Automated system equipped with an equipment inspection cart

Abstract

The equipment inspection apparatus comprises an equipment inspection cart (44) that travels on a track (42) that enters at least an automated equipment environment (31) of a first piece (20) of automated equipment, the cart (44) comprising an image capture device (46), a sound registration device (48), and a cart control unit (52) operable to: control the sound registration device (48) to register sounds emitted in the automated equipment environment (31), wherein the sounds comprise sounds registered at a first track position (P1) of the cart (44); receive sounds from the sound registration device (48), wherein the sounds comprise sounds emitted from a point of interest (POI) on the first piece (20) of automated equipment; determine a direction from the image capture device (46) to the point of interest (POI) based on the received sounds; and adjust the track position of the cart (44) and / or the orientation of the image capture device (46) based on the determined direction.

Description

Technical Field

[0005] ,

[0001]

[0001] The present disclosure relates to an equipment inspection device, an automation system, and a method for controlling an equipment inspection cart in an automation system.

Background Art

[0002]

[0002] In an automation system such as some process control systems, there may be an area having automation equipment that is either remotely located and / or has an environment unsuitable for humans. The environment can be, for example, hostile or dangerous. Additionally, for various reasons, such as alarms or warnings caused by faults detected on the automation equipment, it may be necessary to inspect such an area. Therefore, it is necessary to enable the inspection of automation equipment in such an area.

[0003]

[0003] When an alarm or warning situation occurs in a remote area, conventionally, staff is dispatched to observe and evaluate the area and the situation. In the case of a manned area, this may be possible, but there may be areas where access is restricted and thus access is somewhat difficult. In the case of an unmanned area, this is usually not possible, and there may be a significant interval until a person is dispatched to the area, such as during the next planned maintenance cycle. In either case, such observations can be time-consuming, inefficient, and costly.

[0004]

[0004] It is possible to inspect a part of an automation system without dispatching a person. An example of this is disclosed in KR 10-2019-0046129, where the inspection of automation equipment in a supervisory control and data acquisition (SCADA) system is performed using a camera moving device that travels on a rail for capturing images in a gas-insulated switchgear (GIS) in a gas-insulated switchgear room.

[0005]

[0005] However, it can also be difficult to locate a point of interest in a part of the automated equipment that needs to be inspected, and as a result capture an image of that point of interest. This can make it difficult to determine the cause or severity of the malfunction. Therefore, there is a need to improve the inspection of automated equipment using movable inspection means. [Overview of the project]

[0006]

[0006] One object of the present invention is therefore to provide an inspection of the automated equipment environment of an automated system that can be carried out in a more easily accessible manner.

[0007]

[0007] According to a first aspect, this is an equipment inspection device for inspecting a first part of an automated equipment, the equipment inspection device comprises an equipment inspection trolley adapted to travel on a track that enters at least a first area of ​​an automated system comprising the first part of the automated equipment, the first area being an automated equipment environment for the first part of the automated equipment, the equipment inspection trolley comprising an image acquisition device and an audio registration device, the equipment inspection device, Controlling a sound registration device to register sounds emitted in an automated equipment environment, wherein the sounds are of a type of diagnostic data for a first part of the automated equipment, and include sounds registered at a first track position of the equipment inspection trolley. Receiving sound from a sound registration device, wherein the sound comprises a sound emitted from a point of interest on a first part of the automated equipment. Based on the received sound, the direction from the image acquisition device to the point of interest on the first part of the automated equipment is determined, Adjust the track position of the equipment inspection trolley and / or the orientation of the image acquisition device based on the determined direction. This is achieved through an instrument inspection device further comprising a trolley control unit capable of performing the following actions.

[0008]

[0008] The present object is a method for controlling an equipment inspection cart in an automated system comprising an automated system including an automated equipment which includes a first part of the automated equipment in a first area of ​​the automated system, wherein the first area is an automated equipment environment for the first part of the automated equipment, and the equipment inspection cart comprises an image acquisition device and an audio registration device, and the present method is Controlling a sound registration device to register sounds emitted in an automated equipment environment, wherein the sounds are of a type of diagnostic data for a first part of the automated equipment, and include sounds registered at a first track position of the equipment inspection trolley. Receiving sound from a sound registration device, wherein the sound comprises a sound emitted from a point of interest on a first part of the automated equipment. Based on the received sound, the direction from the image acquisition device to the point of interest on the first part of the automated equipment is determined, Adjust the track position of the equipment inspection trolley and / or the orientation of the image acquisition device based on the determined direction. A second embodiment is achieved through a method comprising the following:

[0009]

[0009] According to a first variant of the first embodiment, the trolley control unit is further operable to determine the distance from the image acquisition device to the point of interest based on the received sound, and the adjustment is also based on the determined distance.

[0010]

[0010] According to a corresponding variant of the second embodiment, the method further comprises determining the distance from the image acquisition device to the point of interest based on the received sound, and the adjustment is also based on the determined distance.

[0011]

[0011] According to a second variation of the first and second embodiments, the sound registration device is movable between two different device positions, the distance being determined based on the sounds registered at the two device positions.

[0012]

[0012] According to a third variant of the first embodiment, the trolley control unit controls an image capture device to capture an image of a first part of the automated equipment, and is further operable to receive an image from the image capture device, and the diagnostic data of the first part of the automated equipment also includes the received image.

[0013]

[0013] According to a corresponding variant of the second aspect, the method further comprises controlling an image capture device to capture an image of a first part of an automated machine, and receiving an image from the image capture device, wherein the diagnostic data of the first part of the automated machine also comprises the received image.

[0014]

[0014] The equipment inspection cart may further include sensor devices that are capable of sensing the physical characteristics of the automated equipment environment.

[0015]

[0015] According to a fourth variant of the first embodiment, the trolley control unit is further operable to receive sensed physical characteristics of the automated equipment environment, and the diagnostic data of the first part of the automated equipment also includes sensed physical characteristics of the automated equipment environment.

[0016]

[0016] In a corresponding variant of the second embodiment, the method further comprises receiving sensed physical characteristics of the automated equipment environment, and the diagnostic data of the first part of the automated equipment also comprises sensed physical characteristics of the automated equipment environment.

[0017]

[0017] A third aspect of the present invention relates to an automation system comprising an automation device including a first part of an automation device in a first area of ​​the automation system, a warning processing device, and an equipment inspection device according to the first aspect.

[0018]

[0018] According to one variant of the third embodiment, the warning processing device is operable to control the equipment inspection cart to move along the track to a first track position in the automated equipment environment.

[0019] According to a corresponding variant of the second aspect, the method further comprises controlling the equipment inspection trolley to move on the track to a first track position in an automated equipment environment.

[0020] According to a further variant of the third aspect, the warning processing device is operable to obtain a warning regarding a first part of the automated equipment, and the control of the equipment inspection trolley to move to the first track position is based on the warning.

[0021] According to a corresponding variant of the second aspect, the method further comprises obtaining a warning regarding a first part of the automated equipment, and the control of the equipment inspection trolley to move to the first track position is based on the warning.

[0022] According to a further variant of the third aspect, the warning processing device is operable to collect diagnostic data from the equipment inspection trolley, determine an activity based on the diagnostic data, and execute the activity in the automated system.

[0023] According to a corresponding variant of the second aspect, the method further comprises collecting diagnostic data from the equipment inspection trolley, determining an activity based on the diagnostic data, and executing the activity in the automated system.

[0024] The adjustment may involve moving the equipment inspection trolley to a track position where the distance between the image capture device and the point of interest is shortest and / or there is a line of sight between the point of interest and the image capture device. The adjustment may additionally or alternatively comprise changing the orientation of the image capture device so that it faces the point of interest.

[0025]

[0025] Generally, all terms used in the claims should be construed according to their ordinary meanings in the art, unless expressly defined otherwise herein. All references to "an / the element, apparatus, component, means, step, etc." should be construed broadly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless expressly stated otherwise. Any method steps disclosed herein need not be performed in the exact order disclosed, unless expressly stated otherwise.

[0026]

[0026] Here, aspects and embodiments are described by way of example with reference to the accompanying drawings.

Brief Description of the Drawings

[0027] [Figure 1]

[0027] FIG. schematically illustrates an automation system comprising a user terminal, a process control device, a safety control device, a condition monitoring device, and automation equipment in an automation equipment environment. [Figure 2]

[0028] Schematically shows an implementation form of the safety control device. [Figure 3]

[0029] Schematically shows an equipment inspection trolley that travels on a track and enters an automation equipment environment. [Figure 4]

[0030] Schematically shows an implementation form of the trolley control unit of the equipment inspection trolley. [Figure 5]

[0031] Schematically shows that the safety control device sends a control command to the trolley control unit and receives diagnostic data from the trolley control unit. [Figure 6]

[0032] Schematically shows the equipment inspection trolley at two positions in an automation equipment environment for inspecting points of interest on a first part of the automation equipment. [Figure 7]

[0033] A flowchart shows several steps in a method for controlling an equipment inspection trolley, where these steps are performed by a trolley control unit. [Figure 8]

[0034] A flowchart shows several further steps in the method of controlling the equipment, which are performed by the safety control device. [Modes for carrying out the invention]

[0028]

[0035] Herein, aspects of the present disclosure will be more fully described below with reference to the accompanying drawings showing certain embodiments.

[0029]

[0036] These embodiments, however, can be embodied in many different forms and should not be construed as limiting; rather, these embodiments are provided as examples so that the present disclosure may be thorough and complete and fully convey the scope of all aspects of the invention to those skilled in the art. Similar numbers refer to similar elements throughout the description.

[0030]

[0037] Figure 1 is a schematic diagram illustrating the automation system AS10.

[0031]

[0038] The automation system 10 may be a process control system for controlling an industrial process or possibly a part of an industrial process. Typical processes include power generation, transmission, distribution, and supply processes; water purification and distribution processes; oil and gas production and distribution processes; petrochemical, chemical, pharmaceutical, and food processes; and pulp and paper production processes. These are just some examples of processes to which the system may be applied. The process may be monitored through an operator terminal or workstation. Such a workstation or operator terminal may also take the form of a user terminal.

[0032]

[0039] In Figure 1, the automation system 10 includes several user terminals, thus illustrated here by a first user terminal UT1 12 and a second user terminal UT2 14 connected to a first bus B1. Furthermore, a second bus B2 is present, and between the first bus B1 and the second bus B2 are a process control device PCD 16 having control functions for controlling the process, a safety control device SCD 18 performing safety control in the process, and a state monitoring device CMD 19. Several parts of the automation equipment are further connected to the second bus B2. Herein are the first part AE1 20, the second part AE2 22, the third part AE3 24, the fourth part AE4 26, the fifth part AE5 28, and the sixth part AE6 30 of the automation equipment, all connected to the second bus B2. The automation equipment may include one or more controllers having some local software for controlling other automation equipment, such as field devices. The automation equipment may also include such field devices. Field devices may comprise devices that affect or measure different characteristics of a technical process. Field devices may be, for example, pumps, motors, valves, etc. A process or part of a process may be controlled via a process control device 16, which then typically communicates with a controller to provide local control using field devices. A safety control device 18 may control safety in the automation system 10 in a similar manner, while a condition monitoring device 19 monitors the condition or health of the automation devices.

[0033]

[0040] The automated equipment 20, 22, 24, 26, 28, and 30 are located in the first automated equipment environment AEE 31, which may be located remotely from the control room environment where the user terminals 12 and 14 are located. The automated equipment environment 31 may, in addition or alternatively, be a harsh or hostile environment, such as a gaseous or aqueous environment, or an environment otherwise unsuitable for humans. For example, it may have high pressure and / or low pressure, or high or low temperature.

[0034]

[0041] Figure 2 shows one implementation of the safety control device SCD18. It comprises a first processor 32 connected to a first memory 34 having computer instructions 36 that perform a warning processing function. The computer instructions 36 may be computer program code of a computer program, and when the computer program code is executed by the first processor 32, it performs a warning processing function. The safety control device 18 thus functions as a warning processing device. The memory 34 can also be considered as a data carrier having computer program code or computer instructions 36 used to perform the warning processing function. In this case, the data carrier having computer program code that performs the warning processing function can also be considered to form a computer program product.

[0035]

[0042] The safety control device 18 also includes a first input / output interface I / O1 38 for communicating with other devices such as automation equipment 20, 22, 24, 26, 28, and 30. It also includes a second input / output interface I / O2 40 used for communicating with the equipment inspection trolley. The first I / O interface 38 may be an Ethernet® interface or a fieldbus interface, and the second I / O interface 40 may be a wireless interface.

[0036]

[0043] It should be noted that the process control device 16 and the status monitoring device 19 may have the same or similar types of implementations as the safety control device 18.

[0037]

[0044] Figure 3 schematically shows an equipment inspection carriage EIC44 traveling on a track TR42 entering an automated equipment environment AEE31. The equipment inspection carriage 44 is thereby adapted to travel on a track 42 that enters at least a first area of ​​an automated system 10 comprising a first part 20 of automated equipment, the first area being the automated equipment environment 31 for the first part 20 of automated equipment. It is also the automated equipment environment 31 for the second, third, fourth, fifth, and sixth parts 22, 24, 26, 28, and 30 of automated equipment. The track 42 may be rails, for example. The equipment inspection carriage 44 comprises an image acquisition device ICD46, a sound registration device SRA48, and an optional sensor device SD50 for sensing the characteristics of the automated equipment environment 31. The equipment inspection carriage 44 also comprises a carriage control unit CCU52. The sound registration device 48 may comprise one or more sound registration devices, more specifically, an array of sound registration devices, which may be microphones. These microphones may, in addition, be directional microphones. The image capture device 46 may be a camera, and advantageously, a video camera. The image capture device 46 may, in addition, have an adjustable orientation so that it can be pointed in different directions. It may also have zoom capabilities.

[0038]

[0045] The equipment inspection trolley 44 having a trolley control unit 52 is an equipment inspection device. Here, it should be noted that although the trolley control unit 52 in this example is part of the equipment inspection trolley 44, in other variations it may be located outside the equipment inspection trolley 44. It may, for example, be part of a safety control device 18.

[0039]

[0046] Figure 4 schematically shows a modified form of the trolley control unit CCU 52. It comprises a second processor 54 connected to a second memory 56 having computer instructions 58 for performing trolley control functions. The memory 56 can also be considered a data carrier having computer program code or computer instructions 58 used to perform trolley control functions. In this case, the data carrier having computer program code or computer instructions 58 for performing trolley control functions can also be considered to form a computer program product. The trolley control unit 52 also comprises a third input / output interface I / O3 60 for communicating with an image acquisition device 46, a sound registration device 48, and a sensor device 50, and a fourth input / output interface I / O4 62 for communicating with a safety control device. The third I / O interface 60 may be an interface to a communication bus on the equipment inspection trolley 44, to which the image acquisition device 46, the sound registration device 48, and the sensor device 50 are also connected, while the fourth I / O interface 62 may be a wireless interface.

[0040]

[0047] Figure 5 schematically shows a safety control device SCD18 that communicates with the trolley control unit CCU52. The safety control device 18 can send control commands CC to the trolley control unit 52, and the trolley control unit 52 can send diagnostic data DD to the safety control device 18.

[0041]

[0048] Figure 6 schematically shows an equipment inspection cart 44 on track TR42 in an automated equipment environment AEE31. The first, second, third, fourth, fifth, and sixth parts 20, 22, 24, 26, 28, and 30 of the automated equipment are mounted on racks in the automated equipment environment 31, and track 42 passes alongside these racks. In the figure, the equipment inspection cart 44, which is equipped with an image acquisition device 46 and, here, first and second sound registration devices SRD48A and SRD48B, is positioned at a first track position P1 where the first and second sound registration devices 48A and 48B register sound from a point of interest (POI) on the first part AE1 20 of the automated equipment. The equipment inspection cart 44 can then be moved to a second track position P2, where the sound registration devices 48A and 48B also register sound from the point of interest (POI). In the second track position P2, the equipment inspection trolley 44 is shaded.

[0042]

[0049] For example, it may be interesting to inspect a first part 20 of an automated device in an automated device environment because a fault has been detected by a safety control device 18. For this reason, it may be desirable to move the equipment inspection cart to the automated device environment 31 in order to visually inspect the first part 20 of the automated device. Furthermore, a point of interest (POI) may exist on a part of the automated device that needs to be inspected because it may be the cause of an alarm. However, the location of this point of interest may be unknown because warnings, such as fault warnings, are linked only to such a part of the automated device.

[0043]

[0050] Aspects of this disclosure relate to enabling such points of interest on a portion of an automated machine to be investigated in a simple and efficient manner.

[0044]

[0051] How this can be done is explained here with reference to Figure 7, which shows a flowchart of several method steps in the way in which the equipment inspection trolley 44 is controlled and performed by the trolley control function of the trolley control unit 52.

[0045]

[0052] When the trolley control unit 52 starts operation, the equipment inspection trolley 44 may already be at a first track position P1 on the track 42. The location of the first part 20 of the automated equipment relative to the first track position P1 is known, and the image acquisition device 46 may have an orientation directed toward the first part 20 of the automated equipment. In addition, sound may be emitted from the point of interest (POI) on the first part 20 of the automated equipment, and this sound may be the cause of an alarm or an indication of the cause of an alarm. The automated equipment environment 31 may normally be a "quiet" environment, in which any noise has a noise level lower than the sound level of the sound emitted from the point of interest (POI).

[0046]

[0053] When the equipment inspection trolley 44 is at the first track position P1 in the first automated equipment environment 31, the trolley control function of the trolley control unit 52 controls the image acquisition device 46 to capture an image of the first part 20 of the automated equipment (S100). The trolley control function of the trolley control unit 52 also receives an image of the first part 20 of the automated equipment from the image acquisition device 46 (S110), and the image is a first type of diagnostic data DD. The image may be in the form of, for example, a video stream. The trolley control function of the trolley control unit 52 also optionally controls a sensor device 50 to sense one or more physical characteristics of the automated equipment environment 31 (S120), the characteristics of which may be the characteristics of a fluid in the automated equipment environment 31, which may be a gas such as air or a liquid such as water. The characteristics may also include temperature and / or pressure. The characteristics may also include the degree of contamination of the fluid. In the case of air, the presence of smoke may be considered contamination. The trolley control function of the trolley control unit 52 receives physical characteristics sensed from the sensor device 50 as a second type of diagnostic data DD (S130). The trolley control function of the trolley control unit 52 also controls the sound registration device 48 to register sounds emitted in the automated equipment environment (S140). The trolley control function of the trolley control unit 52 then receives sounds from the sound registration device 48 (S150), which are a third type of diagnostic data of the first part 20 of the automated equipment. The received sounds are therefore sounds registered at the first track position P1 of the equipment inspection trolley 44, and comprise sounds of the first part 20 of the automated equipment emitted from a point of interest POI on the first part 20 of the automated equipment.

[0047]

[0054] Furthermore, the trolley control function of the trolley control unit 52 determines the direction from the image acquisition device 46 to the point of interest (POI) on the first part 20 of the automated equipment based on the received sound, and optionally also determines the distance from the image acquisition device 46 to the point of interest (POI) (S160). The direction may be easy to determine if the emitted sound is distinguishable from noise. This may be even simpler if the sound registration device 48 comprises an array of sound registration devices, as illustrated by the array of two sound registration devices 48A, 48B shown in Figure 6. Also, if the sound registration device 48 comprises an array of sound registration devices, the distance from the first track position P1 can be easily determined, for example, by using triangulation.

[0048]

[0055] If the sound registration device 48 has only one sound registration device, it is also possible to determine the distance by, for example, moving the equipment inspection trolley 44 to a second track position P2 and registering a sound at this second track position P2 as well. Thus, the sound registration device 48 may be movable between two different equipment positions corresponding to the first and second track positions P1 and P2, and the distance is determined based on the sounds registered at these two equipment positions. Alternatively, the sound registration device 48 may be movable on the equipment inspection trolley 44, so that while the equipment inspection trolley is at the first track position P1, a sound is registered at two different positions of the sound registration device 48 on the equipment inspection trolley 44. It should be noted here that even if the distance and direction have been determined, the equipment inspection trolley 44 may still be moved to the second position P2. This may be done to verify the determined direction and distance.

[0049]

[0056] The trolley control function of the trolley control unit 52 then adjusts the track position of the equipment inspection trolley 44 and / or the orientation of the image acquisition device 46 based on the determined direction and, optionally, also based on the determined distance (S170). The adjustment may involve moving the equipment inspection trolley 44 to the track position where the distance between the image acquisition device 46 and the point of interest (POI) is shortest. Alternatively, it may be the track position where a line of sight exists between the point of interest (POI) and the image acquisition device 46. Furthermore, it may be the shortest distance where a line of sight exists between the point of interest (POI) and the image acquisition device. The adjustment may, in addition or alternatively, include changing the orientation of the image acquisition device 46 so that it faces the point of interest (POI).

[0050]

[0057] Once the adjustment is complete, the trolley control function of the trolley control unit 52 continues to receive diagnostic data DD (S180). As a result, it also continues to receive sound from the sound registration device 48, images from the image acquisition device 46, and, if necessary, the physical characteristics of the automated equipment environment 31 from the sensor device 50.

[0051]

[0058] This makes it possible to obtain better visual information of points of interest (POIs) on the first part 20 of the automated equipment, especially when the location is zoomed in, which can help diagnose the cause of the warning. It may also improve the quality of other types of diagnostic data.

[0052]

[0059] The trolley control unit can thereby use automatic tracking of the image acquisition device 46 based on the integration of audio / acoustic sounds. The trolley control unit 52 may be capable of processing and analyzing the audio data. The sound is used to determine the direction and, optionally, the distance of the sound source of a particular sound. This can then be integrated with the image acquisition device so that the image acquisition device automatically faces the point from which the sound is being emitted.

[0053]

[0060] In the example given above, an image was captured and the automated equipment environment characteristics were sensed at the first track position P1 before the track position was adjusted. Please note that image capture and sensing of automated equipment environment characteristics can only be initiated after the adjustment has been made.

[0054]

[0061] As previously mentioned, diagnostic data DD may be used to assist the safety control device 18, which is done when the safety control device functions as a warning processing device. One way in which this may be done is illustrated here with reference to Figure 8, which shows a flowchart of several further steps in a method of controlling the equipment inspection trolley, the steps of which are performed by the warning processing function of the safety control device 18.

[0055]

[0062] The warning processing function of the safety control device 18, which functions as a warning processing device, can acquire warnings relating to the first part 20 of the automated equipment (S200). Warnings that may be alarms can be received from sensors in or within the first automated equipment 20. Alternatively, the warning processing device may determine a warning based on received sensor measurements of the first part of the automated equipment. The warning may be displayed to an alarm operator at a user terminal in the control room environment, such as at the first user terminal 12. Based on this warning, the operator or the warning processing function of the safety control device 18 can control the equipment inspection cart 44 to move to a first track position P1 in the automated equipment environment 31 (S210). This can be done by sending a control command CC, advantageously wirelessly, to the cart control unit 52, which may be an instruction to move the equipment inspection cart 44 to the first track position P1 and collect diagnostic data DD. The first track position P1 may, in this case, be a nominal data collection position associated with the first part 20 of the automated equipment. The trolley control function of the trolley control unit 52 may receive this control command CC and then control the equipment inspection trolley 44 to move along the track 42 to a first track position P1 in the automated equipment environment 31, for example, by controlling the motor of the equipment inspection trolley 44. The equipment inspection trolley 44 may then move from outside the automated equipment environment 31 to inside it. The trolley control function of the trolley control unit 52 may then receive different types of diagnostic data DD in the manner previously described.

[0056]

[0063] The warning processing function of the safety control device 18 collects diagnostic data DD from the equipment inspection trolley (S220), which may be done as soon as the trolley control unit 52 receives the diagnostic data. Collection may be performed by the trolley control function of the trolley control unit 52 sending the diagnostic data DD to the warning processing function of the safety control device 18, for example, wirelessly. The diagnostic data DD may then be displayed to the alarm operator on the first user terminal 12, and the alarm operator may then perform an activity such as a safety activity. Alternatively, the warning processing function of the safety control device 18 may determine the activity itself based on the collected diagnostic data (S230). After the activity has been determined, the warning processing function of the safety control device 18 may then perform the activity (S240). The activity may involve several actions, such as stopping or suspending the operation of one or more parts of the automated equipment in the first automated equipment environment, including the first part of the automated equipment.

[0057]

[0064] Therefore, the use of a truck-mounted, mobile equipment inspection cart has been proposed. This would allow for remote verification of the status of the automated equipment environment, particularly in the event of a warning, by using an image capture device. The image capture device can be controlled by a remote operator and can be automatically guided to the correct position based on the sensor that triggered the warning. For this reason, a non-intrusive, truck-based, mobile equipment inspection cart integrated with the automation system is used for selected critical parts of the automated equipment environment. This expands the working volume of the image capture device, so that the image capture device can view a wider area and be manipulated to change focus. By being linked to the automation system, automatic queuing of the image capture device based on signals from alarms, and possibly automatic queuing of the status monitoring system, would provide a flexible, automatic, and scalable solution. This would provide the operator with real-time decision assistance.

[0058]

[0065] The sound registration device can, therefore, pick up sounds from parts of equipment that are malfunctioning or failing. The trolley control unit can filter and process the sounds, removing background ambient noise. It can also estimate the relative location of the sounds, which can be confirmed by moving the equipment inspection trolley to a new position, i.e., a second track position P2.

[0059]

[0066] Live audio may also be available to operators in the control room and may be recorded and tagged for historical analysis.

[0060]

[0067] Furthermore, equipment inspection carts can also be used for condition monitoring in condition monitoring devices.

[0061]

[0068] In this case, it is possible to register a regular sound profile and use artificial intelligence (AI) analysis to say something about monitoring the state over time.

[0062]

[0069] In this case, during the commissioning of the automated equipment (when it is in a healthy state), it is possible to register a reference sound profile from the automated equipment environment from several locations over a representative time period while the equipment is operating under normal conditions. If several operating modes exist, each such mode can be recorded.

[0063]

[0070] Subsequently, these recordings can be periodically repeated throughout the lifespan of the automated equipment, and acoustic analysis (AI, machine learning, trend analysis, etc.) can be used to evaluate degradation over time and identify anomalies and potential machine malfunctions from the audio signals. These indicators can also be used as seeds to assess the location of faulty automated equipment. With a sufficiently large dataset and training pool, anomalies and machine failures can be identified at an early stage.

[0064]

[0071] The identification of anomalies and mechanical failures can be combined with automatic queuing of the image recording device so that the proposed audio-indicated anomalies can be visually confirmed by the camera / video system.

[0065]

[0072] Furthermore, the equipment inspection cart can be used in exploration mode, and audio is available to the operator along with the camera / video feed. The operator can operate the camera and microphone, using them to "explore" the sound and field of view from the control room environment. This may be most beneficial for experienced operators, as linking their analysis and expertise can seed learning algorithms for acoustic analysis.

[0066]

[0073] While the warning processing function has been described as being provided within a safety control device, it should be noted that it may also be provided as part of a process control device or a status monitoring device. These devices can also function as warning processing devices.

[0067]

[0074] The aspects of this disclosure are described above primarily with reference to several embodiments and examples thereof. However, as will be readily apparent to those skilled in the art, embodiments other than those disclosed above are equally possible within the scope of the invention as defined by the appended claims. The following is a direct reproduction of the claims as originally filed. [1] An instrument inspection device for inspecting a first part (20) of an automated device, the instrument inspection device comprising an instrument inspection carriage (44) adapted to travel on a track (42) that enters at least a first area of ​​an automated system (10) comprising the first part (20) of the automated device, the first area being an automated device environment (31) for the first part (20) of the automated device, the instrument inspection carriage (44) comprising an image acquisition device (46) and a sound registration device (48), the instrument inspection device, Controlling the sound registration device (48) to register sounds emitted in the automated equipment environment (31), wherein the sounds are of the type of diagnostic data (DD) of the first part (20) of the automated equipment, and include sounds registered at the first track position (P1) of the equipment inspection trolley (44). Receiving the sound from the sound registration device (48), wherein the sound includes a sound emitted from a point of interest (POI) on the first part (20) of the automated equipment. Based on the received sound, the direction from the image acquisition device (46) to the point of interest (POI) on the first part (20) of the automated equipment is determined, Adjust the track position of the equipment inspection trolley (44) and / or the orientation of the image acquisition device (46) based on the determined direction. An equipment inspection device further comprising a trolley control unit (52) capable of performing the following. [2] The trolley control unit (52) is further operable to determine the distance from the image acquisition device (46) to the point of interest (POI) based on the received sound, and the adjustment is also made based on the determined distance, as described in [1]. [3] The instrument inspection apparatus according to [2], wherein the sound registration device (48) is movable between two different device positions, the distance being determined based on the sounds registered at the two device positions. [4] The trolley control unit (52) controls the image acquisition device (46) to capture an image of the first part (20) of the automated equipment, and is further operable to receive the image from the image acquisition device (46), wherein the diagnostic data (DD) of the first part (20) of the automated equipment also includes the received image, as described in any one of [1] to [3]. [5] The equipment inspection trolley (44) further comprises a sensor device (50) operable to sense the physical characteristics of the automated equipment environment (31), the trolley control unit (52) further operable to receive the sensed physical characteristics of the automated equipment environment (31), and the equipment inspection apparatus according to any one of [1] to [4], wherein the diagnostic data (DD) of the first part (20) of the automated equipment also includes the sensed physical characteristics of the automated equipment environment (31). [6] An automated system (10) comprising automated equipment (20, 22, 24, 26, 28, 30) including a first part (20) of the automated equipment in the first area of ​​the automated system (10), warning processing devices (16; 18; 19), and the equipment inspection device described in any one of [1] to [5]. [7] The automated system (10) according to [6], wherein the warning processing device (16;18;19) is operable to control the equipment inspection trolley (44) to move along the track (42) to the first track position (P1) in the automated equipment environment (31). [8] The warning processing device (16;18;19) is operable to acquire a warning relating to a first part (20) of the automated equipment, and the control of the equipment inspection trolley (44) to move to a first track position (P1) is based on the warning, as in the automated system (10) described in [7]. [9] The warning processing device (16;18;19) is operable to collect the diagnostic data (DD) from the equipment inspection cart (44), determine an activity based on the diagnostic data (DD), and perform the activity in the automated system (10) as described in any one of [6] to [8].

[10] A method for controlling an equipment inspection cart (44) in an automated system (10) comprising automated equipment (20, 22, 24, 26, 28, 30) including a first part (20) of automated equipment in a first area of ​​the automated system (10), wherein the first area is an automated equipment environment (31) for the first part (20) of the automated equipment, and the equipment inspection cart (44) comprises an image acquisition device (46) and a sound registration device (48), and the method is Controlling the sound registration device (48) to register sounds emitted in the automated equipment environment (31) (S140), wherein the sounds are of the type of diagnostic data (DD) of the first part (20) of the automated equipment, and include sounds registered at the first track position (P1) of the equipment inspection trolley (44). Receiving the sound from the sound registration device (48) (S150), wherein the sound includes a sound emitted from a point of interest (POI) on the first part (20) of the automated equipment. Based on the received sound, the direction from the image acquisition device (46) to the point of interest (POI) on the first part (20) of the automated equipment is determined (S160), Adjust the track position of the equipment inspection trolley (44) and / or the orientation of the image acquisition device (46) based on the determined direction (S170) A method that includes [a certain feature].

[11] The method according to

[10] , further comprising controlling the image acquisition device (46) to capture an image of a first part (20) of the automated equipment (S100), and receiving the image from the image acquisition device (46) (S110), wherein the diagnostic data (DD) of the first part (20) of the automated equipment also includes the received image.

[12] The equipment inspection trolley (44) further comprises a sensor device (50) that is operable to sense the physical characteristics of the automated equipment environment (31), the method further comprises receiving the sensed physical characteristics of the automated equipment environment (31) (S130), the diagnostic data (DD) of the first part (20) of the automated equipment also includes the sensed physical characteristics of the automated equipment environment (31), the method according to

[10] or

[11] .

[13] The method according to any one of

[10] to

[12] , further comprising controlling the equipment inspection trolley (44) to move along the track (42) to the first track position (P1) in the automated equipment environment (31) (S210).

[14] The method according to any one of

[10] to

[13] , further comprising obtaining a warning (S200) relating to a first part (20) of the automated equipment, wherein the control (S210) of the equipment inspection trolley (44) for moving to a first track position (P1) is based on the warning.

[15] The method according to any one of

[10] to

[14] , further comprising collecting the diagnostic data (DD) from the equipment inspection trolley (44) (S220), determining an activity based on the diagnostic data (DD) (S230), and performing the activity in the automated system (10) (S240).

Claims

1. An instrument inspection device for inspecting a first part (20) of an automated device, the instrument inspection device comprises an instrument inspection trolley (44) adapted to travel on a track (42) that enters at least a first area of ​​an automated system (10) comprising the first part (20) of the automated device, the first area being an automated device environment (31) for the first part (20) of the automated device, the instrument inspection trolley (44) comprising an image acquisition device (46) and a sound registration device (48), the instrument inspection device, Controlling the sound registration device (48) to register sounds emitted in the automated equipment environment (31), wherein the sounds are of the type of diagnostic data (DD) of the first part (20) of the automated equipment, and include sounds registered at the first track position (P1) of the equipment inspection trolley (44). Receiving the sound from the sound registration device (48), wherein the sound includes a sound emitted from a point of interest (POI) on the first part (20) of the automated equipment. Based on the received sound, the direction from the image acquisition device (46) to the point of interest (POI) on the first part (20) of the automated equipment is determined, Based on the determined direction, the track position of the equipment inspection trolley (44) and / or the orientation of the image acquisition device (46) are adjusted. An equipment inspection device further comprising a trolley control unit (52) capable of performing the following.

2. The trolley control unit (52) is further operable to determine the distance from the image acquisition device (46) to the point of interest (POI) based on the received sound, and the adjustment is also based on the determined distance, the instrument inspection apparatus according to claim 1.

3. The instrument inspection apparatus according to claim 2, wherein the sound registration device (48) is movable between two different device positions, and the distance is determined based on the sounds registered at the two device positions.

4. The trolley control unit (52) controls the image acquisition device (46) to capture an image of the first part (20) of the automated equipment, and is further operable to receive the image from the image acquisition device (46), and the diagnostic data (DD) of the first part (20) of the automated equipment also includes the received image, according to any one of claims 1 to 3.

5. The equipment inspection apparatus according to any one of claims 1 to 3, wherein the equipment inspection trolley (44) further comprises a sensor device (50) operable to sense the physical characteristics of the automated equipment environment (31), the trolley control unit (52) further operable to receive the sensed physical characteristics of the automated equipment environment (31), and the diagnostic data (DD) of the first part (20) of the automated equipment also includes the sensed physical characteristics of the automated equipment environment (31).

6. An automation system (10) comprising: automation equipment (20, 22, 24, 26, 28, 30) including a first portion (20) of the automation equipment in the first area of ​​the automation system (10); warning processing devices (16; 18; 19); and the equipment inspection device according to any one of claims 1 to 3.

7. The automated system (10) according to claim 6, wherein the warning processing devices (16; 18; 19) are operable to control the equipment inspection trolley (44) to move along the track (42) to the first track position (P1) in the automated equipment environment (31).

8. The warning processing devices (16; 18; 19) are operable to acquire a warning relating to a first part (20) of the automated equipment, and the control of the equipment inspection cart (44) for moving to the first track position (P1) is based on the warning, according to the automated system (10) of claim 7.

9. The automated system (10) according to claim 6, wherein the warning processing devices (16; 18; 19) are operable to collect the diagnostic data (DD) from the equipment inspection cart (44), determine an activity based on the diagnostic data (DD), and perform the activity in the automated system (10).

10. A method for controlling an equipment inspection cart (44) in an automated system (10) comprising automated equipment (20, 22, 24, 26, 28, 30) including a first part (20) of automated equipment in a first area of ​​the automated system (10), wherein the first area is an automated equipment environment (31) for the first part (20) of the automated equipment, and the equipment inspection cart (44) comprises an image acquisition device (46) and a sound registration device (48), and the method is Controlling the sound registration device (48) to register sounds emitted in the automated equipment environment (31) (S140), wherein the sounds are of the type of diagnostic data (DD) of the first part (20) of the automated equipment, and include sounds registered at the first track position (P1) of the equipment inspection trolley (44). Receiving the sound from the sound registration device (48) (S150), wherein the sound includes a sound emitted from a point of interest (POI) on the first part (20) of the automated equipment. Based on the received sound, the direction from the image acquisition device (46) to the point of interest (POI) on the first part (20) of the automated equipment is determined (S160), Adjust the track position of the equipment inspection trolley (44) and / or the orientation of the image acquisition device (46) based on the determined direction (S170) A method that includes [a certain feature].

11. The method according to claim 10, further comprising controlling the image capturing device (46) to capture an image of a first portion (20) of the automated equipment (S100), and receiving the image from the image capturing device (46) (S110), wherein the diagnostic data (DD) of the first portion (20) of the automated equipment also includes the received image.

12. The method according to claim 10 or 11, wherein the equipment inspection trolley (44) further comprises a sensor device (50) that is operable to sense the physical characteristics of the automated equipment environment (31), the method further comprises receiving the sensed physical characteristics of the automated equipment environment (31) (S130), and the diagnostic data (DD) of the first part (20) of the automated equipment also includes the sensed physical characteristics of the automated equipment environment (31).

13. The method according to claim 10 or 11, further comprising controlling the equipment inspection trolley (44) to move along the track (42) to the first track position (P1) in the automated equipment environment (31) (S210).

14. The method according to claim 10 or 11, further comprising obtaining a warning (S200) relating to a first part (20) of the automated equipment, wherein the control (S210) of the equipment inspection trolley (44) for moving to the first track position (P1) is based on the warning.

15. The method according to claim 10 or 11, further comprising collecting the diagnostic data (DD) from the equipment inspection trolley (44) (S220), determining an activity based on the diagnostic data (DD) (S230), and performing the activity in the automated system (10) (S240).

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