Belt condition monitoring device and method for a self-powered belt conveyor

Abstract

The present invention relates to a belt condition monitoring device and method for a self-powered belt conveyor, comprising: an impact power generation sensor, a rotational power generation sensor, and a weighing sensor installed on buffer idlers; the impact power generation sensor, the rotational power generation sensor, and the weighing sensor are electrically connected to a signal acquisition and processing unit, the signal acquisition and processing unit is electrically connected to a central processing unit, and the central processing unit is electrically connected to a database and an interaction unit; the impact power generation sensor and the rotational power generation sensor are electrically connected to a bus power supply unit. The present invention utilizes the falling material impact and the rotation of the belt idlers to form a device that can generate both information and electrical energy, completing two functions of belt surface condition detection and material flow rate detection. Under the belt load condition, the volume of the material flow is detected in real time to achieve real-time acquisition of the material flow information, and under the belt no-load condition, the belt surface video is collected in real time for monitoring. The power supply of the device uses the electrical energy generated by the sensors, making the installation and use more flexible.

Description

Technical Field

[0001] The invention relates to a belt state monitoring device for a self-powered belt conveyor, which is an online detection device and a safety detection device used for detecting the belt quality of the belt conveyor to ensure safe production. Background Art

[0002] The belt conveyor is one of the key equipment for underground coal transportation. The quality of its belt surface (such as bulging, tearing, and damage) is not only related to the safe and reliable operation of the belt, but also the change of the coal flow on the belt surface directly affects the energy consumption of the belt conveyor. The existing belt surface state detection method mostly adopts no-load and load separation detection, that is, the belt surface state is detected when it is no-loaded, and the change of coal flow is detected when it is loaded. Two systems need to be installed to complete it, and the system needs to be powered separately. It is very inconvenient to install and use, and the effect of on-site use in application scenarios is not good. Summary of the invention

[0003] In order to overcome the problems of the prior art, the present invention proposes a belt state monitoring device for a self-powered belt conveyor. The device and method install a power generation sensor on the belt conveyor, which can not only sense the movement state of the belt and monitor the quality of the belt in real time, but also generate electricity for the instrument itself, thereby improving the safety of the belt conveyor.

[0004] The objective of the present invention is achieved as follows: A belt state monitoring device for a self-powered belt conveyor, comprising: an impact power generation sensor installed on a plurality of buffer rollers in a receiving section of the belt conveyor, at least two conventional rollers of the belt conveyor being provided with a rotation power generation sensor and a weighing sensor; the impact power generation sensor, the rotation power generation sensor, and the weighing sensor being electrically connected to a signal acquisition and processing unit, the signal acquisition and processing unit being electrically connected to a central processing unit, the central processing unit being electrically connected to a database and an interactive unit; the impact power generation sensor and the rotation power generation sensor being electrically connected to a convergence power supply unit.

[0005] Furthermore, the signal acquisition and processing unit is also electrically connected to the binocular video sensor and the lidar sensor.

[0006] Furthermore, the impact power generation sensor includes: a stator fixedly mounted on the belt frame and a mover capable of moving up and down together with the buffer roller.

[0007] Furthermore, the stator is an electromagnetic coil winding, and the mover is a permanent magnet.

[0008] Furthermore, the impulse power generation sensor is a piezoelectric sheet.

[0009] Furthermore, the rotation power generation sensor is a generator.

[0010] Further, the busbar power supply unit is provided with a storage battery.

[0011] A method for monitoring the belt state of a self-powered belt conveyor using the above monitoring device, the method comprising:

[0012] Process of no-load monitoring:

[0013] Under the condition of the belt moving without load, the binocular video sensor collects real-time video images of the belt surface, and compares the currently collected video images of the belt surface with the previously collected video images of the belt surface to determine whether there are defects such as surface breakage, tearing, and bulging on the belt surface. If a defect is found, an alarm is given and the machine is stopped for maintenance;

[0014] Monitoring process during normal operation, including the following steps:

[0015] Step 1, collect impact information: When the material falls from the upper computer and impacts the buffer idler, the impact power generation sensor records the impact intensity and frequency received by the belt;

[0016] Step 2, collect load-bearing information: When the material moves with the belt, the rotational power generation sensors with different spacings are used to monitor the load-bearing and movement conditions of the belt and the load of the corresponding idlers;

[0017] Step 3, store separately: After the signal acquisition and processing unit collects the impact intensity, the impact intensity is divided into multiple intensity levels and stored separately. When the impact frequency is received, the frequency density is analyzed, and the frequency density at different stages is stored separately;

[0018] Step 4, analyze and compare: The central unit analyzes the impact intensity and frequency of the belt and the load-bearing of the belt to analyze the tension received by the belt, stores the analysis results together with the synchronous data, and at the same time compares the current data with the previous data to determine the quality status of the belt;

[0019] Step 5, upload and display: Upload the analysis results to the upper computer of the transportation chain or the underground equipment monitoring center through wireless communication, and display them on the monitoring terminal in the form of a table or a coordinate graph;

[0020] Power generation process:

[0021] During the process of no-load monitoring, the electric energy generated by the rotational power generation sensor is transmitted to the busbar power supply unit. The busbar power supply unit collects and rectifies the collected electric energy, converts this electric energy into a stable power supply for each unit to use, and stores the excess electric energy in the storage battery;

[0022] During the monitoring process of routine work, the electric energy generated by the impact power generation sensor and the rotational power generation sensor is transmitted to the busbar power supply unit. The busbar power supply unit makes the collected electric energy into a stable power supply through collection and rectification for each unit to use, and stores the excess electric energy in the storage battery.

[0023] Further, while performing the step 1-2, it also includes turning on the binocular video sensor to detect the volume of the material flow in real time, and turning on the lidar sensor to monitor the speed of the material flow;

[0024] Step 3 also includes: converting the volume and speed of the material flow into material flow information in combination with the material pile density, analyzing the material flow information, and storing the size and weight levels of the material flow separately;

[0025] Step 4 also includes: analyzing the quality state of the belt by combining the impact strength and frequency and the load of the belt with the material flow information.

[0026] The advantages and beneficial effects of the present invention are: the present invention utilizes the falling material impact and the rotation of the belt idler to form a device that can generate both information and electric energy, and completes two functions of belt surface state detection and material flow detection. Under the belt load condition, the volume of the material flow is detected in real time, and combined with the belt speed and the material pile density, it is converted into the material flow, realizing the real-time acquisition of the material flow information. Under the belt no-load condition, the belt surface video is collected in real time, and when defects such as belt surface breakage, tearing, and bulging occur, an alarm can be given in time and the machine can be shut down for maintenance. The power supply of the device uses the electric energy generated by the sensor, without an external power supply, saving energy and making the installation and use more flexible and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the device described in Embodiments 1 and 2 of the present invention installed on a belt conveyor;

[0028] Figure 2 is a system block diagram of the device described in Embodiment 1 of the present invention;

[0029] Figure 3 is a system block diagram of the device described in Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] Embodiment 1:

[0031] This embodiment is a belt state monitoring device for a self-powered belt conveyor, as Figure 1 、 2 shown, where Figure 1 is the installation schematic diagram of the monitoring device on the belt conveyor, Figure 2Structural principle block diagram. This embodiment includes: an impact power generation sensor 2 installed on a plurality of buffer rollers 1 in the receiving section of a belt conveyor, and rotation power generation sensors 4 and weighing sensors 5 are provided on at least two conventional rollers 3 of the belt conveyor; the impact power generation sensor, rotation power generation sensor, and weighing sensor are electrically connected to a signal acquisition and processing unit, the signal acquisition and processing unit is electrically connected to a central processing unit, and the central processing unit is electrically connected to a database and an interaction unit; the impact power generation sensor and rotation power generation sensor are electrically connected to a bus power supply unit.

[0032] The main idea of this embodiment is to monitor the buffer rollers receiving the falling material and the rotation of the conventional rollers, record the impact and frequency of the received belt, as well as the stretching condition during the movement of the belt, and use the method of big data analysis to monitor the quality of the belt. When the data accumulates to a certain extent, the diagnosis of the belt quality can be realized. That is to say, when the belt receives a certain number of large impacts and a certain number of large stretches, qualitative changes will inevitably occur inside it. According to the magnitude of the qualitative changes, it can be determined whether the belt needs to be maintained or replaced. According to this idea, this embodiment sets up impact sensors and rotation sensors, and uses these two sensors and the cooperating weighing sensors to monitor and accumulate data, and finally achieve the purpose of evaluating the belt quality.

[0033] In this embodiment, the impact sensor and rotation sensor are designed as sensors with power generation capabilities. Generally, the signals output by sensors are weak electrical signals as long as they can transmit information. However, in this embodiment, the energy generated by the buffer rollers is relatively large, and larger sensors must be used. These energies are discarded after detection, which is a pity. Therefore, this embodiment collects this energy as the energy source of the instrument, so that both the necessary information is obtained and the energy is saved.

[0034] Similarly, in this embodiment, a rotation power generation sensor is used when detecting the movement state of the belt. The translational movement of the belt is converted into the rotational movement of the roller, and the rotation generated by the friction between the belt and the roller is combined with the weight of the current belt carried by the weighing sensor to estimate the tension borne by the belt, and analyzed through big data to obtain an evaluation of the belt quality. In this embodiment, the rotation power generation sensor and the weighing sensor are in one-to-one correspondence, that is, a weighing sensor will be installed together with the conventional roller where the rotation power generation sensor is installed.

[0035] It should be noted that the belt conveyor described in this embodiment is provided with an impact-resistant section, that is, some buffer rollers that can bounce up and down are specially provided at the head or near the head of the belt conveyor. During operation, these buffer rollers in the impact-resistant section of the belt conveyor are arranged on the upper conveyor 6 (see Figure 1) is located below the discharge port of the belt conveyor, specifically for receiving materials input by the upper computer. When materials fall onto the belt, these buffer rollers can move downward under the impact of the materials to play a buffering role, and automatically return to their original positions when they are not subjected to impact. Therefore, this embodiment utilizes this up and down movement to collect the up and down movement capabilities, both as sensor output signals and as energy output. Compared with buffer rollers, other belt conveyor rollers that do not have impact resistance are called conventional rollers, or simply rollers.

[0036] In order to analyze more data and improve the analysis and diagnosis capabilities, this embodiment can also add sensors for detecting the shape of material accumulation on the belt and sensors for detecting the material movement speed. The former can be a binocular video sensor or a 3D camera, etc., and the latter can be a lidar or sonar sensor. At the same time, these two sensors can also be interchangeable with each other, that is, the video sensor can also measure the movement speed of the material flow, and the lidar or sonar can also measure the shape of the material.

[0037] The shape of the material pile and the speed of the material are also important factors in judging the quality of the belt. By judging the shape of the material pile, the distribution and weight of the material can be obtained, which is very important for judging the uneven force of the belt. The shape of the material pile and the weighing sensor can determine the density of the material, and then calculate the dryness and wetness of the material and the stacking angle and other parameters. These parameters are very important information for the later transportation process.

[0038] The signal acquisition and analysis unit, central processing unit, database, interactive unit, etc. described in this embodiment can be integrated into an industrial PC, or integrated into other devices with electronic digital storage, computing and display functions, such as embedded systems, enhanced single-chip microcomputers and other electronic devices, and can even be integrated into the centralized control computer system of the entire belt conveyor system to perform centralized data sharing and big data analysis with other belt conveyor equipment.

[0039] Embodiment 2:

[0040] This embodiment is an improvement of the above embodiment and is a refinement of the above embodiment regarding the signal acquisition and analysis unit. The signal acquisition and processing unit described in this embodiment is also electrically connected to the binocular video sensor 7 and the laser radar sensor 8, such as Figure 1 As shown, the electrical connection principle diagram is shown in Figure 3 .

[0041] The binocular video sensor and the lidar sensor are installed above the belt conveyor and can be installed on a door-shaped bracket, such as Figure 1 As shown, this bracket straddles the conveyor belt and two sensors look down at the passing belt and the material on it.

[0042] A binocular video sensor is a 3D stereoscopic photography device that can calculate the size and distance of an observed object through the parallax between two cameras. In this embodiment, this feature of the binocular video sensor is utilized to calculate the volume and shape of the material pair.

[0043] A lidar sensor is a sensor that can measure the motion speed of an object through the Doppler effect. At the same time, through the Doppler effect, the shape of the object can also be measured. For this embodiment, it is the shape of the material pile, but the accuracy is relatively lower than that of the binocular video sensor.

[0044] Embodiment Three:

[0045] This embodiment is a refinement of the above embodiment and a refinement of the above embodiment regarding the impact power generation sensor. The impact power generation sensor described in this embodiment includes: a stator fixedly installed on the belt rack and a rotor that can move up and down together with the buffer idler.

[0046] The impact power generation sensor described in this embodiment is a device that generates electricity by moving up and down. The process of generating electric energy can be generating electricity using an electromagnetic field or generating piezoelectric effect electricity when the piezoelectric sheet is impacted.

[0047] Embodiment Four:

[0048] This embodiment is a refinement of the above embodiment and a refinement of the above embodiment regarding the impact power generation sensor. The stator described in this embodiment is an electromagnetic coil winding, and the rotor is a permanent magnet.

[0049] When the permanent magnet of the rotor moves up and down with the buffer, an induced current is generated in the electromagnetic coil of the stator, forming a power generation output. Moreover, the generation of the induced current also has a certain damping effect, which is equivalent to setting a damper on the buffer idler, reducing the ineffective vibration of the buffer idler.

[0050] Embodiment Five:

[0051] This embodiment is a refinement of the above embodiment and a refinement of the above embodiment regarding the impact power generation sensor. The impact power generation sensor described in this embodiment is a piezoelectric sheet.

[0052] The piezoelectric sheet is arranged on the stator, and the rotor is just a simple impact surface that impacts the piezoelectric sheet to generate electric energy. This impact method must be equipped with a buffer device, that is, a set of buffer devices are set at the position where the piezoelectric sheet is installed to avoid damage to the piezoelectric by impact.

[0053] Embodiment Six:

[0054] This embodiment is a refinement of the above embodiment and a refinement of the above embodiment regarding the rotational power generation sensor. The rotational power generation sensor described in this embodiment is a generator.

[0055] Rotary power generation is a very mature power generation method with high efficiency. The disadvantage is that it is equivalent to generating damping on the rotation of the idler. Therefore, the power of the generator selected by the rotary power generation sensor cannot be too large to avoid interfering with the movement of the belt. However, due to the high power generation efficiency, even a small and micro generator with low power can generate sufficient energy for each processing unit and other sensors to use.

[0056] Embodiment Seven:

[0057] This embodiment is a refinement of the above embodiment and a refinement of the above embodiment regarding the busbar power supply unit. The busbar power supply unit described in this embodiment is provided with a storage battery.

[0058] Although the impact power generation sensor can generate very powerful electric energy, since impact is an intermittent movement and is very unstable, a large capacitor is required for stabilization. Basically, it is better to use a storage battery to store energy when too much power is generated. Due to the rapid development of modern power batteries, using a storage battery to store excess energy is a very good choice, which can make the entire device completely independent of the mains power supply and form a completely independent system.

[0059] Embodiment Eight:

[0060] This embodiment is a method for monitoring the belt state of a self-powered belt conveyor using the above monitoring device. The basic idea of this embodiment is: by recording the intensity and frequency of the belt being impacted by materials, as well as the tension borne by the belt when carrying materials, and accumulating these data to form an expert system. When monitoring on-site, the quality assessment of the belt is realized by analyzing and comparing the data from the past to avoid safety accidents such as belt breakage.

[0061] The specific processes and steps of the method include:

[0062] This embodiment includes three processes: the process of no-load monitoring, that is, when there is no material on the belt, the surface of the belt is observed optically. Another process is the monitoring during the transportation operation of the belt conveyor, and the third process is the power generation process.

[0063] 1. The process of no-load monitoring:

[0064] Under the condition of the belt moving without load, the binocular video sensor collects the video image of the belt surface in real time, and compares the currently collected video image of the belt surface with the previously collected video image of the belt surface to determine whether there are defects such as belt surface damage, tearing, and bulging on the belt surface. If a defect is found, an alarm is given and the machine is stopped for maintenance.

[0065] The surface of a conventional belt is usually observed by the naked eye of a person. However, the method adopted in this embodiment is video image analysis. Due to the rapid development of modern video image analysis technology, the comparative analysis of video images has been very mature. Therefore, only the image of the belt surface when it is in good quality needs to be recorded and compared with the current belt surface, and the current condition of the belt can be evaluated. Even the videos of multiple time periods can be compared to identify the subtle changes that occur on the belt surface, so as to monitor the possible fault points of the belt and achieve early warning. The observation process in this embodiment is completely automatically completed by the video image analysis software without any manual operation.

[0066] II. The monitoring process during normal operation is as follows:

[0067] Step 1, collect impact information: When the material falls from the upper computer and impacts the impact buffer idler, the impact power generation sensor records the impact intensity and frequency that the belt receives.

[0068] Due to the limitation of the accuracy of the sensor itself, there is a certain threshold for recording the impact intensity, and smaller impacts cannot be recorded. However, this does not affect the accuracy of the recording because the impacts that can affect the belt surface by forming impacts on the belt must be larger impacts. Therefore, smaller impacts can be completely ignored.

[0069] Step 2, collect load information: When the material moves with the belt, the load and movement conditions of the belt and the load of the corresponding idlers are monitored through rotation power generation sensors with different spacings.

[0070] The collection of load information is completely completed by the rotation power generation sensor and the weighing sensor together. When the load on the belt is small, the friction force of the belt on the idler is also small. Coupled with the damping effect of the generator itself, the rotation power generation sensor does not rotate fully enough. By comparing with the true movement speed of the belt and comparing the data of adjacent belts with rotation power generation sensors and weighing sensors, the tension that the current belt receives can be judged.

[0071] Step 3, store separately: After the signal acquisition and processing unit collects the impact intensity, the impact intensity is divided into multiple intensity levels and stored separately. For the impact frequency, the frequency density is analyzed and stored separately for different stages.

[0072] Storing data is a very important step because only by storing data correctly can the effect of big data analysis be achieved. In this embodiment, various data are screened and classified, and different classifications are stored separately for application. For example, the impact strength is usually divided into seven levels: weak, medium-weak, medium, medium-strong, strong, extra-strong, and extremely strong. Only by comparing and analyzing these seven levels separately during analysis can correct conclusions be obtained. Storage can quickly extract this data, reducing waste of resources and time.

[0073] Step 4, analysis and comparison: The central unit analyzes the impact strength and frequency of the belt and the load-bearing capacity of the belt to analyze the tension received by the belt, stores the analysis results together with the synchronized data, and at the same time compares the current data with the previous data to determine the quality status of the belt.

[0074] The key to this embodiment lies in the analysis of previous data and the comparison between previous data and current data. Therefore, the storage and analysis of previous data is a very important process. Without the support of previous data, the current judgment cannot achieve the application effect.

[0075] Step 5, upload and display: Upload the analysis results to the upper computer of the transportation chain or the underground equipment monitoring center through wireless communication, and display them on the monitoring terminal in the form of a table or a coordinate graph.

[0076] The analysis results can be uploaded to the transportation chain control center or the underground equipment monitoring center through wireless transmission methods such as 4G, 5G, or underground ultra-wideband Wi-Fi6, and displayed on the screen in an electronic display manner. The analysis results can be made into a table, a histogram, or a coordinate graph to convey the necessary information in a direct visual way, including information such as the current surface quality and elongation of the belt.

[0077] Power generation process:

[0078] During the no-load monitoring process, the electric energy generated by the rotating power generation sensor is transmitted to the busbar power supply unit. The busbar power supply unit collects and rectifies the collected electric energy, converts this electric energy into a stable power supply for each unit to use, and stores the excess electric energy in the storage battery;

[0079] During the monitoring process during normal operation, the electric energy generated by the impact power generation sensor and the rotating power generation sensor is transmitted to the busbar power supply unit. The busbar power supply unit makes the collected electric energy into a stable power supply for each unit to use through collection and rectification, and stores the excess electric energy in the storage battery.

[0080] Since the electrical energy collected is all unstable energy, it is necessary to rectify it and use a relatively large capacitor for current stabilization, or use other electronic devices for current stabilization to make the power supply meet the requirements of the electronic circuit.

[0081] Embodiment Nine:

[0082] This embodiment is an improvement of Embodiment Eight and a refinement of the monitoring data in Embodiment Eight. While performing steps 1 - 2 of this embodiment, it also includes turning on the binocular video sensor to detect the volume of the material flow in real time and turning on the lidar sensor to monitor the speed of the material flow; the material speed detected by the lidar sensor is the actual movement speed of the material flow, while the rotation power generation sensor detects the rotation speed of the idler caused by the friction between the belt and the idler. Therefore, the material flow speed detected by the lidar sensor is not equal to the material flow speed measured by the rotation of the idler. This embodiment precisely uses the difference between these two speeds to evaluate the quality of the belt and thus monitor the current quality state of the belt.

[0083] Step 3 further includes: converting the material flow volume and material flow speed combined with the material pile density into material flow information, analyzing the material flow information, and storing the size and weight levels of the material flow separately.

[0084] Step 4 further includes: combining the impact intensity and frequency as well as the load of the belt with the material flow information to analyze the quality state of the belt.

[0085] Adding two data sources can make the analysis more accurate and the judgment more precise.

[0086] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred arrangement, those of ordinary skill in the art should understand that the technical solution of the present invention (such as the form and structure of the belt conveyor, the form and structure of the sensors used, the form and structure of the processing unit, etc.) can be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for monitoring the belt state of a self-powered belt conveyor, and the device used in the method comprises: Impact power generation sensors installed on multiple buffer idlers in the receiving section of the belt conveyor, and rotation power generation sensors and weighing sensors are provided on at least two conventional idlers of the belt conveyor; the impact power generation sensors, rotation power generation sensors, and weighing sensors are electrically connected to a signal acquisition and processing unit, the signal acquisition and processing unit is electrically connected to a central processing unit, and the central processing unit is electrically connected to a database and an interaction unit; the impact power generation sensors and rotation power generation sensors are electrically connected to a busbar power supply unit; the signal acquisition and processing unit is also electrically connected to a binocular video sensor and a lidar sensor; The impact power generation sensor includes: a stator fixedly installed on the belt rack and a mover that can move up and down together with the buffer idler; the stator is an electromagnetic coil winding, and the mover is a permanent magnet; the impact power generation sensor is a piezoelectric sheet; the rotation power generation sensor is a generator; the busbar power supply unit is provided with a storage battery; the method includes: The process of no-load monitoring: Under the condition of the belt running without load, the binocular video sensor collects real-time video images of the belt surface, and compares the currently collected video images of the belt surface with the previously collected video images of the belt surface to determine whether there are defects such as belt surface damage, tearing, and bulging on the belt surface. If a defect is found, an alarm is given and the machine is stopped for maintenance; The monitoring process during normal operation includes the following steps: Step 1, collect impact information: When the material falls from the upper computer and impacts the buffer idler, the impact power generation sensor records the impact intensity and frequency received by the belt; Step 2, collect load information: When the material moves with the belt, the rotation power generation sensors at different intervals are used to monitor the load and movement conditions of the belt and the load of the corresponding idlers; Step 3, store separately: After the signal acquisition and processing unit collects the impact intensity, it divides the impact intensity into multiple intensity levels and stores them separately. It analyzes the frequency density of the received impact frequency and stores the frequency density at different stages separately; Step 4, analyze and compare: The central unit analyzes the impact intensity and frequency of the belt and the load of the belt to analyze the tension received by the belt, stores the analysis results in synchronization with the data, and compares the current data with the previous data to determine the quality status of the belt; Step 5, upload and display: Upload the analysis results to the upper computer of the transportation chain or the underground equipment monitoring center by wireless communication, and display them on the monitoring terminal in the form of a table or a coordinate graph; The power generation process: During the process of no-load monitoring, the electric energy generated by the rotation power generation sensor is transmitted to the busbar power supply unit. The busbar power supply unit collects and rectifies the collected electric energy, converts this electric energy into a stable power supply for each unit to use, and stores the excess electric energy in the storage battery; During the monitoring process of routine work, the electric energy generated by the impact power generation sensor and the rotational power generation sensor is transmitted to the busbar power supply unit. The busbar power supply unit makes the collected electric energy into a stable power supply for each unit to use through collection and rectification, and stores the redundant electric energy in the storage battery.

2. The monitoring method according to claim 1, characterized in that, while performing step 1-2, it further includes turning on the binocular video sensor to detect the volume of the material flow in real time, and turning on the lidar sensor to monitor the speed of the material flow; Step 3 further includes: converting the volume and speed of the material flow into material flow information in combination with the material pile density, analyzing the material flow information, and storing the size and weight levels of the material flow separately; Step 4 further includes: analyzing the quality state of the belt by combining the impact intensity and frequency and the load of the belt with the material flow information.

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