Autonomous inspection method and system integrating visual perception analysis and adaptive detection

Abstract

The invention discloses an autonomous inspection method and system integrating visual perception analysis and adaptive detection, and relates to the technical field of gallery inspection data processing. The method comprises the following steps: performing autonomous temperature coupling optimization adjustment according to autonomous temperature coupling inspection; performing autonomous vibration coupling optimization adjustment according to autonomous vibration coupling inspection; and performing autonomous long-acting coupling optimization adjustment according to autonomous long-acting coupling inspection. According to the method, cooling, speed reduction or spraying are triggered in a grading mode according to the temperature threshold value, when the temperature exceeds the limit, vibration inspection is started, the impact frequency, the harmonic distortion rate and the impedance change are analyzed, oil injection or laser correction and long-term inspection are executed, the corrosion cumulant is calculated through an integral model, and sand blasting or corrosion inhibitor spraying prevention and control are triggered. The effect of improving the accuracy of autonomous inspection of the metallurgical raw material conveying gallery is achieved, and the problem that the accuracy of autonomous inspection of the metallurgical raw material conveying gallery is insufficient in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of corridor inspection data processing, and in particular to an autonomous inspection method and system fusing visual perception analysis and adaptive detection. BACKGROUND

[0002] With the harsh operating environment of metallurgical raw material conveying corridors, traditional monitoring technologies face systemic failure dilemmas. Existing solutions rely on independent detection means: manual infrared temperature measurement equipment for roller temperature inspection, fixed industrial cameras combined with image algorithms to identify belt damage, laboratory offline weighing method to analyze dust concentration, and contact ultrasonic point inspection to evaluate structural corrosion.

[0003] For example, the invention patent with publication number CN113626970B discloses a public pipeline corridor pipeline corrosion residual life evaluation method and system, which includes: dividing the detected pipeline into multiple pipe sections, sorting the maximum value of the corrosion depth values of all pipe sections, obtaining the sample sequence of the corrosion depth values of the detected pipeline, and obtaining the cumulative probability of any corrosion depth value; using a generalized extreme value distribution model and performing parameter estimation, selecting a corrosion data distribution model for the detected pipeline according to the determined parameters; applying the determined corrosion data distribution model to predict the limit corrosion depth of the detected pipeline under different reliabilities; determining the corrosion residual life of the detected pipeline under different reliabilities according to the limit corrosion depth of the detected pipeline under different reliabilities.

[0004] For example, the invention patent with publication number CN114860803B discloses a tunnel pipeline management analysis system, which includes a collection end, a background end, and a maintenance end; the collection end includes a collection module for collecting monitoring data; the background end includes a storage module, a processing module, and an input module; the processing module is used to analyze whether there is an anomaly according to the monitoring data, and is also used to generate maintenance information when the analysis result is an anomaly and send it to the maintenance end; the maintenance end includes a transceiver module and an upload module; the transceiver module is used to receive the maintenance information; the upload module is used to upload the maintenance result; the storage module is used to store the abnormal information and the maintenance result; the input module is used to input statistical analysis signals, including statistical time; the processing module is used to receive the statistical analysis signals, and perform statistical analysis on the abnormal data within the statistical time to generate an abnormal analysis report.

[0005] However, in the process of implementing the technical scheme of the present application, the above-mentioned technology at least has the following technical problems:

[0006] In the prior art, in the harsh operating environment of the metallurgical raw material conveying corridor, the traditional monitoring technology faces various influences in the complex coupling environment, and the dust optical interference directly leads to monitoring failure. The high concentration of raw material dust forms an optical barrier, making the visible light and infrared imaging system completely lose the monitoring ability when the dust exceeds the standard, the dynamic interaction of thermal field and mechanical vibration causes misdiagnosis, the hidden structure risk and artificial limitation are superimposed and amplified, and there is a problem of insufficient accuracy of autonomous inspection for the metallurgical raw material conveying corridor. SUMMARY

[0007] The embodiment of the present application provides an autonomous inspection method and system by fusing visual perception analysis and adaptive detection, solves the problem of insufficient accuracy of autonomous inspection for the metallurgical raw material conveying corridor in the prior art, and realizes the effect of improving the accuracy of autonomous inspection for the metallurgical raw material conveying corridor.

[0008] The embodiment of the present application provides an autonomous inspection method by fusing visual perception analysis and adaptive detection, comprising the following steps: performing autonomous temperature coupling inspection on the metallurgical raw material conveying corridor by a dynamic following robot, and performing autonomous temperature coupling optimization adjustment according to the autonomous temperature coupling inspection; performing autonomous vibration coupling inspection on the metallurgical raw material conveying corridor, and performing autonomous vibration coupling optimization adjustment according to the autonomous vibration coupling inspection; performing autonomous long-acting coupling inspection on the metallurgical raw material conveying corridor, and performing autonomous long-acting coupling optimization adjustment according to the autonomous long-acting coupling inspection.

[0009] Further, the dynamic following robot performs autonomous temperature coupling inspection on the metallurgical raw material conveying corridor, specifically comprising: collecting and analyzing the surface attached dust thickness by a phased array millimeter wave radar measurement device; collecting the middle wave infrared temperature value and the long wave infrared temperature value by the middle wave infrared thermal imager and the long wave infrared thermal imager installed on the dynamic following robot respectively; extracting the sinter radiation compensation factor from the metallurgical raw material conveying corridor adaptive detection database; and obtaining the heat conduction loss coefficient by combining the model and the actual measurement calibration.

[0010] Further, the dynamic following robot performs autonomous temperature coupling inspection on the metallurgical raw material conveying corridor, and further comprises: after coupling analysis of the long wave infrared temperature value and the sinter radiation compensation factor, obtaining the long wave sinter radiation compensation component; after coupling analysis of the heat conduction loss coefficient and the surface attached dust thickness, obtaining the dust heat conduction loss correction component; and after common coupling analysis of the middle wave infrared temperature value, the long wave sinter radiation compensation component and the dust heat conduction loss correction component, obtaining the metallurgical raw material conveying corridor detection area temperature correction value.

[0011] Further, the autonomous temperature coupling optimization adjustment is performed according to the autonomous temperature coupling inspection, and specifically includes: if the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the first threshold value of the temperature of the metallurgical raw material conveying corridor detection area, the current dynamic following robot collection frequency is maintained, and no additional adjustment is performed; if the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the first threshold value of the temperature of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the second threshold value of the temperature of the metallurgical raw material conveying corridor detection area, local active cooling is performed through the axial flow fan of the dynamic following robot, a pre-maintenance work order is generated through the edge computing unit in the core cabin of the dynamic following robot, a yellow light visual warning is emitted through the lamp ring of the circumferential waist line of the robot, and the current metallurgical raw material conveying corridor detection area uploads the pre-maintenance work order; if the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the second threshold value of the temperature of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the third threshold value of the temperature of the metallurgical raw material conveying corridor detection area, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area through the dynamic following robot, and the conveying speed of the metallurgical raw material conveying corridor is reduced, a red light visual warning is emitted through the lamp ring of the circumferential waist line of the robot, and the pre-maintenance work order is uploaded to the quality control center; if the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the third threshold value of the temperature of the metallurgical raw material conveying corridor detection area, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area through the dynamic following robot, the conveying speed of the metallurgical raw material conveying corridor is reduced, a red light visual warning is emitted through the lamp ring of the circumferential waist line of the robot, the pre-maintenance work order is uploaded to the quality control center, and the duration that the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the third threshold value of the temperature of the metallurgical raw material conveying corridor detection area is recorded as an over-threshold duration; and if the over-threshold duration is greater than an over-threshold duration threshold value, a pre-warning is immediately issued and relevant personnel are notified.

[0012] Further, the metallurgical raw material conveying corridor is subjected to autonomous vibration coupling inspection, specifically including: if the metallurgical raw material conveying corridor detection area temperature correction value is equal to or greater than the metallurgical raw material conveying corridor detection area temperature first threshold value and the metallurgical raw material conveying corridor detection area temperature correction value is less than the metallurgical raw material conveying corridor detection area temperature second threshold value, autonomous vibration coupling inspection is performed; the autonomous vibration coupling inspection specifically includes: the metallurgical raw material correction factor, bearing characteristic frequency reference, electromagnetic interference gain coefficient and motor initial impedance are directly extracted from the metallurgical raw material conveying corridor adaptive detection database; the impact frequency experienced by the metallurgical raw material conveying corridor roller bearing is obtained by the high-frequency accelerometer radially installed on the bearing seat through impact signal envelope analysis extraction; the motor vibration harmonic distortion rate is obtained by directly measuring and analyzing the vibration analyzer installed at the bolt fixing position of the motor shell; the motor rotor dynamic impedance change value is obtained by measuring the impedance amplitude offset rate through the wireless impedance probe built-in the motor stator winding terminal box; the impact frequency influence component is obtained by performing ratio analysis and then square analysis on the impact frequency experienced by the metallurgical raw material conveying corridor roller bearing and the bearing characteristic frequency reference; the temperature coupling influence component is obtained by performing exponential processing on the natural constant with the difference analysis result of the metallurgical raw material conveying corridor detection area temperature correction value and the metallurgical raw material conveying corridor detection area temperature first threshold value and the ratio analysis result of the metallurgical raw material conveying corridor detection area temperature first threshold value; the impedance harmonic influence component is obtained by performing ratio analysis on the motor rotor dynamic impedance change value and the motor initial impedance, and then performing coupling analysis on the motor vibration harmonic distortion rate and the electromagnetic interference gain coefficient; the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient is obtained by common coupling analysis of the impact frequency influence component, the temperature coupling influence component and the impedance harmonic influence component.

[0013] Further, the autonomous vibration coupling optimization adjustment is performed according to the autonomous vibration coupling inspection, and specifically includes: if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than a first vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, the current dynamic following robot acquisition frequency is maintained, and no additional adjustment is performed; if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the first vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than a second vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area by the dynamic following robot, the conveying speed of the metallurgical raw material conveying corridor is reduced, a red light visual warning is emitted by the lamp ring of the circumferential waist line of the robot, and the pre-maintenance work order quality control center is uploaded; if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the second vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than a third vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, lubrication compensation is performed by the quantitative oil injection pump on the multi-joint coupler of the mechanical arm of the dynamic following robot, and laser centering compensation operation is performed by the dynamic following robot; and if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is greater than the third vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, a pre-warning is immediately issued and relevant personnel are notified.

[0014] Further, the self-long-effect coupling inspection for the metallurgical raw material conveying corridor is determined, specifically including: if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the vibration coupling influence second threshold value of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than the vibration coupling influence third threshold value of the metallurgical raw material conveying corridor detection area, and at the same time, the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the temperature second threshold value of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the temperature third threshold value of the metallurgical raw material conveying corridor detection area, the self-long-effect coupling inspection is performed; the self-long-effect coupling inspection includes: the weight factor of the temperature of the metallurgical raw material conveying corridor detection area for the long-effect corrosion coupling, the weight factor of the vibration of the metallurgical raw material conveying corridor detection area for the long-effect corrosion coupling, the dust attenuation constant, the sulfur corrosion rate constant, the raw material sulfur content and the humidity sulfur corrosion coupling correction coefficient are directly extracted from the self-adaptive detection database of the metallurgical raw material conveying corridor; the temperature correction value of the metallurgical raw material conveying corridor detection area is analyzed by proportion with the vibration coupling influence second threshold value of the metallurgical raw material conveying corridor detection area, and then the weight factor of the temperature of the metallurgical raw material conveying corridor detection area for the long-effect corrosion coupling, the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area and the weight factor of the vibration of the metallurgical raw material conveying corridor detection area for the long-effect corrosion coupling are coupled together to obtain the long-effect corrosion coupling basic influence component; the coupling result of the unit one and the dust attenuation constant and the surface attached dust thickness is analyzed by difference, and then the unit one and the difference analysis result are analyzed by proportion to obtain the dust attenuation correction component; the humidity of the metallurgical raw material conveying corridor detection area is directly collected by the capacitive sensor of the corresponding area; the sulfur corrosion rate constant, the raw material sulfur content, the humidity sulfur corrosion coupling correction coefficient and the humidity of the metallurgical raw material conveying corridor detection area are coupled together and then integrated to obtain the corrosion coupling influence component; the long-effect corrosion coupling coefficient of the metallurgical corridor is obtained by coupling analysis of the long-effect corrosion coupling basic influence component, the dust attenuation correction component and the corrosion coupling influence component.

[0015] Further, the self-long-effect coupling optimization adjustment is performed according to the self-long-effect coupling inspection, specifically including: if the long-effect corrosion coupling coefficient of the metallurgical corridor is less than the long-effect corrosion coupling first threshold value of the metallurgical corridor, no additional processing is performed; if the long-effect corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the long-effect corrosion coupling first threshold value of the metallurgical corridor and the long-effect corrosion coupling coefficient of the metallurgical corridor is less than the long-effect corrosion coupling second threshold value of the metallurgical corridor, the surface sand blasting treatment is performed on the corresponding metallurgical raw material conveying corridor detection area by the dynamic following robot carrying the electric arc spray gun.

[0016] Further, according to the autonomous long-term coupling inspection, the autonomous long-term coupling optimization adjustment further comprises: if the long-term corrosion coupling coefficient of the metallurgical corridor is equal to or greater than a long-term corrosion coupling second threshold of the metallurgical corridor, a molybdate composite corrosion inhibitor carried by the dynamic following robot is used to perform high-pressure airless spraying on the corresponding metallurgical raw material conveying corridor detection area, and a duration when the long-term corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the long-term corrosion coupling second threshold of the metallurgical corridor is recorded as a first threshold overshoot duration, and if the first threshold overshoot duration is greater than a first threshold overshoot duration threshold, a warning is immediately sent and relevant personnel are notified.

[0017] The embodiment of the present application provides an autonomous inspection system fusing visual perception analysis and adaptive detection, which comprises a metallurgical corridor autonomous temperature inspection module, a metallurgical corridor autonomous vibration inspection module and a metallurgical corridor autonomous long-term inspection module: the metallurgical corridor autonomous temperature inspection module is used for autonomously inspecting the temperature coupling of the metallurgical raw material conveying corridor by the dynamic following robot, and autonomously adjusting the temperature coupling according to the autonomous temperature coupling inspection; the metallurgical corridor autonomous vibration inspection module is used for judging the vibration coupling of the metallurgical raw material conveying corridor, and autonomously adjusting the vibration coupling according to the autonomous temperature coupling inspection; and the metallurgical corridor autonomous long-term inspection module is used for judging the long-term coupling of the metallurgical raw material conveying corridor, and autonomously adjusting the long-term coupling according to the autonomous long-term coupling inspection.

[0018] The one or more technical solutions provided in the embodiment of the present application have at least the following technical effects or advantages:

[0019] 1. In the high dust area of the iron ore powder concentration of the dropping port, the traditional infrared temperature measurement has an error of more than 50℃ due to dust heat shielding and sintering ore radiation interference, resulting in a high bearing overheating missed detection rate. The present technology uses millimeter wave radar to penetrate the dust layer and measure the thickness in real time, separates the device body radiation and sintering ore background by using double infrared thermal imagers, dynamically calculates by using a radiation compensation factor and a heat conduction loss coefficient, greatly reduces the temperature measurement error, improves the bearing overheating detection rate after application in the sintering ore conveying section, avoids the fire hazard caused by carbonization of lubricating grease, reduces maintenance cost, and improves the equipment safety of the metallurgical raw material conveying corridor.

[0020] 2. For the driving vibration of the metallurgical raw material conveying corridor is large, the temperature is high, and the working condition is bad, the traditional vibration analysis has a high bearing early fault missed detection rate due to temperature-vibration coupling effect. The present scheme captures bearing spalling by using impact frequency offset, quantifies heat-induced vibration deterioration by using temperature coupling indicators, analyzes electromagnetic interference by using harmonic distortion rate and impedance change, and improves the bearing damage detection rate. The equipment of the metallurgical raw material conveying corridor can respond to the early warning and timeliness of the conveying gear broken tooth.

[0021] 3. The corrosion rate of carbon steel equipment increases nonlinearly in high-sulfur and high-humidity environments, and traditional point inspection cannot quantify the cumulative risk. The technical innovation of the sulfur corrosion-humidity integral model measures sulfur, capacitance humidity, and dust attenuation correction online. The robot automatically performs targeted spraying of molybdate corrosion inhibitor, significantly extends the service life of the equipment in the metallurgical raw material conveying corridor, detects hidden corrosion in a timely manner to avoid possible structural collapse accidents, and realizes early warning and timeliness of equipment in the metallurgical raw material conveying corridor in response to long-term corrosion.

[0022] 4. The dynamic robot realizes full autonomous inspection of the metallurgical raw material conveying corridor through permanent magnet adsorption chassis, multi-joint mechanical arm, and autonomous detection and autonomous intelligent decision-making, which improves the efficiency several times compared to manual inspection, reduces the annual comprehensive maintenance cost, and builds an intelligent prevention and control ecological system for the metallurgical industry based on full-factor fusion visual perception analysis. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The autonomous inspection method flowchart provided by the embodiment of the present application fuses visual perception analysis and adaptive detection;

[0024] Figure 2 The autonomous inspection system structure diagram provided by the embodiment of the present application fuses visual perception analysis and adaptive detection. DETAILED DESCRIPTION

[0025] The embodiment of the present application provides an autonomous inspection method and system that fuses visual perception analysis and adaptive detection, solving the problem of insufficient accuracy of autonomous inspection of the metallurgical raw material conveying corridor in the prior art.

[0026] In order to better understand the above technical solutions, the above technical solutions will be described in detail in combination with the drawings in the specification and specific embodiments.

[0027] As shown in Figure 1 The autonomous inspection method flowchart provided by the embodiment of the present application fuses visual perception analysis and adaptive detection, which is applied to an autonomous inspection system that fuses visual perception analysis and adaptive detection. The method includes the following steps: performing autonomous temperature coupling inspection of the metallurgical raw material conveying corridor by a dynamic following robot, and performing autonomous temperature coupling optimization adjustment according to the autonomous temperature coupling inspection; performing autonomous vibration coupling inspection of the metallurgical raw material conveying corridor, and performing autonomous vibration coupling optimization adjustment according to the autonomous vibration coupling inspection; performing autonomous long-term coupling inspection of the metallurgical raw material conveying corridor, and performing autonomous long-term coupling optimization adjustment according to the autonomous long-term coupling inspection.

[0028] In this embodiment, in the harsh operating environment of the metallurgical raw material conveying corridor, the specific implementation device of autonomous inspection is a dynamic following robot. Traditional static point inspection cannot cover high altitude, high temperature and high dust area due to space blind area and artificial limitation, and the sub-item detection means is difficult to solve the multi-physical field coupling interference such as dust heat shielding, vibration noise aliasing and corrosion concealment. The present application realizes the dead angle free tracking of equipment state by combining the telescopic mechanical arm with the scanning of the permanent magnet adsorption chassis on the special track with the conveying belt according to the demand to judge whether the relative synchronous motion is required; further, through the fusion sensing technology such as millimeter wave penetrating dust layer to reconstruct the real temperature field, double spectrum separation of thermal radiation interference and vibration frequency decoupling, the deep hidden danger such as overheat of the roller, bearing damage and structure corrosion can be accurately captured. The dynamic detection of the robot not only breaks through the safety prohibited area of artificial, but also solves the monitoring failure problem caused by the interweaving of environmental variables by means of multi-source data collaborative decoupling mechanism, which provides irreplaceable technical support for the safety of the corridor.

[0029] Further, the dynamic following robot is used for autonomous temperature coupling inspection of the metallurgical raw material conveying corridor, which specifically includes: dividing the key equipment of the metallurgical raw material conveying corridor into regions according to pre-defined region division size to obtain a metallurgical raw material conveying corridor detection region; obtaining surface attached dust thickness by analyzing the data collected by a phased array millimeter wave radar measurement device; obtaining a middle wave infrared temperature measurement value and a long wave infrared temperature measurement value by respectively collecting the middle wave infrared thermometer and the long wave infrared thermometer installed on the dynamic following robot; extracting a sintering ore radiation compensation factor from an adaptive detection database of the metallurgical raw material conveying corridor; and obtaining a heat conduction loss coefficient by combining the model and the actual measurement calibration.

[0030] In this embodiment, in the metallurgical raw material conveying corridor, the dust, temperature and corrosion three factors have an inseparable physical coupling effect, and their superimposed influence far exceeds the independent action of a single factor, resulting in the complete failure of traditional sub-item detection. Dust deposited on the surface of the equipment forms a heat insulation layer, blocking the internal heat dissipation; the dust layer causes the infrared temperature measurement value to be significantly lower than the actual temperature; sulfur-containing dust condenses water film at high temperature, triggering electrochemical corrosion and accelerating the aging of the conveying corridor device.

[0031] It should be noted that all the following data are corresponding to the specific metallurgical raw material conveying corridor detection region. The specific target position is for the detection region of the key equipment, including the surface of the roller bearing seat, the outer shell of the driving motor and the corridor steel structure bearing beam. The equipment referred to below is the roller bearing seat, the driving motor and the corridor steel structure bearing beam.

[0032] Phased array millimeter-wave radar measurement equipment, such as a 77GHz phased array millimeter-wave radar with a transmit power of 14dBm, a bandwidth of 4GHz, and a dust penetration accuracy of ±0.1mm, is mounted on the robot's top pan / tilt platform with a pitch angle of -30° to +15°. This top-mounted installation prevents damage from coal splashes, and the pitch adjustment accommodates scanning of the arched ceiling of the gallery.

[0033] The following is an example of the internal analysis code for obtaining the thickness of dust attached to the surface through collection and analysis by phased array millimeter wave radar measurement equipment:

[0034] def detect_surface_dust(radar_data):

[0035] #Step 1: Point cloud clustering to separate suspended / attached dust

[0036] cloud = remove_floating_dust(radar_data) # filter moving targets

[0037] #Step 2: Dielectric constant threshold segmentation

[0038] dust_mask=(cloud['ε_r']>2.5)&(cloud['ε_r']<8)

[0039] steel_mask=(cloud['ε_r']>8)

[0040] #Step 3: Calculate the thickness of the dust layer

[0041] dust_points=cloud[dust_mask]

[0042] steel_points=cloud[steel_mask]

[0043] δ=np.mean(steel_points['z'])-np.mean(dust_points['z'])#z-axis distance difference

[0044] returnδ#Unit: mm

[0045] δ represents the thickness of dust attached to the surface.

[0046] T3-5 represents the medium-wave infrared temperature measurement value, which is used to resist dust interference. It uses a medium-wave infrared thermal imager, installed at the end of the robot's mechanical arm, within 0.5m from the target. It is less affected by dust scattering through the 3-5μm band and prioritizes capturing radiation from the surface of the equipment.

[0047] T8-14 represents a long-wave infrared temperature measurement value, used to resist background radiation, and is obtained by using a long-wave infrared thermal imager installed coaxially and side by side with the middle-wave thermal imager, and is more sensitive to high-temperature sinter radiation through the 8-14 μm wave band, and preferentially captures high-temperature sinter radiation.

[0048] Further, the dynamic following robot autonomously temperature-coupled inspection of the metallurgical raw material conveying corridor also includes: after coupling and analyzing the long-wave infrared temperature measurement value and the sinter radiation compensation factor, a long-wave sinter radiation compensation component is obtained; after coupling and analyzing the heat conduction loss coefficient and the surface attached dust thickness, a dust heat conduction loss correction component is obtained; and the middle-wave infrared temperature measurement value, the long-wave sinter radiation compensation component and the dust heat conduction loss correction component are jointly coupled and analyzed to obtain a metallurgical raw material conveying corridor detection area temperature correction value.

[0049] In the embodiment, the metallurgical raw material conveying corridor detection area temperature correction value constraint is as follows: TS=T3-5+SJK*T8-14+NH*δ, wherein TS represents the metallurgical raw material conveying corridor detection area temperature correction value, T3-5 represents the middle-wave infrared temperature measurement value, T8-14 represents the long-wave infrared temperature measurement value, SJK represents the sinter radiation compensation factor, which is used to represent the relative proportion coefficient of the sinter interference quantity, and is extracted from the metallurgical raw material conveying corridor adaptive detection database, and an example formula is as follows: SJK=JKFS / SBZ, wherein JKFS represents the sinter radiation received by the equipment in the 8-14 μm wave band, and SBZ represents the self-radiation of the equipment, for example, when the sinter radiation compensation factor=the sinter radiation received by the equipment in the 8-14 μm wave band / the self-radiation of the equipment≈15%, the sinter radiation compensation factor can be calibrated to 0.15, NH represents the heat conduction loss coefficient, and δ represents the surface attached dust thickness.

[0050] The heat conduction loss coefficient can be obtained by a dust thickness thermal resistance compensation heat conduction loss model analysis, and the dust thickness thermal resistance compensation heat conduction loss model constraint is as follows: ΔTloss=δ*q / λdust, wherein q represents the heat power, and λdust represents the thermal conductivity of the dust, for example, λdust=0.05 W / m\cdotpK, which is used to represent that each meter of thickness of the dust layer conducts 0.05 joules of heat per second at a temperature difference of 1 kelvin. For example, through actual measurement calibration, the fitting value of ΔTloss temperature drop 2.5°C per 1mm increase of δ is obtained, that is, NH=2.5 is calibrated.

[0051] Further, according to the autonomous temperature coupling inspection, autonomous temperature coupling optimization adjustment is carried out, specifically: if the metallurgical raw material conveying corridor detection area temperature correction value is less than the metallurgical raw material conveying corridor detection area temperature first threshold value, the current dynamic following robot acquisition frequency is maintained, and no additional adjustment is performed; if the metallurgical raw material conveying corridor detection area temperature correction value is equal to or greater than the metallurgical raw material conveying corridor detection area temperature first threshold value and the metallurgical raw material conveying corridor detection area temperature correction value is less than the metallurgical raw material conveying corridor detection area temperature second threshold value, local active cooling is performed through the axial flow fan of the dynamic following robot, a pre-maintenance work order is generated through the edge computing unit in the core cabin of the dynamic following robot, a yellow light visual warning is given through the lamp ring of the circumferential waist line of the robot, and the current metallurgical raw material conveying corridor detection area uploads the pre-maintenance work order; if the metallurgical raw material conveying corridor detection area temperature correction value is equal to or greater than the metallurgical raw material conveying corridor detection area temperature second threshold value and the metallurgical raw material conveying corridor detection area temperature correction value is less than the metallurgical raw material conveying corridor detection area temperature third threshold value, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area through the dynamic following robot, and the conveying speed of the metallurgical raw material conveying corridor is reduced, a red light visual warning is given through the lamp ring of the circumferential waist line of the robot, and the pre-maintenance work order is uploaded to the quality control center; if the metallurgical raw material conveying corridor detection area temperature correction value is equal to or greater than the metallurgical raw material conveying corridor detection area temperature third threshold value, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area through the dynamic following robot, and the conveying speed of the metallurgical raw material conveying corridor is reduced, a red light visual warning is given through the lamp ring of the circumferential waist line of the robot, and the pre-maintenance work order is uploaded to the quality control center, at the same time, the duration of the metallurgical raw material conveying corridor detection area temperature correction value being equal to or greater than the metallurgical raw material conveying corridor detection area temperature third threshold value is recorded, which is recorded as an over-threshold duration, and if the over-threshold duration is greater than an over-threshold duration threshold value, a pre-warning is immediately given and relevant personnel are notified.

[0052] In the embodiment, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area through the dynamic following robot, and the conveying speed of the metallurgical raw material conveying corridor is reduced, wherein the specific water amount formula for starting high-pressure spraying is as follows: Qwater = 10 x (TS-T2), Qwater represents the specific water amount, and T2 represents the metallurgical raw material conveying corridor detection area temperature second threshold value. The belt speed is reduced through 5G communication linkage PLC, vnew = v x (1-0.005(TS-100)), vnew represents the new speed of the metallurgical raw material conveying corridor, and an example is that the speed is reduced by 10% when TS is 120°C.

[0053] Further, the autonomous vibration coupling inspection for the metallurgical raw material conveying corridor is carried out, specifically including: if the metallurgical raw material conveying corridor detection area temperature correction value is equal to or greater than the metallurgical raw material conveying corridor detection area temperature first threshold value and the metallurgical raw material conveying corridor detection area temperature correction value is less than the metallurgical raw material conveying corridor detection area temperature second threshold value, the autonomous vibration coupling inspection is carried out; the autonomous vibration coupling inspection specifically includes: the metallurgical raw material correction factor, bearing characteristic frequency reference, electromagnetic interference gain coefficient and motor initial impedance are directly extracted from the metallurgical raw material conveying corridor adaptive detection database; the impact frequency borne by the metallurgical raw material conveying corridor roller bearing is obtained through the envelope analysis of the impact signal extracted by the high-frequency accelerometer radially installed on the bearing seat; the motor vibration harmonic distortion rate is obtained through the direct measurement and analysis of the vibration analyzer installed at the bolted position of the motor shell; the motor rotor dynamic impedance change value is obtained by measuring the impedance amplitude deviation rate through the wireless impedance probe built in the motor stator winding terminal box; the impact frequency influence component is obtained by performing ratio analysis and then square analysis on the impact frequency borne by the metallurgical raw material conveying corridor roller bearing and the bearing characteristic frequency reference; the temperature coupling influence component is obtained by performing exponential processing on the natural constant with the result of the ratio analysis of the metallurgical raw material conveying corridor detection area temperature correction value and the metallurgical raw material conveying corridor detection area temperature first threshold value after the difference analysis and then the ratio analysis of the metallurgical raw material conveying corridor detection area temperature first threshold value; the impedance harmonic influence component is obtained by performing ratio analysis on the motor rotor dynamic impedance change value and the motor initial impedance, and then performing coupling analysis on the motor vibration harmonic distortion rate and the electromagnetic interference gain coefficient; the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient is obtained through the common coupling analysis of the impact frequency influence component, the temperature coupling influence component and the impedance harmonic influence component.

[0054] In the embodiment, the metallurgical raw material conveying corridor vibration coupling influence formula is: Wherein, VibRisk represents the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient, Kore represents different kinds of metallurgical raw material correction factors, which are directly extracted from the metallurgical raw material conveying corridor adaptive detection database, for example, the different coal powder and iron ore powder conveying data are compared, if the coal powder is taken as the unit coefficient 1, then the corresponding iron ore powder unit coefficient is calibrated as 1.8 according to the measured data, which is specifically determined by the ratio of the vibration intensity of different kinds of metallurgical raw materials under the same weight to the roller bearing.

[0055] fimpact represents the impact frequency borne by the metallurgical raw material conveying corridor roller bearing, which is obtained through the envelope analysis of the impact signal extracted by the high-frequency accelerometer radially installed on the bearing seat, and fref represents the bearing characteristic frequency reference, which is obtained through the on-load state measurement and calibration of the metallurgical raw material conveying corridor roller bearing and is recorded in the metallurgical raw material conveying corridor adaptive detection database.

[0056] e represents a natural constant, TS represents a metallurgical raw material conveying gallery detection area temperature correction value, and T1 represents a metallurgical raw material conveying gallery detection area temperature first threshold value.

[0057] β represents an electromagnetic interference gain coefficient, which is directly extracted from a metallurgical raw material conveying gallery adaptive detection database. For example, when the motor is in an idle state, the vibration distortion rate increment and the impedance deviation rate are measured. Then, the vibration distortion rate increment and the impedance deviation rate are measured multiple times between the time when the motor is in a full load state and the time when the motor is in an idle state. A fitting curve of the vibration distortion rate increment and the impedance deviation rate is obtained. Through the specific load of the motor of the metallurgical raw material conveying gallery, the corresponding derivative result is obtained through the fitting curve of the vibration distortion rate increment and the impedance deviation rate, that is, the electromagnetic interference gain coefficient corresponding to the specific load of the motor of the metallurgical raw material conveying gallery.

[0058] THDJ represents a motor vibration harmonic distortion rate, which is directly measured and analyzed by a vibration analyzer installed on a bolted portion of a motor shell to obtain the motor vibration harmonic distortion rate.

[0059] Z0 represents an initial impedance of the motor, which is directly extracted from a metallurgical raw material conveying gallery adaptive detection database, specifically, a factory log database in the metallurgical raw material conveying gallery adaptive detection database.

[0060] ΔZ represents a motor rotor dynamic impedance change value, which is obtained by measuring the impedance amplitude deviation rate through a wireless impedance probe built in a stator winding terminal box.

[0061] When the impact frequency deviates from the bearing damage, the frequency deviation under the metallurgical load nonlinearly amplifies the vibration energy. The accelerated lubrication failure due to temperature rise causes the impact energy to exponentially increase. The harmonic distortion root source again causes the uneven permeability of the iron ore powder, which increases the air gap flux density fluctuation, increases the electromagnetic force harmonic, and causes the rotor to crack due to vibration, which increases the eddy current loss and causes the impedance deviation. The value of exceeds a certain threshold value, and THDJ presents a nonlinear increase.

[0062] Further, the autonomous vibration coupling optimization adjustment is performed according to the autonomous vibration coupling inspection, and specifically includes: if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than a first vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, the current dynamic following robot acquisition frequency is maintained, and no additional adjustment is performed; if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the first vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than a second vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, high-pressure spraying is started on the positioned metallurgical raw material conveying corridor detection area by the dynamic following robot, the conveying speed of the metallurgical raw material conveying corridor is reduced, a red light visual warning is given through the lamp ring of the circumferential waist line of the robot, and the pre-maintenance work order quality control center is uploaded; if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the second vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than a third vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, lubrication compensation is performed through the quantitative oil injection pump on the multi-joint coupler of the mechanical arm of the dynamic following robot, and laser centering compensation operation is performed by the dynamic following robot; if the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is greater than the third vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, a pre-warning is immediately given and relevant personnel are notified.

[0063] In the embodiment, the specific oil injection amount constraint in the lubrication compensation performed by the quantitative oil injection pump on the multi-joint coupler of the mechanical arm of the dynamic following robot is as follows: Vgreas = 2.5 x ARHD. Wherein, Vgreas represents the specific oil injection amount, 2.5 represents the reference oil injection amount, ARHD = VibRis - ZD1, and ZD1 represents the first vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area.

[0064] The laser centering compensation operation performed by the dynamic following robot is specifically as follows:

[0065] The telescopic arm of the dynamic following robot is positioned at a distance of 50 cm from the bearing seat, a 650 nm laser beam is emitted by the laser emitter, the laser beam vertically irradiates the bearing seat machining reference surface, the laser power is 5 mW, the noise reduction ratio of the polarization filter is > 30 dB, the reflected light is received by the laser interferometer, the optical path difference is calculated by the Michelson interference principle, the mechanical displacement offset of the roller bearing seat is converted, the piezoelectric ceramic performs micro-displacement compensation of the roller bearing seat according to the mechanical displacement offset, and the piezoelectric ceramic is elongated or contracted to push the roller bearing seat to reset.

[0066] Further, the judgment of the autonomous long-term coupling inspection for the metallurgical raw material conveying corridor specifically includes: if the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient is equal to or greater than the metallurgical raw material conveying corridor detection area vibration coupling influence second threshold value and the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient is less than the metallurgical raw material conveying corridor detection area vibration coupling influence third threshold value, and at the same time, the metallurgical raw material conveying corridor detection area temperature correction value is equal to or greater than the metallurgical raw material conveying corridor detection area temperature second threshold value and the metallurgical raw material conveying corridor detection area temperature correction value is less than the metallurgical raw material conveying corridor detection area temperature third threshold value, the autonomous long-term coupling inspection is performed; the autonomous long-term coupling inspection includes: directly extracting the weight factor of the metallurgical raw material conveying corridor detection area temperature for long-term corrosion coupling, the weight factor of the metallurgical raw material conveying corridor detection area vibration for long-term corrosion coupling, the dust attenuation constant, the sulfur corrosion rate constant, the raw material sulfur content and the humidity sulfur corrosion coupling correction coefficient from the metallurgical raw material conveying corridor adaptive detection database; the metallurgical raw material conveying corridor detection area temperature correction value is analyzed in proportion to the metallurgical raw material conveying corridor detection area vibration coupling influence second threshold value, and then is coupled with the weight factor of the metallurgical raw material conveying corridor detection area temperature for long-term corrosion coupling, the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient and the weight factor of the metallurgical raw material conveying corridor detection area vibration for long-term corrosion coupling to obtain a long-term corrosion coupling basic influence component; the coupling result of the unit one and the dust attenuation constant and the surface attached dust thickness is analyzed for difference, and then the unit one is analyzed in proportion to the difference analysis result to obtain a dust attenuation correction component; the humidity of the metallurgical raw material conveying corridor detection area is directly collected by the corresponding area capacitive sensor; the sulfur corrosion rate constant, the raw material sulfur content, the humidity sulfur corrosion coupling correction coefficient and the metallurgical raw material conveying corridor detection area humidity are coupled and then integrated to obtain a corrosion coupling influence component; the long-term corrosion coupling basic influence component, the dust attenuation correction component and the corrosion coupling influence component are coupled to obtain a metallurgical corridor long-term corrosion coupling coefficient.

[0067] In the embodiment, wherein Γ represents the metallurgical corridor long-term corrosion coupling coefficient, TS represents the metallurgical raw material conveying corridor detection area temperature correction value, VibRisk represents the metallurgical raw material conveying corridor detection area vibration coupling influence coefficient, and ZD2 represents the metallurgical raw material conveying corridor detection area vibration coupling influence second threshold value.

[0068] t0 represents the time when the first detection starts timing, which can be set as 0 by default, and t represents the time difference value from the time when the first detection starts timing to the current time.

[0069] A represents the weight factor of the metallurgical raw material conveying gallery detection area temperature on long-term corrosion coupling, B represents the weight factor of the metallurgical raw material conveying gallery detection area vibration on long-term corrosion coupling, the weight factor of the metallurgical raw material conveying gallery detection area temperature on long-term corrosion coupling and the weight factor of the metallurgical raw material conveying gallery detection area vibration on long-term corrosion coupling are directly extracted from the metallurgical raw material conveying gallery adaptive detection database, and δ represents the thickness of the surface attached dust.

[0070] γ represents the dust attenuation constant, which is directly extracted from the metallurgical raw material conveying gallery adaptive detection database, and is specifically fitted by calibrating the influence proportion of the dust thickness on the infrared transmission energy through a medium wave infrared transmission experiment.

[0071] k represents the sulfur corrosion rate constant, which is directly extracted from the metallurgical raw material conveying gallery adaptive detection database, and is specifically fitted by calibration, for the materials used in the metallurgical raw material conveying gallery, such as carbon steel, the corrosion rate under different raw material sulfur contents and different environmental humidities is fitted into a two-variable fitting curve, and the corresponding sulfur corrosion rate constant is obtained under the specific raw material sulfur content and environmental humidity.

[0072] S represents the sulfur content of the raw material conveyed by the metallurgical raw material conveying gallery, which is directly extracted from the metallurgical raw material conveying gallery adaptive detection database. RH represents the humidity of the metallurgical raw material conveying gallery detection area, which is directly collected by the corresponding capacitive sensor.

[0073] φ represents the humidity sulfur corrosion coupling correction coefficient, which is directly extracted from the metallurgical raw material conveying gallery adaptive detection database, for example, in a constant temperature simulation environment, carbon steel test pieces are used for accelerated corrosion experiment: by adjusting the sulfur concentration gradient and humidity gradient, exposure tests are continuously carried out in a circulating salt spray chamber. Precise weighing records the weight loss data of the test piece, combined with surface corrosion morphology analysis, the quantitative relationship between corrosion rate and humidity and sulfur concentration is established. The final humidity sulfur corrosion coupling correction coefficient is fitted through the corrosion kinetics model, and the coefficient reflects the significant promotion effect of high humidity environment on sulfur corrosion.

[0074] Further, according to the autonomous long-acting coupling inspection, autonomous long-acting coupling optimization adjustment is performed, specifically including: if the long-acting corrosion coupling coefficient of the metallurgical corridor is less than the long-acting corrosion coupling first threshold of the metallurgical corridor, no additional processing is performed; if the long-acting corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the long-acting corrosion coupling first threshold of the metallurgical corridor and the long-acting corrosion coupling coefficient of the metallurgical corridor is less than the long-acting corrosion coupling second threshold of the metallurgical corridor, a dynamic following robot carries an electric arc spray gun to perform surface sand blasting treatment on the corresponding metallurgical raw material conveying corridor detection area; if the long-acting corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the long-acting corrosion coupling second threshold of the metallurgical corridor, a dynamic following robot carries a molybdate composite corrosion inhibitor to perform high-pressure airless spraying treatment on the corresponding metallurgical raw material conveying corridor detection area, and at the same time, the duration that the long-acting corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the long-acting corrosion coupling second threshold of the metallurgical corridor is recorded, which is recorded as a first threshold exceeding duration, and if the first threshold exceeding duration is greater than a first threshold exceeding duration threshold, a warning is immediately issued and relevant personnel are notified.

[0075] As shown in Figure 2 The autonomous inspection system structure diagram provided by the embodiment of the present application fuses visual perception analysis and adaptive detection, and the autonomous inspection system includes an autonomous temperature inspection module of a metallurgical corridor, an autonomous vibration inspection module of the metallurgical corridor, and an autonomous long-acting inspection module of the metallurgical corridor: the autonomous temperature inspection module of the metallurgical corridor is used for performing autonomous temperature coupling inspection on the metallurgical raw material conveying corridor by a dynamic following robot, and performing autonomous temperature coupling optimization adjustment according to the autonomous temperature coupling inspection; the autonomous vibration inspection module of the metallurgical corridor is used for performing autonomous vibration coupling inspection on the metallurgical raw material conveying corridor, and performing autonomous vibration coupling optimization adjustment according to the autonomous temperature coupling inspection; and the autonomous long-acting inspection module of the metallurgical corridor is used for performing autonomous long-acting coupling inspection on the metallurgical raw material conveying corridor, and performing autonomous long-acting coupling optimization adjustment according to the autonomous long-acting coupling inspection.

[0076] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0077] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more blocks or combinations of blocks in the flowcharts and / or block diagrams.

[0078] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowcharts and / or block diagrams block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more blocks or combinations of blocks in the flowcharts and / or block diagrams.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowcharts and / or block diagrams block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more blocks or combinations of blocks in the flowcharts and / or block diagrams.

[0080] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those of skill in the art once they have the benefit of the present disclosure. Therefore, the appended claims are intended to cover all such variations and modifications as falling within the scope of the application.

[0081] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. An autonomous inspection method integrating visual perception analysis and adaptive detection, characterized by: The following steps are involved: Use dynamic follow-up robots to conduct autonomous temperature coupling inspections on the metallurgical raw material conveying corridors, and perform autonomous temperature coupling optimization and adjustment based on the autonomous temperature coupling inspections; Conduct autonomous vibration coupling inspections on metallurgical raw material transportation corridors and optimize and adjust autonomous vibration coupling based on the autonomous vibration coupling inspections; Determine whether to conduct autonomous long-term coupling inspections on the metallurgical raw material transportation corridors, and perform autonomous long-term coupling optimization and adjustment based on the autonomous long-term coupling inspections.

2. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1, characterized in that: The autonomous temperature coupling inspection of the metallurgical raw material conveying corridor by the dynamic follower robot specifically includes: The thickness of dust attached to the surface is obtained by collecting and analyzing the dust through phased array millimeter wave radar measurement equipment; The medium-wave infrared thermal imager and long-wave infrared thermal imager installed on the dynamic follow-up robot respectively collect the medium-wave infrared temperature measurement value and the long-wave infrared temperature measurement value; The sinter radiation compensation factor is extracted from the metallurgical raw material transportation corridor adaptive detection database; The heat loss coefficient is obtained by combining the model and actual measurement calibration.

3. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1 is characterized in that: The autonomous temperature coupling inspection of the metallurgical raw material conveying corridor by the dynamic follower robot also includes: After coupling analysis of the long-wave infrared temperature measurement value and the sinter radiation compensation factor, the long-wave sinter radiation compensation component is obtained. After coupling the heat loss coefficient with the thickness of dust attached to the surface, the dust heat loss correction component is obtained. The temperature correction value of the detection area in the metallurgical raw material transportation corridor is obtained by coupling and analyzing the medium-wave infrared temperature measurement value, the long-wave sinter ore radiation compensation component and the dust heat conduction loss correction component.

4. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1 is characterized in that: The autonomous temperature coupling optimization adjustment according to the autonomous temperature coupling inspection specifically includes: If the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the first temperature threshold of the metallurgical raw material conveying corridor detection area, the current dynamic following robot collection frequency is maintained without additional adjustment; If the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the first temperature threshold of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the second temperature threshold of the metallurgical raw material conveying corridor detection area, local active cooling is performed through the axial flow fan of the dynamic following robot, and a pre-maintenance work order is generated through the edge computing unit in the core cabin of the dynamic following robot. A yellow light visual warning is issued through the light ring on the circumferential waistline of the robot, and a pre-maintenance work order is uploaded to the current metallurgical raw material conveying corridor detection area; If the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the second temperature threshold of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the third temperature threshold of the metallurgical raw material conveying corridor detection area, the dynamic following robot will start high-pressure spraying in the located metallurgical raw material conveying corridor detection area and reduce the transportation speed of the metallurgical raw material conveying corridor. The light ring on the circumferential waistline of the robot will emit a red light visual warning and upload the pre-maintenance work order to the quality control center; If the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the third temperature threshold of the metallurgical raw material conveying corridor detection area, the dynamic following robot will start high-pressure spraying on the located metallurgical raw material conveying corridor detection area and reduce the transportation speed of the metallurgical raw material conveying corridor. The light ring on the circumferential waistline of the robot will issue a red light visual warning, and the pre-maintenance work order will be uploaded to the quality control center. At the same time, the time when the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the third temperature threshold of the metallurgical raw material conveying corridor detection area will be recorded and recorded as the over-threshold time. If the over-threshold time is greater than the over-threshold time threshold, an early warning will be issued immediately and the relevant personnel will be notified.

5. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1 is characterized in that: The autonomous vibration coupling inspection of the metallurgical raw material conveying corridor specifically includes: If the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the first temperature threshold of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the second temperature threshold of the metallurgical raw material conveying corridor detection area, then an autonomous vibration coupling inspection is performed; The autonomous vibration coupling inspection specifically includes: The metallurgical raw material correction factor, bearing characteristic frequency benchmark, electromagnetic interference gain coefficient and motor initial impedance are directly extracted from the metallurgical raw material conveying corridor adaptive detection database; The high-frequency accelerometer installed radially on the bearing seat is used to extract the impact signal envelope analysis to obtain the impact frequency of the roller bearings in the metallurgical raw material conveying corridor; The motor vibration harmonic distortion rate is obtained by direct measurement and analysis using a vibration analyzer installed at the bolt fixing point of the motor housing; The impedance amplitude deviation rate is measured by the wireless impedance probe built into the motor stator winding junction box to obtain the dynamic impedance change value of the motor rotor; The impact frequency of the roller bearings in the metallurgical raw material conveying corridor is analyzed with the bearing characteristic frequency benchmark and then squared to obtain the impact frequency influence component. The temperature coupling influence component is obtained by performing an index processing on the natural constant by performing a difference analysis between the temperature correction value of the metallurgical raw material transportation corridor detection area and the first temperature threshold of the metallurgical raw material transportation corridor detection area and then performing a proportion analysis with the first temperature threshold of the metallurgical raw material transportation corridor detection area. The dynamic impedance change value of the motor rotor is analyzed in proportion to the initial impedance of the motor, and then coupled with the motor vibration harmonic distortion rate and electromagnetic interference gain coefficient to obtain the impedance harmonic impact component; The vibration coupling influence coefficient of the detection area of ​​the metallurgical raw material conveying corridor is obtained through the joint coupling analysis of the impact frequency influence component, the temperature coupling influence component and the impedance harmonic influence component.

6. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1, characterized in that: The autonomous vibration coupling optimization adjustment according to the autonomous vibration coupling inspection specifically includes: If the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than the first threshold value of the vibration coupling influence of the metallurgical raw material conveying corridor detection area, the current dynamic following robot acquisition frequency is maintained without additional adjustment; If the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the first vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than the second vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, the dynamic following robot will start high-pressure spraying in the located metallurgical raw material conveying corridor detection area and reduce the transportation speed of the metallurgical raw material conveying corridor. The light ring on the circumferential waistline of the robot will issue a red light visual warning, and the pre-maintenance work order will be uploaded to the quality control center; If the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the second threshold value of the vibration coupling influence of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than the third threshold value of the vibration coupling influence of the metallurgical raw material conveying corridor detection area, lubrication compensation is performed by the quantitative oil injection pump on the multi-joint coupler of the mechanical arm of the dynamic follower robot, and the laser centering compensation operation is performed by the dynamic follower robot; If the vibration coupling influence coefficient of the metallurgical raw material transportation corridor detection area is greater than the third threshold value of the vibration coupling influence of the metallurgical raw material transportation corridor detection area, an early warning will be issued immediately and relevant personnel will be notified.

7. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1, characterized in that: The above judgment is to conduct autonomous long-term coupled inspection on the metallurgical raw material transportation corridor, specifically including: If the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is equal to or greater than the second vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area and the vibration coupling influence coefficient of the metallurgical raw material conveying corridor detection area is less than the third vibration coupling influence threshold of the metallurgical raw material conveying corridor detection area, and at the same time, the temperature correction value of the metallurgical raw material conveying corridor detection area is equal to or greater than the second temperature threshold of the metallurgical raw material conveying corridor detection area and the temperature correction value of the metallurgical raw material conveying corridor detection area is less than the third temperature threshold of the metallurgical raw material conveying corridor detection area, then an autonomous long-term coupling inspection is carried out; The autonomous long-term coupling inspection includes: The weight factor of the temperature in the metallurgical raw material transportation corridor detection area for the long-term corrosion coupling, the weight factor of the vibration in the metallurgical raw material transportation corridor detection area for the long-term corrosion coupling, the dust attenuation constant, the sulfur corrosion rate constant, the raw material sulfur content and humidity sulfur corrosion coupling correction coefficient are directly extracted from the metallurgical raw material transportation corridor adaptive detection database; The temperature correction value of the metallurgical raw material transportation corridor detection area and the second threshold value of the vibration coupling influence of the metallurgical raw material transportation corridor detection area are analyzed in proportion, and then the weight factor of the temperature of the metallurgical raw material transportation corridor detection area on the long-term corrosion coupling, the vibration coupling influence coefficient of the metallurgical raw material transportation corridor detection area and the weight factor of the vibration of the metallurgical raw material transportation corridor detection area on the long-term corrosion coupling are analyzed together to obtain the basic influence component of the long-term corrosion coupling; Perform difference analysis on the coupling results of unit 1, dust attenuation constant and surface dust thickness, and then perform proportion analysis on unit 1 and the difference analysis results to obtain the dust attenuation correction component. The humidity in the detection area of ​​the metallurgical raw material conveying corridor is directly collected by the capacitive sensor in the corresponding area; The sulfur corrosion rate constant, raw material sulfur content, humidity sulfur corrosion coupling correction coefficient, and humidity in the metallurgical raw material transportation corridor detection area are coupled and analyzed together and then integrated to obtain the corrosion coupling influence component. The long-term corrosion coupling coefficient of the metallurgical corridor is obtained by jointly coupling and analyzing the long-term corrosion coupling basic influence component, the dust attenuation correction component and the corrosion coupling influence component.

8. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1, characterized in that: The autonomous long-term coupling optimization and adjustment according to the autonomous long-term coupling inspection specifically includes: If the metallurgical corridor long-term corrosion coupling coefficient is less than the first threshold of the metallurgical corridor long-term corrosion coupling, no additional treatment is performed; If the long-term corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the first threshold of the long-term corrosion coupling of the metallurgical corridor and the long-term corrosion coupling coefficient of the metallurgical corridor is less than the second threshold of the long-term corrosion coupling of the metallurgical corridor, the dynamic following robot carries an arc spray gun to perform surface sandblasting treatment on the corresponding metallurgical raw material conveying corridor detection area.

9. The autonomous inspection method integrating visual perception analysis and adaptive detection as claimed in claim 1, characterized in that: The autonomous long-term coupling optimization adjustment according to the autonomous long-term coupling inspection also includes: If the long-term corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the second threshold value of the long-term corrosion coupling of the metallurgical corridor, the molybdate composite corrosion inhibitor carried by the dynamic following robot is subjected to high-pressure airless spraying treatment to the corresponding metallurgical raw material conveying corridor detection area. At the same time, the duration during which the long-term corrosion coupling coefficient of the metallurgical corridor is equal to or greater than the second threshold value of the long-term corrosion coupling of the metallurgical corridor is recorded and recorded as the first over-threshold duration. If the first over-threshold duration is greater than the first over-threshold duration threshold, an early warning is immediately issued and relevant personnel are notified.

10. An autonomous inspection system integrating visual perception analysis and adaptive detection, characterized by: Including the metallurgical corridor autonomous temperature inspection module, the metallurgical corridor autonomous vibration inspection module and the metallurgical corridor autonomous long-term inspection module: Metallurgical corridor autonomous temperature inspection module: used to conduct autonomous temperature coupling inspection of the metallurgical raw material conveying corridor through a dynamic following robot, and perform autonomous temperature coupling optimization and adjustment based on the autonomous temperature coupling inspection; Metallurgical corridor autonomous vibration inspection module: used to determine the autonomous vibration coupling inspection of the metallurgical raw material transportation corridor, and perform autonomous vibration coupling optimization and adjustment based on the autonomous temperature coupling inspection; Metallurgical corridor autonomous long-term inspection module: used to determine whether to conduct autonomous long-term coupling inspection on the metallurgical raw material transportation corridor, and to perform autonomous long-term coupling optimization and adjustment based on the autonomous long-term coupling inspection.

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