JP6179610B2 - Belt conveyor equipment inspection system - Google Patents

Description

  The present invention relates to a belt conveyor equipment inspection system.

  The belt conveyor facility is a facility for transporting a transported object on a moving transport belt, and is used in many production facilities. In particular, in steelworks, a large number of belt conveyor facilities are operating over a long distance in order to transport a large amount of transported objects such as iron ore, coal, and limestone. Many of the belt conveyor facilities installed in steelworks have been in operation for many years, and the belt conveyor facilities are basically installed outdoors in the coastal area, so the deterioration has progressed. It's easy to do. For this reason, the belt conveyor equipment needs to be regularly inspected and repaired. Patent Documents 1 to 3 describe techniques related to a method for inspecting a belt conveyor facility.

Japanese Patent No. 4401501 Japanese Patent No. 4262878 Japanese Utility Model Publication No. 7-35423

  In the techniques described in Patent Documents 1 and 2, in order to inspect the abnormality of the rollers of the belt conveyor facility, an operator collects the rotation sound of the rollers along the conveyance belt using a portable microphone. However, with such a technique, when inspecting the belt conveyor equipment group over which the conveyance section extends over a long distance, a great amount of cost and time are required. In addition, some belt conveyor facilities are installed in high places and dangerous environments, which is not preferable from the viewpoint of safety.

  In the technique described in Patent Document 3, an operator gets on an inspection carriage installed along a conveyor belt and inspects belt conveyor equipment. However, with such a technique, when there is a possibility that the belt conveyor facility is deteriorated, there is a risk of derailment or slipping of the inspection carriage. In addition, when there are a large number of belt conveyor facilities over which the transport section extends over a long distance, it is not realistic from the viewpoint of cost to install inspection carts on all the belt conveyor facilities.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and its object is to provide a belt conveyor equipment inspection system that can inspect belt conveyor equipment safely, simply, and inexpensively without requiring an operator for inspection. Is to provide.

  The belt conveyor equipment inspection system according to the present invention includes a mounting portion provided on a conveyor belt of the belt conveyor equipment, and a self-running inspection device that checks the belt conveyor equipment, and the self-running inspection device includes: An apparatus main body and an adsorption mechanism for adsorbing the apparatus main body to the mounting portion are provided.

  In the belt conveyor equipment inspection system according to the present invention, the self-propelled inspection device uses an outdoor or indoor positioning technology and a self-position recognition technology to travel the device body to the vicinity of the belt conveyor equipment to be inspected. It is characterized by providing.

  In the belt conveyor equipment inspection system according to the present invention, the self-propelled inspection device is provided with a moving mechanism capable of detaching an inspection device at a tip position and moving the tip position to an arbitrary position. To do.

  In the belt conveyor equipment inspection system according to the present invention, the self-propelled inspection device has a function of notifying a person in charge of an inspection result and a function of recording the inspection result in an information processing device.

  According to the belt conveyor equipment inspection system according to the present invention, the belt conveyor equipment can be inspected safely, simply, and inexpensively without requiring an operator for inspection.

FIG. 1 is a schematic diagram illustrating a configuration of a belt conveyor facility that is an inspection target of a belt conveyor facility inspection system according to an embodiment of the present invention. FIG. 2 is a plan view showing the configuration of the conveyor belt shown in FIG. FIG. 3 is a block diagram showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. FIG. 4 is an external view showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. FIG. 5 is a diagram illustrating a configuration of a facility management system based on a historical trend including a self-propelled inspection apparatus according to an embodiment of the present invention.

  Hereinafter, a belt conveyor equipment inspection system according to an embodiment of the present invention will be described with reference to the drawings.

[Configuration of belt conveyor equipment]
First, with reference to FIG.1 and FIG.2, the structure of the belt conveyor installation which is the inspection object of the belt conveyor installation inspection system which is one Embodiment of this invention is demonstrated. FIG. 1 is a schematic diagram illustrating a configuration of a belt conveyor facility that is an inspection target of a belt conveyor facility inspection system according to an embodiment of the present invention. FIG. 2 is a plan view showing the configuration of the conveyor belt shown in FIG.

  As shown in FIG. 1, a belt conveyor facility 1 to be inspected by a belt conveyor facility inspection system according to an embodiment of the present invention includes a tail pulley 2, a head pulley 3, and a peripheral surface of the tail pulley 2 and the head pulley 3. A conveyor belt 4 wound endlessly and a gallery 5 that covers the entire length of the conveyor belt 4 depending on equipment are provided.

  In the vicinity of the tail pulley 2, an input chute 6 is disposed on the conveyor belt 4 for dropping an object such as iron ore, coal, limestone. Further, in the vicinity of the tail pulley 2, a fixed or movable deck 7 a for allowing a self-propelled inspection device 100 described later to enter and exit on the conveyor belt 4 and a self-propelled inspection device 100 described later enter and exit the deck 7 a. A staircase 8a is provided. The deck 7a and the staircase 8a may be dedicated to the self-propelled inspection apparatus 100 or may be combined with facilities for workers.

  In the vicinity of the head pulley 3, a discharge chute 9 for discharging the conveyed product on the conveyor belt 4 is arranged. Further, in the vicinity of the head pulley 3, a fixed or movable deck 7 b for allowing a self-propelled inspection device 100 described later to enter and exit on the conveyor belt 4, and a self-propelled inspection device 100 described later on the deck 7 b. Stairs 8b for entering and exiting are provided.

  As shown in FIG. 2, a mounting portion 11 such as a steel plate that is adsorbed by an adsorption mechanism 130 included in a self-propelled inspection apparatus 100 described later is provided at a position such as a central portion in the width direction of the conveyor belt 4.

  In the belt conveyor facility 1 having the configuration as shown in FIG. 1, the conveyor belt 4 moves in the longitudinal direction by rotationally driving the head pulley 3 and the tail pulley 2 using a driving motor (not shown). Along with the movement of the conveyance belt 4, the conveyance object dropped onto the conveyance belt 4 from the input chute 6 is conveyed in the direction of the head pulley 3 and falls into the discharge chute 9.

[Configuration of self-propelled inspection device]
Next, with reference to FIG.3 and FIG.4, the structure of the self-propelled inspection apparatus which is one Embodiment of this invention which inspects the said belt conveyor installation 1 is demonstrated.

  FIG. 3 is a block diagram showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. FIG. 4 is an external view showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. As shown in FIG. 3, a self-propelled inspection device 100 according to an embodiment of the present invention includes a device main body 110, a traveling unit 120, and a suction mechanism 130.

  The apparatus main body 110 includes a first position estimation unit 111, a second position estimation unit 112, an inspection unit 113, an information storage unit 114, and a control unit 115 as main components.

  The first position estimation unit 111 includes a communication device 111a and an arithmetic processing device 111b. The communication device 111a is a device that performs information communication with a plurality of signal sources installed in an area where there is no clear landmark around. As a signal source for the communication device 111a to perform information communication, when the self-propelled inspection device 100 is located indoors, an indoor global positioning system (iGPS) transmitter or other ultra wideband wireless communication (UWB: Ultra) Examples thereof include a visible light communication device using a wireless signal transmission source such as Wide Band) and a light source such as an LED. Further, when the self-propelled inspection device 100 is located outdoors, a signal source of a satellite navigation system (GPS) can be used in addition to these signal sources.

  The arithmetic processing device 111b is a device that calculates position information of the self-propelled inspection device 100 using a result of information communication with the signal source by the communication device 111a. Specifically, when an iGPS transmitter is used as a signal source, the iGPS transmitter emits a rotating fan beam (fan beam). The rotating fan beam may be a laser fan beam or other light emitting means. The communication device 111a receives the rotating fan beam emitted from the iGPS transmitter, and can grasp the relative positions from the plurality of iGPS transmitters. At this time, the rotating fan beam is deviated by a predetermined angle, and the coordinate value, that is, the position or height of the communication device 111a that receives the rotating fan beam can be measured. The information received by the communication device 111a is sent to the arithmetic processing device 111b, and the arithmetic processing device 111b calculates the position information of the device main body 110, that is, the self-propelled inspection device 100 according to the principle of triangulation. For details of iGPS, see, for example, US Pat. No. 6,501,543.

  When the self-propelled inspection device 100 is located outdoors, the arithmetic processing device 111b uses the result of information communication with the GPS signal source in a range where the communication device 111a can receive a signal from the GPS signal source. The position information of the self-propelled inspection apparatus 100 is calculated. In addition, it is difficult for the communication device 111a in the vicinity of the facility to receive a signal from the GPS signal source. However, the arithmetic processing device 111b is connected to the iGPS transmitter within a range in which the signal from the iGPS transmitter can be received. The position information of the self-propelled inspection apparatus 100 may be calculated using the result of the information communication.

  The second position estimation unit 112 includes a communication device 112a, an arithmetic processing device 112b, and a sensor 112c. The communication device 112a is a device that performs information communication with a stop target position on a route in the inspection work of the belt conveyor facility 1 and a signal source installed at a travel obstacle location. Examples of the stop target position include a predetermined position on the deck 7a. The progress obstacles include areas, stairs, steps, etc. where it is difficult for the communication device 111a of the first position estimation unit 111 to communicate information with the signal source, such as equipment shadows, narrow roads, and areas with a lot of dust and water vapor. An area where the floor surface is not flat can be exemplified.

  The communication device 112a is a device that communicates with a stop target position, an entrance and an exit of a progress obstacle location, and a signal source arranged at a key point in the progress obstacle location. Examples of means for performing communication of information by the communication device 112a include an RFID (Radio Frequency IDentification) device and a laser communication device.

  The sensor 112c is a device that acquires data necessary for the self-propelled inspection device 100 to estimate its own position. Examples of the sensor 112c include a CCD camera for image processing, an infrared camera, and a laser range sensor. The data acquired by the sensor 112c is processed by the arithmetic processing unit 112b in order to estimate the position of the self-propelled inspection apparatus 100.

  The arithmetic processing unit 112b estimates the position information of the self-propelled inspection device 100 using the data acquired by the sensor 112c. Specifically, the arithmetic processing unit 112b calculates the position of the self-propelled inspection device 100 from the image and distance data acquired by the sensor 112c, and matches the map information with the position of the self-propelled inspection device 100. presume. The arithmetic processing unit 112b recognizes communication information performed by the communication device 112a with a signal source installed at a key point in the progress hindrance location and a specific shape in the progress hindrance location, and appropriately performs a self-propelled inspection device. You may make it reflect in calculation of 100 positions. In addition, the arithmetic processing unit 112b estimates the position of the self-propelled inspection apparatus 100 by recognizing equipment included in the captured image by processing an image captured by the imaging apparatus provided in the apparatus main body 110. May be.

  The inspection unit 113 is a device that inspects the belt conveyor facility 1 according to inspection information 114d to be described later including information on inspection items of the belt conveyor facility 1 stored in the information storage unit 114. Specifically, for example, the inspection unit 113 inspects the frames in the transport belt 4, the gallery 5, and the gallery 5 by photographing the transport belt 4 and the gallery 5 using an imaging device. The inspection unit 113 inspects the roller and the bearing unit by detecting abnormal noise from the roller and the bearing unit using a sound collecting device. The inspection unit 113 inspects the belt conveyor facility 1 to be inspected according to the inspection information 114d, associates the information about the belt conveyor facility 1 to be inspected with the information about the inspection result, and stores the information in the information storage unit 114. As shown in FIGS. 4A to 4C, the inspection unit 113 moves inspection devices such as an imaging device, a sound collection device, a thermography, and a vibration sensor to the optimal positions near the inspection target site, equipment, and parts. Further, during the inspection, in order to keep the inspection device in the optimum position, the inspection device can be attached to and detached from the tip position 113a, and the movement of the inspection arm 113b mechanism or the like that can move the tip position 113a to an arbitrary position. It is desirable to provide a mechanism.

  The information storage unit 114 is information necessary for inspection work of the belt conveyor facility 1 by the self-propelled inspection device 100 such as map information 114a, route information 114b, destination information 114c, inspection information 114d, and inspection result / history information 114e. And information on test results. The map information 114a includes identification information of the belt conveyor facility 1 and its position information. The course information 114b includes information on the movement path of the self-propelled inspection device 100 in the inspection work of the belt conveyor facility 1. The destination information 114c includes information regarding identification information of the belt conveyor facility 1 that performs the inspection work by the inspection unit 113. The inspection information 114d includes information on inspection items for each belt conveyor facility 1. The inspection result / history information 114e includes information regarding the inspection result of the belt conveyor facility 1 by the inspection unit 113 and information regarding the history of the route along which the self-propelled inspection device 100 has moved.

  The control unit 115 is constituted by an arithmetic processing device, and controls the operation of the self-propelled inspection device 100 as a whole. Specifically, the control unit 115 switches the means for acquiring the position information of the self-propelled inspection device 100 between the first position estimating unit 111 and the second position estimating unit 112, and acquired the self-propelled inspection device. The apparatus main body 110 is caused to travel along a predetermined route by controlling the traveling unit 120 based on the map information 114a, the route information 114b, and the destination information 114c stored in the position information 100 and the information storage unit 114. At the same time, the inspection unit 113 is controlled based on the inspection information 114d to inspect the belt conveyor facility 1 to be inspected.

  For example, the control unit 115 receives the signal from a predetermined signal source (entrance-side signal source) provided on the entrance side of the progress obstacle location at the second position estimation unit 112 at the timing of the self-propelled inspection device 100. The means for acquiring the position information is switched from the first position estimating unit 111 to the second position estimating unit 112. And the control part 115 of the self-propelled inspection apparatus 100 is the timing which the 2nd position estimation part 112 received the signal from the predetermined | prescribed signal source (exit side signal source) provided in the exit side of the advancing trouble location. The means for acquiring the position information is switched from the second position estimating unit 112 to the first position estimating unit 111.

  In addition, when the means for acquiring the position information of the self-propelled inspection apparatus 100 is switched from the first position estimating unit 111 to the second position estimating unit 112, the second position estimating unit 112 starts from the entrance-side signal source. It is desirable to obtain information about. Examples of the information related to the progress obstacle location include the height and number of steps of the staircase when the progress obstacle location is a staircase, and the width and length of the narrow street when the progress obstacle location is a narrow road. . By acquiring information related to the progress obstacle location, the self-propelled inspection apparatus 100 can pass through the progress obstacle location safely and reliably.

  The traveling unit 120 is a device that causes the apparatus main body 110 to travel in accordance with a control signal from the control unit 115. Examples of the traveling device include a crawler type traveling device and a four-wheel carriage provided with crawler belts in the left and right positions as shown in FIGS. 4 (a) to 4 (c). If it is included, it is difficult to move with a four-wheel carriage, so there is generally a difference in height in the equipment, and it is appropriate to use a crawler type traveling device for inspection of belt conveyor equipment that assumes the use of stairs. It is assumed that

  As shown in FIGS. 4A to 4C, the suction mechanism 130 is a mechanism that sucks onto the mounting portion 11 provided on the transport belt 4 of the belt conveyor facility 1 in accordance with a control signal from the control portion 115. Examples of the suction mechanism 130 include an electromagnet and a suction pad.

[Control method of self-propelled inspection equipment]
Next, a control method of the self-propelled inspection apparatus 100 will be described.

  When inspecting the belt conveyor facility 1 using the self-propelled inspection device 100, first, the self-propelled inspection device 100 autonomously uses the traveling unit 120 to the vicinity of the belt conveyor facility 1 to be inspected. Move to. Next, the self-propelled inspection device 100 recognizes the stairs 8a connected to the deck 7a of the belt conveyor facility 1, and moves up the stairs 8a onto the deck 7a. Next, the self-propelled inspection device 100 uses the inspection unit 113 to inspect the conveyor belt 4 by photographing the moving conveyor belt 4 from the deck 7a. For example, if the conveyance belt 4 is idled with no conveyance object on the conveyance belt 4 and a camera is mounted as the inspection unit 113, a person visually inspects the entire length of the conveyance belt 4 while staying on the deck 7a. In addition, the surface state of the conveyor belt 4 can be confirmed and recorded with a visible light image. If the camera is moved to a position where the back surface of the conveyor belt 4 can be observed by the moving mechanism, the back surface state can be confirmed and recorded with a visible light image as well as the front surface. Further, if a two-dimensional laser distance meter is mounted as the inspection unit 113, it is possible to measure whether the surface of the conveyor belt 4 has irregularities or cracks. Furthermore, if a thermal image measuring device is mounted as the inspection unit 113 and the conveyor belt 4 is observed in a state where there is a transported object in operation rather than an idle operation, the temperature distribution of the transported object can be measured, and equipment management or operation Moreover, it can also be used for operation monitoring such as whether an undesirably high temperature state has occurred.

  Next, the self-propelled inspection apparatus 100 recognizes the position of the mounting portion 11 on the transport belt 4, stops the operation of the feeding chute 6 and the movement of the transport belt 4, and then mounts using the suction mechanism 130. Adsorbed to the part 11. As a method for recognizing the position of the mounting portion 11, a thin steel strip is basically assumed as the mounting portion 11, and the thin steel strip is installed on the surface of the transport belt 4 and moves together with the transport belt 4 to move the pulley. Since the mounting part 11 can also be bent, the mounting part 11 itself is marked with a conspicuous color compared to the belt color, or if an RFID tag is installed at the same position as the mounting part 11, self-propelled If the conveyor belt 4 is temporarily stopped when the type inspection apparatus 100 moves on the mounting part 11, the mounting part 11 can be recognized by the self-propelled inspection apparatus 100 moving forward. Further, if the conveyor belt 4 is moved onto the mounting portion 11 without stopping, the marking portion can be recognized on the deck 7a by marking it with a conspicuous color or the like upstream from the mounting portion 11 by a predetermined distance. It is possible to recognize that the mounting part 11 will come after a predetermined distance (time), or if an RFID tag is attached instead of marking, the mounting part 11 will be recognized electromagnetically after a predetermined distance (time). it can. The self-propelled inspection apparatus 100 may move onto the mounting unit 11 in accordance with the timing after recognizing the marking unit or the RFID tag. As a method of attracting the suction mechanism 130 to the mounting portion 11, if the suction mechanism 130 is moved onto the mounting portion 11 as an electromagnet and then energized, it can be attracted by magnetic force. Alternatively, if the suction mechanism 130 is a suction pad, it can be sucked by the negative pressure in the pad if it is sucked after moving onto the mounting portion 11. Next, the self-propelled inspection device 100 operates the input chute 6 and the conveyance belt 4 and measures the gallery 5 and the frame in the gallery 5 using a camera or a two-dimensional scanner by using the inspection unit 113. Inspect Gallery 5 and the frames in Gallery 5. The operator may perform the operation and stop of the charging chute 6 and the conveyor belt 4 while confirming the position of the self-propelled inspection device 100. In addition, the self-propelled inspection device 100 inspects the roller and the bearing portion by detecting abnormal noise from the roller and the bearing portion using the inspection unit 113.

  When reaching the vicinity of the deck 7b, the self-propelled inspection device 100 next stops the operation of the throwing chute 6 and the movement of the conveyor belt 4. Finally, the self-propelled inspection device 100 removes the suction mechanism 130 from the mounting portion 11 and moves onto the deck 7b, then operates the input chute 6 and the conveyor belt 4 and descends the stairs 8b. The operator may perform the operation and stop of the charging chute 6 and the conveyor belt 4 while confirming the position of the self-propelled inspection device 100. Thereby, the inspection work of the belt conveyor facility 1 is completed. When moving to the next belt conveyor equipment 1 to be inspected after completion of the inspection work, the self-propelled inspection device 100 is directed to the belt conveyor equipment 1 to be inspected using the information stored in the information storage unit 114. When the inspection work of all the belt conveyor facilities 1 to be inspected is completed, the vehicle returns to the base.

  FIGS. 5A and 5B are diagrams showing a configuration of a facility management system based on a historical trend including a self-propelled inspection apparatus according to an embodiment of the present invention. As shown in FIG. 5 (a), after returning to the base, the self-propelled inspection device 100 uses the information stored in the information storage unit 114 by radio communication such as Wi-Fi (registered trademark). The data is immediately sent to the PC, terminal, etc., and transferred and stored in the database of the external PC 200. As a result, the person in charge O can immediately know the inspection result, and if the database is accessed, the facility management of the same belt conveyor is performed based on the medium- to long-term historical trend as shown in FIG. 5B. Can be used for future condition prediction and repair plans. In the historical trend, when the current inspection value or the predicted inspection value predicted in the future falls below or exceeds the set threshold value, it is better to alert the person in charge with an alarm or the like.

  As is clear from the above description, the belt conveyor equipment inspection system according to an embodiment of the present invention is a self-propelled vehicle that checks the belt conveyor equipment 1 and the mounting portion 11 provided on the conveyor belt 4 of the belt conveyor equipment 1. Since the self-propelled inspection apparatus 100 includes the apparatus main body 110 and the adsorption mechanism 130 that adsorbs the apparatus main body 110 to the mounting portion 11, an operator is not required. The belt conveyor facility 1 can be inspected safely, simply, and inexpensively. In addition, since the belt conveyor facility 1 is inspected from the inside, it is possible to approach the inspection object and improve the inspection accuracy.

  The embodiment to which the invention made by the present inventors is applied has been described above, but the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention. That is, other embodiments, examples, operational techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Belt conveyor equipment 2 Tail pulley 3 Head pulley 4 Conveyor belt 5 Gallery 6 Input chute 7a, 7b Deck 8a, 8b Stair 9 Discharge chute 11 Mount part 100 Self-propelled inspection apparatus 110 Main body 111 1st position estimation part 112 2nd position Estimation unit 113 Inspection unit 114 Information storage unit 115 Control unit 120 Traveling unit 130 Adsorption mechanism

Claims (4)

A mounting portion provided on a conveyor belt of a belt conveyor facility;
A self-propelled inspection device for inspecting the belt conveyor facility,
The self-propelled inspection device is:
The device body;
An adsorption mechanism for adsorbing the apparatus main body to the mounting unit;
A belt conveyor equipment inspection system comprising:   The self-propelled inspection apparatus includes a traveling unit that causes the apparatus main body to travel to the vicinity of a belt conveyor facility to be inspected using an outdoor or indoor positioning technique and a self-position recognition technique. The belt conveyor equipment inspection system described.   The belt conveyor according to claim 1 or 2, wherein the self-propelled inspection device includes a moving mechanism that can attach and detach an inspection device at a tip position and can move the tip position to an arbitrary position. Equipment inspection system.   The self-propelled inspection device has a function of notifying a person in charge of an inspection result and a function of recording the inspection result in an information processing device, according to any one of claims 1 to 3. Belt conveyor equipment inspection system.

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