M0≤M2, the coating thickness adjustment coefficient is determined to be the second coating thickness adjustment coefficient z2, and the specific coating thickness is Yi*z2;

[0125] When M2<M0≤M3, the coating thickness adjustment coefficient is determined to be the third coating thickness adjustment coefficient z3, and the specific coating thickness is Yi*z3;

[0126] When M3<M0≤M4, the coating thickness adjustment coefficient is determined to be the fourth coating thickness adjustment coefficient z4, and the specific coating thickness is Yi*z4;

[0127] When M4<M0≤M5, the coating thickness adjustment coefficient is determined to be the fifth coating thickness adjustment coefficient z5, and the specific coating thickness is Yi*z5;

[0128] When Yi×zi>1, it is determined that the paint coating should not be continued, and the damaged roller is selected to be replaced; i in Yi=any of 1, 2, 3, 4, 5 represents the paint coating thickness, and i in zi=any of 1, 2, 3, 4, 5 represents the paint coating thickness adjustment coefficient.

[0129] As can be understood, by setting different levels of roller wear and corresponding coating thickness, a multi-level control system is implemented for different types of roller damage. This provides flexibility, enabling the system to adjust coating thicknesses based on the changing degree of roller wear, allowing for more efficient calculation of whether coating is necessary. Five different coating thickness levels are set for different roller wear levels, ranging from one to five. A progressive coating thickness adjustment option is available. An intelligent coating thickness determination strategy is implemented, automatically selecting the appropriate coating thickness based on actual conditions, reducing the need for manual intervention and improving the system's automation level. By presetting different coating thickness data and corresponding coating thickness adjustment coefficients, the system allows for real-time coating thickness calculations under actual conditions. One to five different ambient moisture content data are predefined, with each ambient moisture content corresponding to a corresponding coating thickness adjustment coefficient. This multi-level coating thickness response mechanism allows for flexible adjustments based on the real-time ambient moisture content, enabling more accurate determination of coating repair potential. This allows personnel to bring replaceable rollers with them for repairs.

[0130] In some embodiments of the present application, when determining the required heat treatment temperature according to the bending degree of the damaged roller, specifically:

[0131] The bending degree of the damaged roller is W0, and the first bending degree of the damaged roller is W1, the second bending degree of the damaged roller is W2, the third bending degree of the damaged roller is W3, the fourth bending degree of the damaged roller is W4, and the fifth bending degree of the damaged roller is W5, and W1<W2<W3<W4<W5; the first heat treatment temperature Q1, the second heat treatment temperature Q2, the third heat treatment temperature Q3, the fourth heat treatment temperature Q4, and the fifth heat treatment temperature Q5 are preset, and Q1<Q2<Q3<Q4<Q5;

[0132] Determine the heat treatment temperature level according to the relationship between the bending degree W0 of the damaged roller and the bending degrees of each preset damaged roller;

[0133] When W0≤W1, the heat treatment temperature is determined to be the first-level heat treatment temperature Q1;

[0134] When W1<W0≤W2, the heat treatment temperature is determined to be the secondary heat treatment temperature Q2;

[0135] When W2<W0≤W3, the heat treatment temperature is determined to be the third-level heat treatment temperature Q3;

[0136] When W3<W0≤W4, the heat treatment temperature is determined to be the fourth-level heat treatment temperature Q4;

[0137] When W4<W0≤W5, the heat treatment temperature is determined to be the fifth-level heat treatment temperature Q5.

[0138] In some embodiments of the present application, when determining the required degree of cooling according to the degree of plastic deformation of the damaged roller, specifically:

[0139] The degree of plastic deformation of the damaged roller is D0, and the plastic deformation degree of the first damaged roller is D1, the plastic deformation degree of the second damaged roller is D2, the plastic deformation degree of the third damaged roller is D3, the plastic deformation degree of the fourth damaged roller is D4, and the plastic deformation degree of the fifth damaged roller is D5, and D1<D2<D3<D4<D5; the first-level cooling temperature R1, the second-level cooling temperature R2, the third-level cooling temperature R3, the fourth-level cooling temperature R4, and the fifth-level cooling temperature R5 are preset, and R1<R2<R3<R4<R5;

[0140] Determining the cooling temperature level according to the relationship between the degree of plastic deformation D0 of the damaged roller and the degree of plastic deformation of each preset damaged roller;

[0141] When D0≤D1, the cooling temperature is determined to be the first-level cooling temperature R1;

[0142] When D1<D0≤D2, the cooling temperature is determined to be the secondary cooling temperature R2;

[0143] When D2<D0≤D3, the cooling temperature is determined to be the third-level cooling temperature R3;

[0144] When D3<D0≤D4, the cooling temperature is determined to be the fourth-level cooling temperature R4;

[0145] When D4<D0≤D5, the cooling temperature is determined to be the fifth-level cooling temperature R5.

[0146] After determining the heat treatment temperature level or cooling level, the specific heat treatment temperature and cooling temperature are determined by the moisture content of the environment at the damaged roller;

[0147] The environmental moisture content at the damaged roller is M0, and the environmental moisture content at the first damaged roller is M1, the environmental moisture content at the second damaged roller is M2, the environmental moisture content at the third damaged roller is M3, the environmental moisture content at the fourth damaged roller is M4, and the environmental moisture content at the fifth damaged roller is M5, and M1<M2<M3<M4<M5; the first heat treatment temperature adjustment coefficient e1, the second heat treatment temperature adjustment coefficient e2, the third heat treatment temperature adjustment coefficient e3, the fourth heat treatment temperature adjustment coefficient e4, and the fifth heat treatment temperature adjustment coefficient e5 are preset, and 0.9<e1<e2<e3<e4<e5<1.1; the first cooling temperature adjustment coefficient s1, the second cooling temperature adjustment coefficient s2, the third cooling temperature adjustment coefficient s3, the fourth cooling temperature adjustment coefficient s4, and the fifth cooling temperature adjustment coefficient s5 are preset, and 0.9<s1<s2<s3<s4<s5<1.1;

[0148] When M0≤M1, the heat treatment temperature adjustment coefficient is determined to be the first heat treatment temperature adjustment coefficient e1, and the specific heat treatment temperature is Qi*e1;

[0149] When M1<M0≤M2, the heat treatment temperature adjustment coefficient is determined to be the second heat treatment temperature adjustment coefficient e2, and the specific heat treatment temperature is Qi*e2;

[0150] When M2<M0≤M3, the heat treatment temperature adjustment coefficient is determined to be a third heat treatment temperature adjustment coefficient e3, and the specific heat treatment temperature is Qi*e3;

[0151] When M3<M0≤M4, the heat treatment temperature adjustment coefficient is determined to be the fourth heat treatment temperature adjustment coefficient e4, and the specific heat treatment temperature is Qi*e4;

[0152] When M4<M0≤M5, the heat treatment temperature adjustment coefficient is determined to be the fifth heat treatment temperature adjustment coefficient e5, and the specific heat treatment temperature is Qi*e5;

[0153] In Qi, i=1, 2, 3, 4, 5, any number, represents the heat treatment temperature; ei, i=1, 2, 3, 4, 5, any number, represents the heat treatment temperature adjustment coefficient;

[0154] When M0≤M1, the cooling temperature adjustment coefficient is determined to be the first cooling temperature adjustment coefficient s1, and the specific cooling temperature is Ri*s1;

[0155] When M1<M0≤M2, the cooling temperature adjustment coefficient is determined to be the second cooling temperature adjustment coefficient s2, and the specific cooling temperature is Ri*s2;

[0156] When M2<M0≤M3, the cooling temperature adjustment coefficient is determined to be the third cooling temperature adjustment coefficient s3, and the specific cooling temperature is Ri*s3;

[0157] When M3<M0≤M4, the cooling temperature adjustment coefficient is determined to be the fourth cooling temperature adjustment coefficient s4, and the specific cooling temperature is Ri*s4;

[0158] When M4<M0≤M5, the cooling temperature adjustment coefficient is determined to be the fifth cooling temperature adjustment coefficient s5, and the specific cooling temperature is Ri*s5;

[0159] In Ri, i=any number among 1, 2, 3, 4, 5 represents the cooling temperature; si, i=any number among 1, 2, 3, 4, 5 represents the cooling temperature adjustment coefficient.

[0160] As you can see, by setting different roller deformation conditions and corresponding heat treatment or cooling temperature levels, multi-level control is achieved for different types of roller damage. This provides flexibility, enabling the application of different treatment temperatures based on the changing degree of roller wear, allowing for more efficient calculation of whether treatment or replacement is necessary. One to five different heat treatment or cooling temperature levels are set for each roller wear level, providing a step-by-step treatment option. An intelligent treatment judgment strategy automatically selects the appropriate treatment temperature based on actual conditions, reducing the need for manual intervention and improving the system's automation level. By presetting different heat treatment or cooling data and corresponding adjustment coefficients, the system allows for real-time calculation of treatment temperatures based on actual conditions. One to five different ambient moisture content data are predefined, with each ambient moisture content corresponding to a corresponding treatment temperature adjustment coefficient. A multi-level response mechanism allows for flexible adjustment based on real-time ambient moisture content, enabling more accurate determination of whether cooling or heat treatment is still possible, allowing personnel to bring replaceable rollers for repair.

[0161] In the above embodiment, by obtaining the roller path and obstacle information in advance, the flight route of the drone can be better planned to avoid encountering obstacles during actual inspections and provide a better inspection route to complete the inspection work more efficiently; by analyzing the information obtained by the drone, the damage condition of the roller can be determined, and the environmental information of the damaged roller can be obtained based on the combined analysis of the geographic location information and the damage information of the mining roller, so as to provide more accurate advance information for the central control center to select the repair method, so as to facilitate more efficient repair or replacement of the damaged roller.

[0162] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware embodiments. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0163] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0166] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A drone inspection and detection method for mining rollers, characterized in that: include: Obtain information about the roller path and obstacles in the roller path, and plan the flight path; Acquire mining roller image information through drones, and analyze and process the image information to obtain complete information, including edge detection, target detection, and thermal map analysis; The complete information is sent to the ground central control center, which compares the complete information with historical data, detects the degree of damage to the mining roller and the repair method, and sends it to the manager's mobile terminal; the repair method includes: combining the drone's geographic location information with the mining roller damage information for analysis and setting a repair method.

2. The method for inspecting and detecting mining rollers by using a drone according to claim 1, wherein: When the image information of the mining roller is obtained by the drone and the image information is analyzed and processed to obtain complete information, the complete information includes: the size of the crack, the degree of wear and the degree of deformation of the roller; The UAV geographic location information includes the location information of the broken roller, the temperature information of the broken roller, and the moisture content of the environment where the broken roller is located.

3. The method for inspecting and detecting mining rollers by using a drone according to claim 2, wherein: The method for combining and analyzing the geographic location information of the drone and the damage information of the mining roller to set a repair method includes: Determine the welding difficulty based on the size of the roller crack. After determining the welding difficulty, determine the specific welding difficulty based on the temperature information of the damaged roller. Choose to weld or replace the damaged roller based on the specific welding difficulty. Determine the coating thickness based on the degree of roller wear. After determining the coating thickness, determine the specific coating thickness based on the moisture content of the environment where the damaged roller is located. Choose to perform coating treatment or replace the roller based on the specific coating thickness. Select a specific treatment method based on the roller deformation mode. If the roller deformation is bending deformation, determine the required heat treatment temperature based on the bending degree of the damaged roller. If the roller deformation is plastic deformation, determine the required cooling degree based on the plastic deformation degree of the damaged roller.

4. The method for inspecting and detecting mining rollers by using a drone according to claim 3, wherein: The specific method for determining the welding difficulty based on the size of the roller crack is: The crack size of the roller is T0, and the crack size of the first roller is T1, the crack size of the second roller is T2, the crack size of the third roller is T3, the crack size of the fourth roller is T4, and the crack size of the fifth roller is T5, and T1<T2<T3<T4<T5; the first level welding difficulty is V1, the second level welding difficulty is V2, the third level welding difficulty is V3, the fourth level welding difficulty is V4, and the fifth level welding difficulty is V5, and 0.8<V1<V2<V3<V4<V5<1.2; Determine the welding difficulty level according to the relationship between the roller crack size T0 and the preset roller crack sizes; When T0≤T1, the welding difficulty is determined to be level one welding difficulty V1; When T1<T0≤T2, the welding difficulty is determined to be level 2 welding difficulty V2; When T2<T0≤T3, the welding difficulty is determined to be level three welding difficulty V3; When T3<T0≤T4, the welding difficulty is determined to be level 4 welding difficulty V4; When T4<T0≤T5, the welding difficulty is determined to be level five welding difficulty V5.

5. The method for inspecting and detecting mining rollers by using a drone according to claim 4, wherein: After determining the welding difficulty, the specific welding difficulty is determined based on the temperature information of the damaged roller, including: The damaged roller temperature information is P0, and first damaged roller temperature information P1, second damaged roller temperature information P2, third damaged roller temperature information P3, fourth damaged roller temperature information P4, and fifth damaged roller temperature information P5 are preset, and P1<P2<P3<P4<P5; a first welding difficulty adjustment coefficient x1, a second welding difficulty adjustment coefficient x2, a third welding difficulty adjustment coefficient x3, a fourth welding difficulty adjustment coefficient x4, and a fifth welding difficulty adjustment coefficient x5 are preset, and 0.9<x1<x2<x3<x4<x5<1.1; Determine a welding difficulty adjustment coefficient according to a magnitude relationship between the damaged roller temperature information P0 and each preset damaged roller temperature information; When P0≤P1, the welding difficulty adjustment coefficient is determined to be the first welding difficulty adjustment coefficient x1, and the specific welding difficulty is Vi*x1; When P1<P0≤P2, the welding difficulty adjustment coefficient is determined to be the second welding difficulty adjustment coefficient x2, and the specific welding difficulty is Vi*x2; When P2<P0≤P3, the welding difficulty adjustment coefficient is determined to be the third welding difficulty adjustment coefficient x3, and the specific welding difficulty is Vi*x3; When P3<P0≤P4, the welding difficulty adjustment coefficient is determined to be the fourth welding difficulty adjustment coefficient x4, and the specific welding difficulty is Vi*x4; When P4<P0≤P5, the welding difficulty adjustment coefficient is determined to be the fifth welding difficulty adjustment coefficient x5, and the specific welding difficulty is Vi*x5; When Vi×xi>1, it is determined that welding should not be continued and the damaged roller is replaced; i in Vi is any one of 1, 2, 3, 4, 5, which represents the welding difficulty, and i in xi is any one of 1, 2, 3, 4, 5, which represents the welding difficulty adjustment coefficient.

6. The method for inspecting and detecting mining rollers using a drone according to claim 3, wherein: The specific method of determining the coating thickness according to the degree of roller wear is as follows: The degree of wear of the roller is N0, and the first roller wear degree N1, the second roller wear degree N2, the third roller wear degree N3, the fourth roller wear degree N4, and the fifth roller wear degree N5 are preset, and N1<N2<N3<N4<N5; the first coating thickness Y1, the second coating thickness Y2, the third coating thickness Y3, the fourth coating thickness Y4, and the fifth coating thickness Y5 are preset, and 0.8<Y1<Y2<Y3<Y4<Y5<1.2; Determine the coating thickness according to the relationship between the roller wear degree N0 and the wear degree of each preset roller; When N0≤N1, the coating thickness is determined to be the first coating thickness Y1; When N1<N0≤N2, the coating thickness is determined to be the second coating thickness Y2; When N2<N0≤N3, the coating thickness is determined to be the third coating thickness Y3; When N3<N0≤N4, the coating thickness is determined to be the fourth coating thickness Y4; When N4<N0≤N5, the coating thickness is determined to be the fifth coating thickness Y5.

7. The method for inspecting and detecting mining rollers using a drone according to claim 6, wherein: After determining the coating thickness, determine the specific coating thickness based on the moisture content of the environment at the damaged roller, including: The environmental moisture content at the damaged roller is M0, and the environmental moisture content at the first damaged roller is M1, the environmental moisture content at the second damaged roller is M2, the environmental moisture content at the third damaged roller is M3, the environmental moisture content at the fourth damaged roller is M4, and the environmental moisture content at the fifth damaged roller is M5, and M1<M2<M3<M4<M5; a first coating thickness adjustment coefficient z1, a second coating thickness adjustment coefficient z2, a third coating thickness adjustment coefficient z3, a fourth coating thickness adjustment coefficient z4, and a fifth coating thickness adjustment coefficient z5 are preset, and 0.9<z1<z2<z3<z4<z5<1.1; Determine the coating thickness adjustment coefficient according to the relationship between the moisture content M0 of the environment at the damaged roller and the moisture content of each preset damaged roller environment; When M0≤M1, the coating thickness adjustment coefficient is determined to be the first coating thickness adjustment coefficient z1, and the specific coating thickness is Yi*z1; When M1<M0≤M2, the coating thickness adjustment coefficient is determined to be the second coating thickness adjustment coefficient z2, and the specific coating thickness is Yi*z2; When M2<M0≤M3, the coating thickness adjustment coefficient is determined to be the third coating thickness adjustment coefficient z3, and the specific coating thickness is Yi*z3; When M3<M0≤M4, the coating thickness adjustment coefficient is determined to be the fourth coating thickness adjustment coefficient z4, and the specific coating thickness is Yi*z4; When M4<M0≤M5, the coating thickness adjustment coefficient is determined to be the fifth coating thickness adjustment coefficient z5, and the specific coating thickness is Yi*z5; When Yi×zi>1, it is determined that the paint coating should not be continued, and the damaged roller is selected to be replaced; i in Yi=any of 1, 2, 3, 4, 5 represents the paint coating thickness, and i in zi=any of 1, 2, 3, 4, 5 represents the paint coating thickness adjustment coefficient.

8. The method for inspecting and detecting mining rollers using a drone according to claim 3, wherein: When determining the required heat treatment temperature based on the bending degree of the damaged roller, specifically: The bending degree of the damaged roller is W0, and the first bending degree of the damaged roller is W1, the second bending degree of the damaged roller is W2, the third bending degree of the damaged roller is W3, the fourth bending degree of the damaged roller is W4, and the fifth bending degree of the damaged roller is W5, and W1<W2<W3<W4<W5; the first heat treatment temperature Q1, the second heat treatment temperature Q2, the third heat treatment temperature Q3, the fourth heat treatment temperature Q4, and the fifth heat treatment temperature Q5 are preset, and Q1<Q2<Q3<Q4<Q5; Determine the heat treatment temperature level according to the relationship between the bending degree W0 of the damaged roller and the bending degrees of each preset damaged roller; When W0≤W1, the heat treatment temperature is determined to be the first-level heat treatment temperature Q1; When W1<W0≤W2, the heat treatment temperature is determined to be the secondary heat treatment temperature Q2; When W2<W0≤W3, the heat treatment temperature is determined to be the third-level heat treatment temperature Q3; When W3<W0≤W4, the heat treatment temperature is determined to be the fourth-level heat treatment temperature Q4; When W4<W0≤W5, the heat treatment temperature is determined to be the fifth-level heat treatment temperature Q5.

9. The method for inspecting and detecting mining rollers using a drone according to claim 8, wherein: When determining the required cooling degree according to the degree of plastic deformation of the damaged roller, specifically: The degree of plastic deformation of the damaged roller is D0, and the plastic deformation degree of the first damaged roller is D1, the plastic deformation degree of the second damaged roller is D2, the plastic deformation degree of the third damaged roller is D3, the plastic deformation degree of the fourth damaged roller is D4, and the plastic deformation degree of the fifth damaged roller is D5, and D1<D2<D3<D4<D5; the first-level cooling temperature R1, the second-level cooling temperature R2, the third-level cooling temperature R3, the fourth-level cooling temperature R4, and the fifth-level cooling temperature R5 are preset, and R1<R2<R3<R4<R5; Determining the cooling temperature level according to the relationship between the degree of plastic deformation D0 of the damaged roller and the degree of plastic deformation of each preset damaged roller; When D0≤D1, the cooling temperature is determined to be the first-level cooling temperature R1; When D1<D0≤D2, the cooling temperature is determined to be the secondary cooling temperature R2; When D2<D0≤D3, the cooling temperature is determined to be the third-level cooling temperature R3; When D3<D0≤D4, the cooling temperature is determined to be the fourth-level cooling temperature R4; When D4<D0≤D5, the cooling temperature is determined to be the fifth-level cooling temperature R5.

10. The method for inspecting and detecting mining rollers using a drone according to claim 9, wherein: After determining the heat treatment temperature level or cooling level, the specific heat treatment temperature and cooling temperature are determined by the moisture content of the environment at the damaged roller; The environmental moisture content at the damaged roller is M0, and the environmental moisture content at the first damaged roller is M1, the environmental moisture content at the second damaged roller is M2, the environmental moisture content at the third damaged roller is M3, the environmental moisture content at the fourth damaged roller is M4, and the environmental moisture content at the fifth damaged roller is M5, and M1<M2<M3<M4<M5; the first heat treatment temperature adjustment coefficient e1, the second heat treatment temperature adjustment coefficient e2, the third heat treatment temperature adjustment coefficient e3, the fourth heat treatment temperature adjustment coefficient e4, and the fifth heat treatment temperature adjustment coefficient e5 are preset, and 0.9<e1<e2<e3<e4<e5<1.1; the first cooling temperature adjustment coefficient s1, the second cooling temperature adjustment coefficient s2, the third cooling temperature adjustment coefficient s3, the fourth cooling temperature adjustment coefficient s4, and the fifth cooling temperature adjustment coefficient s5 are preset, and 0.9<s1<s2<s3<s4<s5<1.1; When M0≤M1, the heat treatment temperature adjustment coefficient is determined to be the first heat treatment temperature adjustment coefficient e1, and the specific heat treatment temperature is Qi*e1; When M1<M0≤M2, the heat treatment temperature adjustment coefficient is determined to be the second heat treatment temperature adjustment coefficient e2, and the specific heat treatment temperature is Qi*e2; When M2<M0≤M3, the heat treatment temperature adjustment coefficient is determined to be a third heat treatment temperature adjustment coefficient e3, and the specific heat treatment temperature is Qi*e3; When M3<M0≤M4, the heat treatment temperature adjustment coefficient is determined to be the fourth heat treatment temperature adjustment coefficient e4, and the specific heat treatment temperature is Qi*e4; When M4<M0≤M5, the heat treatment temperature adjustment coefficient is determined to be the fifth heat treatment temperature adjustment coefficient e5, and the specific heat treatment temperature is Qi*e5; In Qi, i=1, 2, 3, 4, 5, any number, represents the heat treatment temperature; ei, i=1, 2, 3, 4, 5, any number, represents the heat treatment temperature adjustment coefficient; When M0≤M1, the cooling temperature adjustment coefficient is determined to be the first cooling temperature adjustment coefficient s1, and the specific cooling temperature is Ri*s1; When M1<M0≤M2, the cooling temperature adjustment coefficient is determined to be the second cooling temperature adjustment coefficient s2, and the specific cooling temperature is Ri*s2; When M2<M0≤M3, the cooling temperature adjustment coefficient is determined to be the third cooling temperature adjustment coefficient s3, and the specific cooling temperature is Ri*s3; When M3<M0≤M4, the cooling temperature adjustment coefficient is determined to be the fourth cooling temperature adjustment coefficient s4, and the specific cooling temperature is Ri*s4; When M4<M0≤M5, the cooling temperature adjustment coefficient is determined to be the fifth cooling temperature adjustment coefficient s5, and the specific cooling temperature is Ri*s5; In Ri, i=any number among 1, 2, 3, 4, 5 represents the cooling temperature; si, i=any number among 1, 2, 3, 4, 5 represents the cooling temperature adjustment coefficient.

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