CN114877935A - Multi-source sensor integrated monitoring method and device and inspection robot - Google Patents
Multi-source sensor integrated monitoring method and device and inspection robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
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Abstract
The invention relates to the technical field of transportation equipment, in particular to an integrated monitoring method and device for a multi-source sensor and an inspection robot. The method is based on the real-time monitoring of the running state and the acquisition of signal data by a multi-source sensor installed at each monitoring point on a transport vehicle; and transmitting and storing the fault characteristic parameters to a control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the transport vehicle inspection platform, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle. Through detection and information fusion, the autonomous environment perception capability of the vehicle is enhanced, the running safety is improved, real-time monitoring of the running state of the main transportation system is realized, fault hidden danger is diagnosed, early warning is timely performed, unattended detection and fault diagnosis of the state of the conveying belt can be realized through intelligent modification, and the purpose of saving labor cost is achieved.
Description
Technical Field
The invention relates to the technical field of transportation equipment, in particular to an integrated monitoring method and device for a multi-source sensor and an inspection robot.
Background
The mining electric locomotive is mainly used for long-distance transportation of underground transportation main roadways and the ground. At present, in order to enhance the autonomous environment perception capability of a vehicle so as to improve the driving safety, the intelligent modification of an underground rail electric locomotive is gradually carried out. At present, inspection work is mostly finished manually, and the whole inspection process mainly depends on the working experience of detection workers for many years, and the inspection work is finished through basic modes such as beating, observing and hearing. However, in the whole transportation process, fault positioning, diagnosis and state monitoring of key components of the main transportation system are lacked, and autonomous inspection with light weight, intellectualization and high reliability cannot be implemented in a hoisting mode aiming at the main transportation system.
Disclosure of Invention
In order to solve the problems of fault location, diagnosis and state monitoring of key components of the existing main transportation system, the invention provides an integrated monitoring method and device of a multi-source sensor and an inspection robot.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:
in a first aspect, in an embodiment provided by the present invention, a multi-source sensor integrated monitoring method is provided, including the following steps:
monitoring the running state in real time and acquiring signal data based on multi-source sensors installed at monitoring points on a transport vehicle;
preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies, and extracting data characteristics;
and transmitting and storing the fault characteristic parameters to a control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the transport vehicle inspection platform, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle.
As a further aspect of the present invention, the multi-source sensor installed at each monitoring point on the transportation vehicle is used for monitoring the monitoring data of the head and belt of the conveyor in real time, and the signal data collected by the multi-source sensor is arranged in the form of a message queue.
As a further scheme of the invention, the monitoring data is sent to an online monitoring platform through an industrial Ethernet or a 5G network, the online monitoring platform remotely synchronizes historical data, the monitoring data is subjected to feature extraction after data preprocessing, the feature extraction is carried out through DS decision fusion, and a final decision is made according to an obtained result.
As a further scheme of the invention, the multi-source sensor monitors and acquires signal data in real time, wherein the signal data comprises a material accumulation signal, a noise detection signal, a thermal imaging detection signal and a driving motor temperature signal of the belt conveyor.
In a second aspect, in an embodiment provided by the present invention, there is provided a multisource sensor integrated monitoring device, including:
the data collection module is used for monitoring the running state in real time and collecting signal data based on multi-source sensors arranged at each monitoring point on the transport vehicle;
the data control module is used for preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies and extracting data characteristics;
and the early warning control module is used for transmitting and storing the fault characteristic parameters to the control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the inspection platform of the transport vehicle, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle.
As a further scheme of the invention, the multisource sensor is a perception sensor which is arranged on a transport vehicle for environment perception, and the perception sensor comprises a camera, a millimeter wave radar and a laser radar sensor which are used for distinguishing the transport road condition of the vehicle in real time.
As a further scheme of the invention, the transport vehicle is an underground rail electric locomotive, monitoring data of a nose part and a belt part of the underground rail electric locomotive are monitored in real time, and the monitoring data are sent to an online monitoring platform through an industrial Ethernet or a 5G network.
As a further scheme of the invention, the multisource sensor arranged at the monitoring point of the nose part further comprises a thermal imager, and the thermal imager is used for coal piling temperature detection, conveying belt deviation detection, conveying belt electric and power equipment accident potential and intrusion detection; the device is used for monitoring fire hazard in the equipment, and alarming when the temperature of each target object exceeds a set temperature; the alarm is used for immediately alarming when the abnormal condition of the staff is confirmed.
As a further aspect of the present invention, the multi-source sensor mounted on the monitoring point of the nose further includes:
the smoke detection sensor is used for detecting whether the belt of the belt conveyor under the coal mine generates smoke or not and generating a smoke detection signal;
and the infrared temperature sensor is used for measuring the temperature of the measured target in the sensor field of view.
As a further scheme of the invention, the coal piling temperature detection is based on image detection and detection by a coal piling sensor, a material piling signal is generated, and piling characteristic parameters in the material piling signal are extracted.
In a third aspect, in an embodiment provided by the present invention, there is provided an inspection robot, including a multi-source sensor integrated monitoring device, the inspection robot further including:
the system comprises a conveyor head inspection platform, a circular guide rail, an explosion-proof spherical camera, a transmission system and a control system, wherein the conveyor head inspection platform is arranged above a conveyor head, and is used for inspecting along the circular guide rail arranged above the conveyor head;
the platform is patrolled and examined to the belt, the belt is patrolled and examined the track of platform edge belt and bearing roller and is independently walked, the belt is patrolled and examined and is installed proximity switch on the platform, install proximity switch response hole on the track, the belt is patrolled and examined the platform and is used for sensing the quantity in proximity switch response hole according to proximity switch, and the automatic calculation position is fixed a position, thermal imager, noise detection device's sensor is installed on the detection layer that the platform was patrolled and examined to the belt, and real-time detection bearing roller signal data is to portable conveyer belt trouble real-time supervision.
In a fourth aspect, in yet another embodiment provided by the present invention, a computer device is provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the multi-source sensor integrated monitoring method when loading and executing the computer program.
In a fifth aspect, in a further embodiment provided by the present invention, a storage medium is provided, which stores a computer program, and when the computer program is loaded by a processor and executed, the computer program implements the steps of the multi-source sensor integrated monitoring method.
The technical scheme provided by the invention has the following beneficial effects:
the integrated monitoring method and device of the multisource sensor and the inspection robot can replace the traditional manual inspection remote monitoring safety prevention inspection task, and can immediately give an alarm when the running condition/abnormal condition (such as deviation and slippage) of a target (a conveyor belt) is confirmed by using a high-definition camera; the ultrasonic sensor is used for accurately positioning when the conveyor belt is in an abnormal condition (coal clamping/conveyor belt tearing, bulging and abrasion); the thermal imager is used for monitoring fire hazards in equipment, and alarming or immediately alarming when the temperature of each target object exceeds a set temperature or confirming that abnormal conditions occur to workers; the environment sensor is used for monitoring various environmental information (including gas, smoke and the like) in real time and automatically operating; accumulating data management by using the polling directory every time and providing polling reports every day to achieve the intelligent data management level; the system has the advantages that signal data are collected through the multi-source sensor, the system is light, intelligent and high in reliability, detection and information fusion are carried out through the inspection robot system, the autonomous environment sensing capacity of the vehicle is enhanced, the running safety is improved, the real-time monitoring of the running state of the main transportation system is realized, fault hidden dangers are diagnosed, and early warning is timely carried out.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention. In the drawings:
fig. 1 is a flowchart of an integrated monitoring method for a multi-source sensor according to an embodiment of the present invention.
Fig. 2 is a flowchart of scheduling control in an integrated monitoring method for a multi-source sensor according to an embodiment of the present invention.
Fig. 3 is a structural diagram of a beam-hoisting type autonomous inspection robot in the multisource sensor integrated monitoring device according to the embodiment of the invention.
Fig. 4 is a schematic structural diagram of stockpiling detection in the multisource sensor integrated monitoring device according to the embodiment of the invention.
Fig. 5 is a flowchart of a monitoring inspection platform in the multi-source sensor integrated monitoring device according to the embodiment of the invention.
Fig. 6 is a schematic diagram of image processing-based coal piling detection alarm in the multi-source sensor integrated monitoring device according to the embodiment of the invention.
Fig. 7 is a flowchart of a fault decision in an integrated monitoring device of a multisource sensor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the exemplary embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the exemplary embodiments of the present invention, and it is apparent that the described exemplary embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, in the whole transportation process of long-distance transportation of an underground transportation main roadway and the ground, fault positioning, diagnosis and state monitoring of key parts of a main transportation system are lacked, and autonomous inspection with light weight, intellectualization and high reliability cannot be implemented in a hoisting mode aiming at the main transportation system.
Aiming at the problems, the integrated monitoring method and device for the multisource sensor and the inspection robot provided by the invention can realize the state detection and fault diagnosis of the unattended conveying belt by implementing intelligent modification, and achieve the purpose of saving the labor cost.
Specifically, the embodiments of the present application will be further explained below with reference to the drawings.
Referring to fig. 1, an embodiment of the present invention provides an integrated monitoring method for a multi-source sensor, which specifically includes the following steps:
s1, monitoring the running state in real time and acquiring signal data based on the multi-source sensors installed at each monitoring point on the transport vehicle;
s2, preprocessing the collected signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies, and extracting data characteristics;
and S3, transmitting and storing the fault characteristic parameters to a control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the transport vehicle inspection platform, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle.
In this embodiment, the intelligent algorithm is adopted to realize engineering requirements such as fault location, diagnosis and state monitoring of key components of the main transportation system, the inspection robot system with light weight, intellectualization and high reliability is developed, signal data are collected through the multi-source sensor by the multi-source sensor integrated detection structure and the information fusion method, the inspection robot system with light weight, intellectualization and high reliability can replace the traditional manual inspection remote monitoring safety prevention inspection task, the detection and information fusion are carried out, the autonomous environment perception capability of the vehicle is enhanced, the driving safety is improved, the real-time monitoring of the operation state of the main transportation system is realized, the fault hidden danger is diagnosed, and early warning is timely carried out.
In the embodiment of the application, the multisource sensor installed at each monitoring point on the transport vehicle is used for monitoring the monitoring data of the 1 part of the conveyor head and the belt part in real time, and the signal data collected by the multisource sensor are arranged in the form of a message queue.
Referring to fig. 7, in the embodiment of the application, the monitoring data is sent to an online monitoring platform through an industrial ethernet or a 5G network, the online monitoring platform remotely synchronizes historical data, the monitoring data is subjected to feature extraction after data preprocessing, a final decision is made according to an obtained result through DS decision fusion after feature extraction.
In the embodiment of the application, the multi-source sensor monitors and collects signal data in real time, wherein the signal data comprises a material accumulation signal, a noise detection signal, a thermal imaging detection signal and a driving motor temperature signal of a belt conveyer, wherein, the temperature signal of the driving motor is collected by a motor temperature monitoring device 11, aiming at the common faults of slipping, noise, accumulation and the like in the operation of the mining belt conveyor, the temperature signal is respectively monitored by a thermal imaging sensor, a noise sensor and a limit sensor in real time and the signal data on each monitoring point of the belt conveyor is collected, and a series of signal analysis processing technologies such as filtering, denoising and the like are carried out on the acquired signals to realize data preprocessing, and selecting fault characteristic parameters capable of identifying faults as an evidence main body in an identification frame, obtaining the basic probability distribution of each fault evidence body, realizing data characteristic extraction, and finally obtaining a result by an improved D-S information fusion technology for final decision making.
The D-S evidence theory of the information fusion control algorithm is used for judging the reason of the event according to the event occurrence result. Firstly, a series of hypotheses need to be made on the reasons of event occurrence to form an identification framework, each hypothesized reason has independent basic probability distribution, then the probability distributions are fused by a fusion rule, and the fused result is subjected to probability analysis, so that the reason with the highest probability is the main reason of event occurrence. And converting the trust problem of proposition into a set probability problem by establishing the relation between the proposition and the set. The D-S evidence theory is used as a reasoning algorithm for processing uncertain information, and can well and organically combine information of different levels acquired by multiple sensors together through a fusion rule, so that the accuracy of diagnosis decision is improved to a certain extent.
According to the integrated monitoring method for the multisource sensor, signal data are collected through the multisource sensor, detection and information fusion are carried out through the inspection robot system through the properties of light weight, intellectualization and high reliability, the autonomous environment sensing capability of a vehicle is enhanced, the driving safety is improved, and therefore the real-time monitoring of the running state of a main transportation system, fault hidden danger diagnosis and timely early warning are achieved.
Referring to fig. 1, an embodiment of the present invention provides a multisource sensor integrated monitoring device, including:
the data collection module is used for monitoring the running state in real time and collecting signal data based on multi-source sensors arranged at each monitoring point on the transport vehicle;
the data control module is used for preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as a fault evidence body and extracting data characteristics;
and the early warning control module is used for transmitting and storing the fault characteristic parameters to the control management system in real time and analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, the control management system gives an alarm, the transport vehicle inspection platform stops running, fault coordinate position information is marked, and online fault positioning and fault diagnosis are carried out on the transport vehicle.
In the embodiment of this application, multisource sensor is for installing the perception sensor that carries out the environmental perception on haulage vehicle, the perception sensor is including camera, millimeter wave radar and the laser radar sensor that is used for distinguishing vehicle transportation road conditions in real time.
In the embodiment of the application, the transport vehicle is a downhole rail electric locomotive, monitoring data of a machine head 1 part and a belt part of the downhole rail electric locomotive are monitored in real time, and the monitoring data are sent to an online monitoring platform through an industrial Ethernet or a 5G network.
In the multisource sensor integrated monitoring device of the embodiment of the application, the monitoring data of the machine head 1 part and the belt part of the main transmission system are gathered to an online monitoring platform of the main transmission system through an industrial Ethernet or a 5G network, so that the real-time monitoring of the running states of multiple underground belts is realized, the fault hidden danger is diagnosed, and the early warning is timely carried out.
In the embodiment of the application, the multisource sensor installed at the monitoring point of the machine head 1 further comprises a thermal imager 36, and the thermal imager 36 is used for coal piling temperature detection, conveying belt deviation detection, conveying belt electric and power equipment accident potential and intrusion detection; the device is used for monitoring fire hazard in the equipment, and alarming when the temperature of each target object exceeds a set temperature; the alarm is used for immediately alarming when the abnormal condition of the staff is confirmed.
In the embodiment of the application, the multisource sensor installed at the monitoring point of the handpiece 1 part further comprises:
the smoke detection sensor is used for detecting whether the belt of the belt conveyor under the coal mine generates smoke or not and generating a smoke detection signal; wherein, whether the smoke detection refers to smoke generated by friction heating or other reasons of the belt conveyor rubber belt in the coal mine. An explosion-proof type smoke sensor can be adopted, and the voltage DC: 12-24V.
The infrared temperature sensor is used for measuring the temperature of a measured target in a sensor field of view; in the infrared temperature sensor, the area of the measured object should fill the field of view of the sensor when measuring temperature. The sensor is selected to be installed at a distance of 15cm from the motor according to the size of the measured area.
In the embodiment of this application, multisource sensor integration monitoring devices is being applied to the coal pile and is examining time measuring, because the coal pile is very big to belt transport system's harm, the belt off tracking can appear in the coal pile many times in the belt, the serious scheduling problem of belt surface wearing and tearing, greatly reduced the life of belt, influenced belt transport system's stability, if untimely the removal of coal pile trouble, light then equipment stops to transport and influences production, heavy then causes the equipment accidents such as burning motor, disconnected area and turning over aircraft nose 1, even causes the casualties accident. The detection scheme is based on image detection and adopts a coal piling sensor for detection.
Therefore, the coal pile temperature detection is based on image detection and detection by a coal pile sensor, a material pile signal is generated, and pile characteristic parameters in the material pile signal are extracted.
In the embodiment of this application, multisource sensor integration monitoring devices is when being applied to bearing roller temperature and noise monitoring and patrolling platform, bearing roller temperature and noise monitoring patrol and examine the whole structure chart of platform 5 and show, including rope actuating mechanism 32, rope straining device 32, electrical apparatus mounting box 33, thermal imaging system 36, noise detector 35, devices such as warning light 34, wherein thermal imaging system 36, noise detector 35, warning light 34 is fixed on electrical apparatus mounting box 33, electrical apparatus mounting box 33 is fixed on the rope, the motor drive rope motion of one end, the platform removal is patrolled and examined in the drive, realize that the bearing roller state patrols and examines.
Referring to fig. 2, the integrated monitoring device of the multi-source sensor is applied to the whole routing inspection process of long-distance transportation of underground transportation main roadways and the ground of a mining electric locomotive, the multi-source sensor in the data collection module is used for detecting material accumulation faults, thermal imaging detection of driven wheel jam faults, abnormal noise detection of driven wheel rotation and belt driving wheel abnormity, detected signal data are converged to a roadway centralized control platform after fusion processing is carried out through multi-information fusion rules, the detected signal data are transmitted to a dispatching room centralized control platform on the ground in an underground industrial Ethernet or 5G network mode, a unified management platform is adopted, the infrared thermal imaging technology is comprehensively applied, and the reliability of a conveying belt is improved based on an audio fault positioning technology and a multi-parameter sensing technology.
Referring to fig. 3 and 4, an embodiment of the present invention provides an inspection robot including a multi-source sensor integrated monitoring apparatus, the inspection robot further including:
the system comprises a machine head inspection platform 21, wherein the machine head inspection platform 21 is installed above a conveyor belt machine head 1, the machine head inspection platform 21 inspects the materials along a circular guide rail installed above the conveyor belt machine head 1, an explosion-proof spherical camera 22 is installed on the machine head inspection platform 21 through a telescopic rod, an explosion-proof charging station 10 is further arranged on the machine head 1 and used for adjusting the length of the telescopic rod to adjust the view field of the spherical camera, and the collected signal data of the machine head 1 and a transmission system are acquired in real time;
The inspection robot is carrying out online fault location to aircraft nose 1 main motor, transmission system, when failure diagnosis, circular guide rail is installed to aircraft nose 1 and transmission system's top, aircraft nose inspection platform 21 patrols and examines on circular guide rail, install explosion-proof spherical camera 22 on aircraft nose inspection platform 21 through the telescopic link, adjust the length of telescopic link, spherical camera can see each position of aircraft nose 1, obtain information such as aircraft nose 1 and transmission system's temperature, noise, smog concentration in real time, and save these parameters real-time transmission to control system, if there is parameter information to exceed predetermined normal range, the system can send out the police dispatch newspaper, aircraft nose inspection platform 21 stops the operation, and mark trouble coordinate position information, in order to realize the online fault location and the failure diagnosis of aircraft nose 1 main motor and transmission system.
The robot patrols and examines the belt in the belt transportation, bearing roller and coal piling state detect and on-line monitoring time, the detection of belt and bearing roller is accomplished by patrolling and examining the platform, it independently walks along the track to patrol and examine the platform, install proximity switch on patrolling and examining the platform, there is proximity switch response hole on the track, it senses the quantity in hole according to proximity switch to patrol and examine the platform, the location is realized to the automatic calculation position, patrol and examine the detection layer installation thermal imaging appearance 36 of platform, sensors such as noise detection device, it damages to detect the bearing roller, the belt fracture, tear, the off tracking, skid, information such as conflagration, the comprehensive application thermal infrared imaging technique of having realized, based on audio frequency fault location technique, the portable conveyer belt fault real-time supervision of multisensor data fusion technique realization.
Referring to fig. 6, the detection of the coal piling state is completed by the coal piling detection sensor 12, the coal piling detection sensor 12 is installed at the joint of the parallel belt and the inclined belt, can detect the height of the coal at the position in real time, and transmits and stores the detection data to the control system in real time, if the height information exceeds the preset normal range, the system gives an alarm, and the conveyor belt stops working.
In the embodiment of the application, the inspection robot is applied as a hoisting type autonomous inspection robot of a main transportation system, so that when the research on the beam hoisting type autonomous inspection robot system is carried out, the engineering requirements of fault positioning, diagnosis, state monitoring and the like of key parts of the main transportation system are realized by using multi-sensor information such as smell, sight, hearing and the like and adopting an intelligent algorithm, and the inspection robot system with light weight, intellectualization and high reliability is developed.
The machine head inspection platform 21 is located in the core area of the machine head 1 part of the conveyor belt to monitor, and the hoisting circular rail type inspection platform is used for carrying out online fault location and fault diagnosis on a main motor and a transmission system of the machine head 1. The belt inspection platform 13 is used for monitoring the long-distance belt transportation area, and detects and monitors the belt, carrier rollers and coal piling state in belt transportation on line by using a hoisting long-rail type inspection platform.
In the embodiment of the application, the intelligent inspection robot can replace the traditional manual inspection remote monitoring safety prevention inspection task. The following inspection monitoring operation can be realized:
the high-definition camera is used for immediately alarming when the running condition/abnormal condition (such as deviation and slippage) of a target (a conveyor belt) is confirmed;
the ultrasonic sensor is used for accurately positioning when the conveyor belt is in an abnormal condition (coal clamping/conveyor belt tearing, bulging and abrasion);
the thermal imager is used for monitoring fire hazards in equipment, and alarming or immediately alarming when the temperature of each target object exceeds a set temperature or confirming that abnormal conditions occur to workers;
the environment sensor is used for monitoring various environmental information (including gas, smoke and the like) in real time and automatically operating;
the intelligent data management level is achieved by accumulating data management by using the polling directory every time and providing polling reports every day.
When the inspection robot is used as a coal mine inspection robot, the inspection robot carries various sensors to collect production environment data such as images, sounds, infrared thermal image temperatures, smog, various gas concentrations and the like in real time. By adopting an intelligent perception key technology algorithm, the running state of the equipment can be accurately judged, the running fault of the coal mine equipment is pre-judged and early-warned in advance, and the fault downtime is reduced.
The thermal imager 36 for detecting the conveyor head 1 can also be used for detecting the coal piling temperature, detecting the deviation of the conveyor belt, detecting the accident potential of the electric and power equipment of the conveyor belt, detecting the invasion of personnel and the like. The coal piling temperature detection, the conveying belt deviation detection and the cable temperature detection are realized.
In the embodiment of the application, the multisource sensor installed at the monitoring point of the handpiece 1 part further comprises:
the smoke detection sensor is used for detecting whether the belt of the belt conveyor under the coal mine generates smoke or not and generating a smoke detection signal; wherein, whether the smoke detection refers to smoke generated by friction heating or other reasons of the belt conveyor rubber belt in the coal mine. An explosion-proof type smoke sensor can be adopted, and the voltage DC: 12-24V.
The infrared temperature sensor is used for measuring the temperature of a measured target in a sensor field of view; in the infrared temperature sensor, the area of the measured object should fill the field of view of the sensor when measuring temperature. The sensor is selected to be installed at a distance of 15cm from the motor according to the size of the measured area.
It should be particularly noted that, the inspection robot adopts the steps of the foregoing multi-source sensor integrated monitoring method when executing, and therefore, the operation process of the inspection robot in this embodiment is not described in detail.
In an embodiment, there is also provided a computer device including at least one processor, and a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform the multi-source sensor-integration monitoring method, the processor executing the instructions to implement the steps in the method embodiments.
In an embodiment of the invention, a computer device is provided, comprising a memory having a computer program stored therein and a processor configured to execute the computer program stored in the memory. The memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the steps of the above method embodiments:
monitoring the running state in real time and acquiring signal data based on multi-source sensors installed at monitoring points on a transport vehicle;
preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies, and extracting data characteristics;
and transmitting and storing the fault characteristic parameters to a control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the transport vehicle inspection platform, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle.
In an embodiment of the present invention, there is further provided a storage medium having a computer program stored thereon, which when executed by a processor, performs the steps in the above-mentioned method embodiments:
monitoring the running state in real time and acquiring signal data based on multi-source sensors installed at monitoring points on a transport vehicle;
preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies, and extracting data characteristics;
and transmitting and storing the fault characteristic parameters to a control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the transport vehicle inspection platform, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory.
In summary, the integrated monitoring method and device for the multi-source sensor and the inspection robot provided by the invention can replace the traditional manual inspection remote monitoring safety prevention inspection task, signal data are collected through the multi-source sensor, the inspection robot system performs detection and information fusion through the performance of light weight, intellectualization and high reliability, the autonomous environment perception capability of a vehicle is enhanced, the driving safety is improved, and the real-time monitoring of the running state of a main transportation system, the diagnosis of fault hidden danger and the timely early warning are realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The integrated monitoring method of the multisource sensor is characterized by comprising the following steps:
monitoring the running state in real time and acquiring signal data based on multi-source sensors installed at monitoring points on a transport vehicle;
preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies, and extracting data characteristics;
and transmitting and storing the fault characteristic parameters to a control management system in real time, analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, sending an alarm by the control management system, stopping the operation of the transport vehicle inspection platform, marking fault coordinate position information, and performing online fault positioning and fault diagnosis on the transport vehicle.
2. The integrated monitoring method of the multisource sensor as claimed in claim 1, wherein the multisource sensors mounted at the monitoring points on the transport vehicle are used for monitoring the monitoring data of the head part and the belt part of the conveyor in real time, and the signal data collected by the multisource sensors are arranged in the form of a message queue.
3. The integrated multi-source sensor monitoring method according to claim 2, wherein the monitoring data is sent to an online monitoring platform through an industrial Ethernet or a 5G network, the online monitoring platform synchronizes historical data remotely, the monitoring data is subjected to feature extraction after data preprocessing, a DS decision fusion is performed after feature extraction, and a final decision is made according to an obtained result.
4. The integrated monitoring method for the multisource sensor according to claim 3, wherein the multisource sensor monitors and collects signal data in real time, and comprises a material accumulation signal, a noise detection signal, a thermal imaging detection signal and a driving motor temperature signal of a belt conveyor.
5. A multisource sensor integrated monitoring device is characterized in that the multisource sensor integrated monitoring device adopts the multisource sensor integrated monitoring method of any one of claims 1 to 4 to monitor the running state of a transport vehicle in real time; the integrated monitoring system of the multisource sensor comprises:
the data collection module is used for monitoring the running state in real time and collecting signal data based on multi-source sensors arranged at each monitoring point on the transport vehicle;
the data control module is used for preprocessing the acquired signal data, taking fault characteristic parameters for identifying faults as fault evidence bodies and extracting data characteristics;
and the early warning control module is used for transmitting and storing the fault characteristic parameters to the control management system in real time and analyzing the fault characteristic parameters, if the fault characteristic parameters exceed a preset normal range, the control management system gives an alarm, the transport vehicle inspection platform stops running, fault coordinate position information is marked, and online fault positioning and fault diagnosis are carried out on the transport vehicle.
6. The integrated monitoring device of claim 5, wherein the multi-source sensor is a sensor installed on a transportation vehicle for sensing the environment, and the sensor comprises a camera, a millimeter wave radar and a laser radar sensor for real-time determination of the transportation road condition of the vehicle.
7. The integrated multisource sensor monitoring device according to claim 6, wherein the transportation vehicle is a downhole rail electric locomotive, monitoring data of a nose part and a belt part of the downhole rail electric locomotive are monitored in real time, and the monitoring data are transmitted to an online monitoring platform through an industrial Ethernet or a 5G network.
8. The integrated monitoring device of the multisource sensor and the sensor as claimed in claim 7, wherein the multisource sensor installed at the monitoring point of the nose further comprises a thermal imager, and the thermal imager is used for coal piling temperature detection, conveying belt deviation detection, conveying belt electrical and power equipment accident potential and intrusion detection; the device is used for monitoring fire hazard in the equipment, and alarming when the temperature of each target object exceeds a set temperature; the alarm is used for immediately alarming when the abnormal condition of the staff is confirmed.
9. The integrated multisource sensor monitoring device of claim 8, wherein the nose unit monitoring point mounted multisource sensor further comprises:
the smoke detection sensor is used for detecting whether the belt of the belt conveyor under the coal mine generates smoke or not and generating a smoke detection signal;
and the infrared temperature sensor is used for measuring the temperature of the measured target in the sensor field of view.
10. An inspection robot, characterized in that the inspection robot comprises a multisource sensor integrated monitoring device according to any one of claims 1-7; patrol and examine robot still includes:
the system comprises a conveyor head inspection platform, a circular guide rail, an explosion-proof spherical camera, a transmission system and a control system, wherein the conveyor head inspection platform is arranged above a conveyor head, and is used for inspecting along the circular guide rail arranged above the conveyor head;
the platform is patrolled and examined to the belt, the belt is patrolled and examined the track of platform edge belt and bearing roller and is independently walked, the belt is patrolled and examined and is installed proximity switch on the platform, install proximity switch response hole on the track, the belt is patrolled and examined the platform and is used for sensing the quantity in proximity switch response hole according to proximity switch, and the automatic calculation position is fixed a position, thermal imager, noise detection device's sensor is installed on the detection layer that the platform was patrolled and examined to the belt, and real-time detection bearing roller signal data is to portable conveyer belt trouble real-time supervision.
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| CN116295647A (en) * | 2023-03-24 | 2023-06-23 | 广西钦盛实业有限公司 | Product transportation environment monitoring and recording device |
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