Monitoring of a raw materials industry plant

Abstract

A raw materials industry plant is controlled by a control device (4) of the plant. A control device (6) of a non-track-bound, motor-driven, unmanned sensor carrier (5) autonomously controls the sensor carrier (5) such that the sensor carrier (5) is moved into the vicinity of units (1, 3) of the raw materials industry plant during operation of the plant, sensor data (D) from the current surroundings of the sensor carrier (5) are captured by means of sensor devices (7) arranged on the sensor carrier (5) while the sensor carrier (5) is in the region of the plant, the captured sensor data (D) are stored in a storage device arranged on the sensor carrier (5) and / or are wirelessly transmitted to an external device (11) arranged outside the sensor carrier (5), and, after the sensor data (D) have been captured, the sensor carrier (5) is moved away again from the units (1, 3) of the raw materials industry plant. The control device (6) of the sensor carrier (5) transmits a message (M) to the control device (4) of the plant when the sensor carrier (5) is moved into the vicinity of the units (1, 3) of the raw materials industry plant or is located there. In response to the message (M), the control device (4) of the plant controls the plant in a defined manner and transmits feedback (R) about the corresponding control of the plant to the control device (6) of the sensor carrier (5). The control device (6) of the sensor carrier (5) receives the feedback (R) and takes it into account when moving the sensor carrier (5) and / or when capturing the sensor data (D).

Description

[0001] 202400205 1

[0002] Description

[0003] Title of the invention

[0004] Monitoring of a plant in the basic materials industry

[0005] field of technology

[0006] The present invention relates to the monitoring of a plant in the basic materials industry, in particular the metal industry,

[0007] - wherein the system is controlled by a control unit of the system,

[0008] - wherein a control unit of a non-track-bound, motor-driven, unmanned sensor carrier autonomously controls the sensor carrier, so that the control unit of the sensor carrier, within the framework of the autonomous control of the sensor carrier, during the ongoing operation of the system

[0009] -- moves the sensor carrier into the vicinity of the equipment of the basic materials industry plant, -- controls the sensor carrier in such a way that sensor data from the current environment of the sensor carrier are acquired by means of sensor devices arranged on the sensor carrier, while the sensor carrier is in the area of ​​the plant,

[0010] -- the recorded sensor data are stored in a storage device arranged on the sensor carrier and / or transmitted wirelessly to an external device arranged outside the sensor carrier and

[0011] -- the sensor carrier was removed from the units of the basic materials industry plant after the sensor data had been acquired.

[0012] State of the art

[0013] US patent 2020 / 0 103 881 A1 discloses the automated monitoring of a large industrial facility using flying drones and / or other drones. The drones are equipped with sensors that allow them to detect the condition of the facility. The locations to which the drones travel can be determined by instructions from an operator and by process conditions.

[0014] CN 214 756 662 U discloses the arrangement of a hangar with drones near a control room at an unspecified metallurgical company, so that drones can be launched as needed to record the conditions of the metallurgical company.

[0015] EP 4 009 127 B1 discloses the use of drones for monitoring industrial plants. 202400205 2

[0016] Summary of the invention

[0017] Plants in the basic materials industry come in a wide variety of configurations. Specifically in the metal industry, plants can be designed, for example, as blast furnaces, electric arc furnaces, converters, continuous casting plants, rolling mills (especially single-stand reversing mills or multi-stand rolling mills, both for hot or cold rolling), pickling lines, annealing furnaces, or reheating furnaces. This list is not exhaustive.

[0018] Regardless of the specific type of plant, such facilities are always extensive and complex. A relatively large safety zone is typically established around them, which can only be entered when the plant is shut down and its power supply is disconnected. This prevents the plant from being accidentally activated while people are within the safety zone. Nevertheless, these facilities must be regularly inspected for damage, defects, maintenance needs, and so on. In practice, such plants are therefore often shut down once or even several times a day for a specific period. Only during these times is a thorough inspection of the plant possible.

[0019] This approach has several significant disadvantages. Firstly, inspection of the system is only possible during these specific times. During the other times when the system is in operation, inspection is not possible. Secondly, the system is idle during the respective inspection period. Therefore, it produces no output during this time. Finally, the inspection often takes a considerable amount of time, resulting in a significant loss of productivity.

[0020] Current technological advancements already allow for automated monitoring of even basic materials plants. However, these methods can still be improved.

[0021] The object of the present invention is to create possibilities by means of which comprehensive monitoring of a plant in the basic materials industry is possible in a simple manner.

[0022] The problem is solved by a monitoring method with the features of claim 1. Advantageous embodiments of the monitoring method are the subject of dependent claims 2 to 7. 202400205 3

[0023] According to the invention, a monitoring method of the type mentioned above is designed by:

[0024] - that the control unit of the sensor carrier transmits a message to the control unit of the plant when the sensor carrier is moved into the vicinity of or is located near the components of the basic materials industry plant,

[0025] - that the control unit of the system controls the system in a defined manner in response to the message and transmits feedback about the control of the system in a defined manner to the control unit of the sensor carrier,

[0026] - that the control unit of the sensor carrier receives the feedback and takes the feedback into account when moving the sensor carrier and / or when acquiring the sensor data.

[0027] The use of an unmanned sensor platform makes it possible to carry out the monitoring during operation. Therefore, there is no risk of personal injury. Because the monitoring procedure is performed (and can be performed) while the plant is running, it is not necessary to shut down the plant for the duration of the monitoring procedure. The productivity losses associated with prior art can thus be avoided.

[0028] The ability to perform the monitoring procedure while the plant is in operation allows for repeated execution even during normal production, thus shortening the interval between successive monitoring procedures compared to manual inspections. For example, the monitoring procedure can be performed once every hour, instead of only once or twice a day as is currently the norm. This is unproblematic because the plant can continue production during each monitoring procedure without any risk of significant damage.

[0029] The components of the plant within the meaning of the present invention are at least the actual working components, which are directly integrated into the production process in terms of acting on an input material and producing an output material, for example, the rolling stands of a rolling mill. The components of the plant can also include auxiliary components, such as drives for the working components, a switchgear for supplying power to the working components, or a transformer room.

[0030] The external facility to which the sensor data may be transmitted could, for example, be an evaluation facility that automatically processes and analyzes the collected sensor data. Alternatively or additionally, it could be a human- 202400205 4

[0031] This involves a machine interface. In the latter case, for example, playback as a live image or as a temporarily or permanently recorded image is possible.

[0032] It is possible for the sensor carrier to move on the ground. In this case, the sensor carrier can be designed, for example, to be "dog-like," meaning it has four "legs" similar to a dog, or "spider-like," meaning it has eight "legs" similar to a spider. Robots of this type are known. For example, a four-legged robot is sold by the Swiss company ANYbotics, and an eight-legged robot by the company Variobot in Leopoldshafen, Germany. In both cases, the sensor carrier can "walk" through the system on its "legs," overcoming obstacles and climbing up and down steps. If the sensor carrier moves on the ground, it can alternatively have wheels and / or tracks instead of legs and drive through the system. Robots of this type are also well-known. The Magirus Wolf R1 can be mentioned as just one example.The arrangement of sensor devices on such robots moving on the ground is easily possible.

[0033] Alternatively, the sensor platform can move through the air. In this case, the sensor platform can be designed like a model aircraft (an aircraft in the sense of a flying device with wings that must maintain a certain minimum speed to remain airborne), or like a helicopter, quadcopter, or similar device, and fly through the facility. Depending on the type of flying device, the sensor platform can also hover in a specific location and / or fly sideways. For example, a very small sensor platform (largest dimension less than 20 cm) is known as the PD 100 Black Hornet. This sensor platform is helicopter-like in design and carries three video cameras, each transmitting its image.

[0034] The sensor data can be of various types as needed. In particular, the sensor data can include two-dimensional image data and / or three-dimensional image data and / or temperature data and / or acoustic data and / or gas data. Suitable sensors are generally known. The two-dimensional image data can be acquired, for example, with a conventional optical camera or an infrared camera. The three-dimensional image data can be acquired, for example, using radar and / or LiDAR and / or ultrasound. Conventional heat measuring devices can be used to acquire temperature data, and sound sensors for acoustic data. Gas sensors are known for acquiring gas data, including those that operate on a chemical-analytical basis.

[0035] The time periods during which the monitoring procedure is executed can be determined as needed. In particular, the monitoring procedure can be executed cyclically, upon the occurrence of predetermined operating conditions of the basic materials plant, and / or upon request by an operator (so to speak, at the push of a button). 202400205 5

[0036] Based on the transmission of the message to the plant's control unit, the control unit can then actuate the plant in a defined manner in response to the message. This creates an interaction with the plant's control unit, enabling it to bring about a specific plant state – possibly limited to individual components. For example, in the case of a rolling mill, roll cooling can be temporarily deactivated to allow a view of the roll while the sensor carrier is within the mill's vicinity. The sensor carrier's control unit transmits the message independently.

[0037] Achieving a specific plant state is often easily accomplished because, even when the plant as a whole is operating, individual units may temporarily be inactive. For example, in a rolling mill, the rolling of flat material typically occurs in separate sections (individual slabs, individual strips). Between the exit of one strip's foot from a rolling mill and the entry of the next strip's head into that mill, no material is being rolled in that mill. Therefore, the roll cooling system can be switched off for that mill, because no material is being rolled during this period, and cooling is therefore unnecessary.Similarly, when no rolled material is being cooled, cooling nozzles of a cooling device can be switched on or off individually or in groups to determine whether the cooling nozzles can be switched on and off correctly.

[0038] Based on the feedback and its consideration by the sensor carrier's control unit, it is possible to selectively record and monitor specific states of the basic materials processing plant. For example, the sensor carrier's control unit might initially transmit a message to the plant's control unit stating "the sensor carrier is now at rolling stand 3," and the sensor carrier might then remain there, perhaps hovering in the case of a helicopter-like configuration. Only when the plant's control unit sends feedback to the sensor carrier's control unit stating "the roll cooling has been switched off" is the sensor carrier moved along the roll length of the rolling stand, thus gradually acquiring sensor data along the entire roll length. Similar procedures, using different measures, are also possible for other components of the plant.

[0039] This exchange of messages can continue. For example, the sensor carrier's control unit can also transmit a message to the plant's control unit indicating that the acquisition of sensor data in a specific area of ​​the plant (as in example 202400205 6 for rolling stand 3) is complete. The plant's control unit can then terminate the specific plant state, in this case, for example, reactivating the roll cooling.

[0040] The sensor carrier can be, for example, a "conventional" remote-controlled model aircraft or a model of a land vehicle, equipped with the appropriate sensor devices and autonomously controlled by the associated control unit. A human operator is only required—if at all—to request or trigger the execution of the monitoring procedure. The execution itself is automated ("autonomous"). The control unit implementing the autonomous control can alternatively be located on the sensor carrier itself or communicate with the sensor carrier via a wireless communication link.

[0041] Given a specific sensor type – for example, distance sensors – the sensor carrier's control unit may be able to automatically determine the next segment of the path along which the sensor carrier will move within the system. The approach is fundamentally the same as what a person would do when moving in an unfamiliar environment. However, it is considerably more advantageous if the sensor carrier's control unit is already aware of a model of the system and / or the path along which the sensor carrier is to be moved.

[0042] It is possible that the sensor carrier's control unit has a fixed system model and / or path. Preferably, however, the sensor carrier's control unit adapts the system model and / or path based on sensor data acquired when the sensor carrier is moved within the system. This allows the sensor carrier to adapt to the system more effectively over time. As long as the sensor carrier's control unit remains the same, this can even continue to apply if the sensor carrier is replaced.

[0043] There is often also a conventional plant monitoring system, hereinafter referred to as a monitoring device. Such a monitoring device monitors control data generated during the operation of the basic materials plant for deviations from expected control data. Alternatively or additionally, it records operational data generated during the operation of the basic materials plant and monitors this operational data for deviations from expected operational data. In the prior art, the monitoring device issues an alarm message to an operator if it detects an unusual situation, i.e., deviations of the generated control and / or operational data from the expected control and / or operational data. 202400205 7

[0044] It is possible to maintain this procedure. In this case, the operator may need to initiate the monitoring procedure. However, it is also possible for the sensor carrier's control unit to receive an execution request for the monitoring procedure from the aforementioned monitoring unit and execute the monitoring procedure based on this request. The monitoring unit can thus issue a kind of trigger signal that initiates the acquisition of system data by the sensor carrier. The monitoring unit can therefore transmit the execution request to the control unit whenever it detects an unusual situation. The execution request is, in effect, the alarm signal for the sensor carrier's control unit.

[0045] In the simplest case, the execution request triggers the full execution of the monitoring procedure, meaning that the sensor carrier in the system collects sensor data to the full extent intended. However, the execution request may also include information specifying which of the system's control data and / or operating data deviate from the expected control or operating data, and / or which area of ​​the system should be monitored by the sensor carrier. In this case, the sensor carrier's control unit can determine a path along which the sensor carrier should move, depending on this information. This allows for targeted monitoring of a specific area where the unusual situation has occurred.Therefore, if the information directly or indirectly specifies that a problem may have occurred in the area of ​​rolling stand 3 on a rolling mill with a total of five stands, it is not necessary to traverse all five stands with the sensor carrier. Rather, it is sufficient for the sensor carrier to specifically record its sensor data in the area of ​​rolling stand 3 and not to traverse the areas of the other rolling stands.

[0046] It is possible that, following the execution of the monitoring procedure triggered by the execution request, the sensor carrier's control unit receives a message, via the path determined by the additional information in the execution request, indicating which components of the plant caused the deviation of the control data and / or the plant's operating data from the expected control data or the expected operating data. In this case, the sensor carrier's control unit can, if necessary, adapt the information-dependent path based on the message.

[0047] Brief description of drawings 202400205 8

[0048] The properties, features, and advantages of this invention described above, as well as the manner in which they are achieved, will become clearer and more readily understandable in connection with the following description of an exemplary embodiment, which is explained in more detail in conjunction with the drawings. These drawings show:

[0049] FIG 1 shows a basic materials industry plant from the side,

[0050] FIG 2 shows the system of FIG 1 plus a sensor system from above, and FIGS 3 to 7 show flowcharts.

[0051] Description of the embodiments

[0052] According to FIGS. 1 and 2, a basic materials industry plant is designed, for example, as a metal industry plant. Specifically, a rolling mill is shown as a purely exemplary example. The rolling mill has several rolling stands 1, which are traversed sequentially by a workpiece 2. Of the rolling stands 1, only the work rolls 1' are shown in FIG. 1. The direction of transport of the workpiece 2 is indicated by x. Downstream of the rolling stands 1, a cooling section with several individually controllable cooling bars 3 is arranged. A liquid coolant, usually water-based, is applied to the workpiece 2 by means of the cooling bars 3. In FIG. 1, two cooling bars 3 are arranged above and two below the workpiece 2. However, the cooling bars 3 could alternatively be arranged exclusively above or exclusively below the workpiece 2. More than two cooling bars 3 can also be arranged above and / or below the workpiece 2 as required.The basic materials industry plant is controlled by a control unit 4. The control of the basic materials industry plant by the control unit 4 as such is indicated in FIG. 1 by a thick double arrow without a reference numeral.

[0053] The present invention is explained by way of example in connection with the plant shown in FIGS. 1 and 2. In principle, however, the plant can also be designed as a different type of plant in the metal industry and even as a different type of plant in the basic materials industry. For example, the rolling mill can have more or fewer than the number of rolling stands shown, or it can additionally include a roughing mill, a coiler, a pickling line, or other equipment. The plant can also be designed, for example, as a casting and rolling mill or as a continuous casting plant. Other configurations are also possible.

[0054] The system is to be monitored during operation by means of a sensor system. According to FIG. 2, the sensor system comprises a sensor carrier 5 and a control unit 6 for the sensor carrier 5. 202400205 9

[0055] The sensor carrier 5 has five core properties, which are discussed individually below.

[0056] First, the sensor carrier 5 is not track-bound. It does not move on rails or the like. For example, the sensor carrier 5 can move on the ground, perhaps as a dog-like sensor carrier 5a. Alternatively, the sensor carrier 5 can move in the air, i.e., as a flying sensor carrier 5b. For example, the flying sensor carrier 5b could be a helicopter or the like.

[0057] Furthermore, the sensor carrier 5 is motor-driven. It therefore has an internal energy storage device (usually a battery) and motors (usually electric motors) driven by this energy storage device. The energy storage device and the motors are not separately identified as such.

[0058] Furthermore, the sensor carrier 5 is designed as an unmanned sensor carrier. This feature is crucial for the sensor carrier 5 to be able to perform its assigned tasks during the ongoing operation of the system.

[0059] Furthermore, sensor devices 7 for acquiring sensor data D from the environment of the sensor carrier 5 are arranged on the sensor carrier 5. Otherwise, the sensor carrier 5 could not perform the necessary data acquisition. The sensor devices 7 are only shown on the dog-like sensor carrier 5a. However, they are also present on the flying sensor carrier 5b.

[0060] The sensor devices 7 can be configured as required. For example, the sensor devices 7 can be configured to acquire two-dimensional image data (e.g., individual images [photos] and / or video sequences, in both the visible and infrared ranges). Suitable cameras are generally known. Alternatively or additionally, the sensor devices 7 can be configured to acquire three-dimensional image data, for example, as radar, LiDAR, and possibly also as ultrasonic sensors. Alternatively or additionally, the sensor devices 7 can be configured to acquire temperature data. Alternatively or additionally, the sensor devices 7 can be used to acquire gas data, possibly even for analysis.

[0061] Finally, a storage device for storing the acquired sensor data D and / or a transmission device for transmitting the acquired sensor data D are arranged on the sensor carrier 5. The transmission device serves to wirelessly transmit the acquired sensor data D. The transmission device can therefore, for example, include a transmitter for sending the sensor data D as radio signals. 202400205 10

[0062] The control unit 6 can be an integral part of the sensor carrier 5, i.e., it can be located in or on the sensor carrier 5. Alternatively, the control unit 6 can be located externally. In the latter case, the control unit 6 communicates wirelessly with the sensor carrier 5.

[0063] Regardless of whether the control unit 6 is part of the sensor carrier 5 or not, the control unit 6 is programmed with a control program 8. The control program 8 comprises commands 9. Programming the control unit 6 with the control program 8, or—essentially equivalently—executing the commands 9 by the control unit 6, causes the control unit 6 to perform the steps of a monitoring procedure, which is explained in more detail below in conjunction with FIG. 3 and subsequently with the further FIGS. The implementation is explained below in conjunction with the flying sensor carrier 5b. However, it is also possible in principle with the sensor carrier 5a, which moves on the ground.

[0064] According to FIG. 3, the control unit 6 checks in step S1 whether an execution condition for a monitoring procedure is met. The control unit 6 repeatedly performs the check of step S1 until the execution condition is met.

[0065] Whenever the execution condition is met, the control unit 6 moves the sensor carrier 5 in a step S2 to the vicinity of components of the basic materials plant. For example, the flying sensor carrier 5b can be moved along a path 10 through the plant, so that the sensor carrier 5 successively approaches areas near the various components – here, the rolling stands 1 and the cooling beams 3. The path 10 shown in FIG. 2 is purely exemplary and can vary not only from plant to plant but also depend on other factors. For example, in several successive executions of the monitoring procedure, a different part of the plant can be monitored each time, so that only by considering all executions of the monitoring procedure is the entire plant monitored.

[0066] As the sensor carrier 5 moves through the plant, it acquires sensor data D in step S3 using the sensor devices 7. The sensor data D originates from the sensor carrier 5's immediate surroundings. Acquisition occurs while the sensor carrier 5 is in the vicinity of plant components, for example, near each of the rolling stands 1. Therefore, the sensor data D depends on the plant components and their states. By way of example, the sensor carrier 5 can acquire data on the roll surfaces of the work rolls of the rolling stands 1.

[0067] The acquired sensor data D is stored in the storage device in step S4. This storage typically occurs in addition to previously acquired, already stored data. 202400205 11

[0068] Sensor data D. Alternatively or additionally, the acquired sensor data D are transmitted wirelessly in step S5 to an external device 11 located outside the sensor carrier 5. The external device 11 can be, for example, an evaluation unit or a human-machine interface for an operator 12.

[0069] In step S6, the control unit 6 checks whether the acquisition of sensor data D has finished. If not, the control unit 6 returns to step S2. Otherwise, in step S7, the control unit 6 moves the sensor carrier 5 away from the equipment of the basic materials plant. For example, the sensor carrier 5 can be moved to a resting position 13, from which it also began its journey 10 through the plant 5. After executing step S7, the control unit 6 returns to step S1.

[0070] The execution condition can be configured as required. In particular, the execution condition can be configured such that the monitoring procedure is executed cyclically, upon the occurrence of predetermined operating states of the basic materials plant, and / or upon request by operator 12. This is explained below in conjunction with FIG. 4. FIG. 4 shows a possible configuration of step S1 from FIG. 3.

[0071] According to FIG. 4, in step S11, the control unit 6 checks whether a cycle time T has elapsed. If so, the control unit 6 proceeds to step S2. Otherwise, in step S12, the control unit 6 checks whether the operator 12 has (directly or indirectly) issued a request A to execute the monitoring procedure. If so, the control unit 6 proceeds to step S2. Otherwise, in step S13, the control unit 6 checks whether a specific operating state Z of the system has occurred, which would trigger the execution of the monitoring procedure. If so, the control unit 6 proceeds to step S2. Otherwise, the control unit 6 returns to step S11.

[0072] Regardless of the type of sensor carrier 5 (a flying sensor carrier 5b is usually quite fast, a ground-based sensor carrier 5a is often quite slow), the control unit 4 of the system and the control unit 6 of the sensor carrier 5 coordinate with each other. In particular, the control unit 6 of the sensor carrier 5 can transmit a message M to the control unit 4 of the system at certain times—specifically, when the sensor carrier 5 has reached or is approaching a predetermined location on its path 10 through the system. This enables the control unit 4 of the system to react appropriately to the presence of the sensor carrier 5 in a specific area of ​​the system, i.e., to control the system in a defined manner in response to the message M.

[0073] Here is an example, although it is expressly emphasized that this is only an example to illustrate the principle:

[0074] At a time when the sensor carrier 5 is located shortly before or even within the area between the foremost and the following rolling stand 1, the control unit 6 of the sensor carrier 5 can transmit a corresponding message M to the control unit 4 of the plant in step S21 (see FIG. 5). In response, the control unit 4 of the plant can temporarily switch off or deactivate cooling devices in the area between these two rolling stands 1. When the sensor carrier 5 leaves this area again, the control unit 6 of the sensor carrier 5 can transmit a different message M to the control unit 4 of the plant in a different execution of step S21. In response, the control unit 4 of the plant can switch the previously switched-off cooling devices back on or activate them.

[0075] As shown in FIG. 5, the control unit 6 of the sensor carrier 5 receives feedback R in a step S22 and takes the feedback R into account when moving the sensor carrier 5 through the system and / or when acquiring the sensor data D. The feedback R originates from the control unit 4 of the system.

[0076] Here is another example, although it is again explicitly emphasized that this is only an example to illustrate the principle:

[0077] The feedback R can mean that the control unit 4 of the system has switched off cooling devices of or between two specific consecutive rolling stands 1. Only on the basis of this feedback R is the sensor carrier 5 guided by the control unit 6 of the sensor carrier 5 into the area between these two rolling stands 1, or does the sensor carrier 5 begin to acquire the sensor data D.

[0078] The sensor carrier 5 is autonomously controlled by the control unit 6. The control unit 6 of the sensor carrier 5 is therefore preferably aware of a model 14 of the system, as shown in FIG. 2. The model 14 represents, so to speak, a "map" of the system (including "contour lines"). Alternatively or additionally, the control unit 6 may be aware of the path 10 along which the sensor carrier 5 is to be moved.

[0079] If the control unit 6 is aware of the model 14 and / or the path 10, the procedure of FIG. 2 or FIG. 5 can be further supplemented as explained below in conjunction with FIG. 6. 202400205 13

[0080] According to FIG. 6, in addition to steps S1 to S7 (possibly including steps S21 and / or S22), a step S31 is provided. In step S31, the control unit 6 adapts the model 14 and / or the path 10 based on sensor data D that are acquired (more precisely: were acquired, in the past) when the sensor carrier 5 is moved in the system. For example, the control unit 6 can evaluate video data and thereby correct and update the dimensions used to model the system's assemblies and their components in the model 14.

[0081] In basic materials plants, a monitoring device 15 (see FIG. 2) is often present. During operation, the monitoring device 15 monitors control data for the basic materials plant for deviations from expected control data and / or records operating data for the basic materials plant and monitors this operating data for deviations from expected operating data. For example, the setpoints (control data) or the actual values ​​(operating data) of the plant's electrical drives can be monitored. Other parameters can also be monitored, such as noise occurring in the plant or temperatures occurring in the plant, for example, the temperature of a bearing in which a shaft is supported. As already mentioned, this approach is common practice in the prior art.

[0082] In a further development of this procedure, which is known from the prior art, it is possible for the monitoring device 15 to transmit an execution requirement A' for the monitoring procedure to the control unit 6 of the sensor carrier 5. According to FIG. 7, the control unit 6 can check in step S41 whether such an execution requirement A' has been specified to it. If so, the execution of the monitoring procedure is started. Step S41 can be a component of step S1 of FIG. 2.

[0083] If necessary, the execution requirement A' can include information I as shown in FIG. 7. Information I can be characteristic of which of the control data and / or which of the operating data of the system deviate from the expected control data or the expected operating data, and / or which area of ​​the system is to be monitored by the sensor carrier 5. In this case, the control unit 6 of the sensor carrier 5 can determine the path 10 along which the sensor carrier 5 is to be moved, depending on information I, in a step S42.

[0084] Here is another example, again explicitly emphasizing that this is only an example to illustrate the principle: 202400205 14

[0085] Information I can indicate that "something is wrong" with the middle of the rolling stands 1 shown in FIG. 2. In this case, the control unit 6 of the sensor carrier 5 can determine the path 10 such that the sensor carrier 5 is guided once into the area between the middle rolling stand 1 and the rolling stand 1 in front of the middle rolling stand 1, and once into the area between the middle rolling stand 1 and the rolling stand 1 behind the middle rolling stand 1, and the sensor data D is acquired in each instance. In this case, no sensor data D needs to be acquired for the other rolling stands 1.

[0086] Furthermore, in this case, if the control unit 6 of the sensor carrier 5 determines the path 10 depending on the information I, additional steps S43 and S44 may be present. In this case, steps S43 and S44 are only executed after the sensor data D has been acquired, often only after the monitoring procedure has been fully completed.

[0087] In step S43, the control unit 6 of the sensor carrier 5 receives a message M'. The message M' can be provided to the control unit 6 of the sensor carrier 5, for example, by the operator 12. It specifies which components of the system caused the deviation of the control data and / or the operating data of the system from the expected control data or the expected operating data (add: actual). For example, the message M' can specify the fault location more precisely or can also specify that the fault location was in a completely different place than previously assumed. In step S44, the control unit 6 of the sensor carrier 5 can adapt the path 10, which depends on information I, depending on the message M'.

[0088] The present invention offers many advantages. The acquisition of sensor data D is possible even when the system continues to operate or its operation is only briefly interrupted. The safety of the operator 12 is nevertheless maintained. The sensor carrier 5, unlike a human, can perform its assigned tasks without fatigue and in a reproducible manner. "Actual" maintenance intervals, which are still carried out by operators 12, can be significantly reduced in frequency and possibly even performed only when absolutely necessary. The resulting productivity of the system can thus be significantly increased.

[0089] Although the invention has been further illustrated and described in detail by the preferred embodiments, the invention is not limited by the disclosed examples and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. 202400205 15

[0090] Reference symbol list

[0091] 1 Rolling mills

[0092] V working rollers

[0093] 2 Rolled goods

[0094] 3 cooling beams

[0095] 4, 6 control devices

[0096] 5, 5a, 5b Sensor carrier

[0097] 7 Sensor devices

[0098] 8 Tax program

[0099] 9 commands

[0100] 10 Way

[0101] 11. Establishment

[0102] 12 Operator

[0103] 13 resting places

[0104] 14 Model

[0105] 15 Monitoring device

[0106] A requirement

[0107] A' Execution requirement

[0108] D Sensor data information message

[0109] M' message R feedback

[0110] S1 to S44 steps

[0111] T Cycle time x Transport direction

[0112] Z Operating state

Claims

1. 202400205 16 Claims 1. Monitoring procedure for a plant in the basic materials industry, in particular the metal industry, - wherein the system is controlled by a control unit (4) of the system, - wherein a control device (6) of a non-track-bound, motor-driven, unmanned sensor carrier (5) autonomously controls the sensor carrier (5), so that the control device (6) of the sensor carrier (5) within the framework of the autonomous control of the sensor carrier (5) during the ongoing operation of the system -- the sensor carrier (5) is moved into the vicinity of units (1 , 3) ​​of the basic materials industry plant, -- controls the sensor carrier (5) in such a way that sensor data (D) from the current environment of the sensor carrier (5) are acquired by means of sensor devices (7) arranged on the sensor carrier (5) while the sensor carrier (5) is in the area of ​​the system, -- the recorded sensor data (D) are stored in a storage device arranged on the sensor carrier (5) and / or are transmitted wirelessly to an external device (11) arranged outside the sensor carrier (5) and -- the sensor carrier (5) was removed from the units (1 , 3) ​​of the basic materials industry plant after the sensor data (D) had been acquired, - wherein the control unit (6) of the sensor carrier (5) transmits a message (M) to the control unit (4) of the plant when the sensor carrier (5) is moved into the vicinity of the units (1 , 3) ​​of the basic materials industry plant or is located there, - wherein the control unit (4) of the system controls the system in a defined manner in response to the message (M) and transmits feedback (R) about the control of the system in a defined manner to the control unit (6) of the sensor carrier (5), - wherein the control unit (6) of the sensor carrier (5) receives the feedback (R) and takes the feedback (R) into account when moving the sensor carrier (5) and / or when acquiring the sensor data (D).

2. Monitoring method according to claim 1, characterized in that the monitoring method is started cyclically, upon the occurrence of predetermined operating conditions (Z) of the basic materials industry plant and / or on request by an operator (12).

3. Monitoring method according to claim 1 or 2, characterized in that the control device (6) of the sensor carrier (5) is aware of a model (14) of the system and / or a path (10) along which the sensor carrier (5) is to be moved. 202400205 17 4. Monitoring method according to claim 3, characterized in that the control device (6) of the sensor carrier (5) adapts the model (14) of the system and / or the path (10) on the basis of sensor data (D) which are acquired when the sensor carrier (5) is moved in the system.

5. Monitoring method according to one of the above claims, characterized by , - that a monitoring device (15) monitors control data generated during the operation of the basic materials plant for a deviation from expected control data and / or records operating data of the basic materials plant generated during the operation of the basic materials plant and monitors for a deviation from expected operating data, - that the monitoring device (15), upon detecting a deviation of the control data from the expected control data and / or of the operating data from the expected operating data, transmits an execution request (A') for the monitoring procedure to the control device (6) of the sensor carrier (5) and - that the control unit (6) of the sensor carrier (5) receives the execution request (A') and executes the monitoring procedure based on the execution request (A').

6. Monitoring method according to claim 5, characterized in that the execution requirement (A') includes information (I) indicating which of the control data deviate from the expected control data and / or which of the operating data of the plant deviate from the expected operating data and / or which area of ​​the plant is to be monitored by the sensor carrier (5), and that the control device (6) of the sensor carrier (5) determines a path (10) along which the sensor carrier (5) is to be moved, depending on the information (I).

7. Monitoring method according to claim 6, characterized in that the control unit (6) of the sensor carrier (5) receives a message (M') after the execution of the monitoring method triggered by the execution requirement (A') indicating which units (1, 3) of the system caused the deviation of the control data and / or the operating data of the system from the expected control data or the expected operating data, and that the control unit (6) of the sensor carrier (5) adapts the path (10) dependent on the information (I) as a function of the message (M').

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