An intelligent robot inspection system based on coal belt transportation

Abstract

The present invention discloses an intelligent robot inspection system based on coal belt transportation, which relates to the field of intelligent robot systems; it is used to solve the problem that existing intelligent robots cannot detect and feedback belt conveyors in abnormal states, thereby affecting the belt's transportation of coal; it includes a data acquisition module, a database, a server and a data execution module. The present invention dynamically monitors various types of information during the operation of the belt through the inspection robot, analyzes and processes various types of operation information during the operation, and feeds back to the data execution module based on the obtained results, so that different solutions can be executed according to the feedback results. Through the adjustment of the equipment itself and the processing of management personnel, different abnormal states can be targeted, thereby realizing timely feedback of abnormal situations by the inspection robot and adjustment of parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robot systems, and in particular to an intelligent robot inspection system based on coal belt transportation. Background Art

[0002] Coal transportation is a daily, labor-intensive task in coal mining. Belt conveyors are currently the primary means of transporting materials in coal mining. The proper functioning of belt conveyors is directly related to the smooth operation of coal mine production. In the coal production process, belt conveyors offer the advantages of long transport distances, large transport volumes, smooth transportation, and high transport efficiency. They serve as a link for the continuous transport of coal from underground workings to surface workings, ensuring continuous coal production, improving production efficiency, and reducing labor intensity.

[0003] When coal is transported on a belt, intelligent robots are needed for inspection. However, existing intelligent robots are unable to detect and provide feedback on abnormal belt conveyors, which affects the belt's transportation of coal. In order to solve the above problems, we have designed an intelligent robot inspection system based on coal belt transportation. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the existing intelligent robot is unable to detect and feedback the abnormal state of the belt conveyor, which affects the belt's transportation of coal, and to propose an intelligent robot inspection system based on coal belt transportation.

[0005] The object of the present invention can be achieved by the following technical solution: comprising a data acquisition module, a database, a server and a data execution module;

[0006] The data acquisition module collects operation information in real time through intelligent robots and sends the operation information to the database;

[0007] The server analyzes and processes the operation information. The specific process is as follows:

[0008] Processing the operation information to obtain parameter values, wherein the parameter values include the movement speed value, deviation value, damage value, breakage value and adhesion value of the belt equipment;

[0009] Compare the parameter value with the corresponding preset machine value range, and when the parameter value does not belong to or is higher than the corresponding preset machine value range, generate a corresponding signal group, wherein the signal group includes an abnormal speed signal, an abnormal deviation signal, an abnormal noise signal, an abnormal damage signal and a cleaning signal;

[0010] Send the signal group to the data execution module:

[0011] The data execution module is used to receive the signal group and perform the corresponding control operations; specifically:

[0012] When an abnormal speed signal is received, the power supply frequency and the number of pole pairs of the motor are acquired and these acquired data are adjusted respectively;

[0013] When an abnormal deviation signal is received, the deviation position and deviation slope corresponding to each monitoring point are obtained, and the deviation position is corrected through the belt corrector;

[0014] When an abnormal noise signal is received, the noise level of the equipment itself and the distance between the worker and the equipment are obtained. The normal operation of the equipment is stopped and the cause of the fault is investigated.

[0015] When an abnormal damage signal is received, the image information on the conveyor belt is collected, the location of the damaged part on the conveyor belt is analyzed, the operation of the equipment is immediately stopped, and the damaged belt is repaired or replaced;

[0016] When a cleaning signal is received, the image information, thickness information and position information on the conveyor belt are collected, the position and thickness of the attachments are analyzed, and the cleaning mechanism is controlled to clean the attachments.

[0017] As a preferred embodiment of the present invention, the server includes a speed analysis module, a deviation analysis module, a noise analysis module, a damage analysis module and a cleaning analysis module;

[0018] The speed analysis module is used to process the power frequency at different times. Specifically: the initial time is marked as , the end time is T , and mark the collected moments as , the power supply frequencies corresponding to different moments are marked as , through the formula Get the average power frequency f during this time period, and then use the obtained average power frequency f and the number of magnetic poles p of the motor to get the belt movement speed value A through the formula A=60*f / p;

[0019] The deviation analysis module is used to process the deviation distance of the belt within the monitoring point. Specifically, the numerical points corresponding to the monitoring points in the broken line graph are drawn, the numerical points of two adjacent monitoring points are connected to obtain the deviation numerical line, and the slope of each deviation numerical line and the angle with the horizontal line are calculated. When the angle between the deviation numerical line and the horizontal line is an acute angle, the slope of the deviation numerical line is marked as the first slope. When the angle between the deviation numerical line and the horizontal line is an obtuse angle, it is marked as the second slope. All the first slopes are summed to obtain the first total value. , sum up all the second slope values to get the second total value and mark it as , connect the numerical point that is ranked first in the line graph, connect the numerical point that is ranked first and the numerical point that is ranked last in the line graph to obtain a line segment and mark the line segment as the preceding line, calculate the slope of the preceding line and the angle with the horizontal line, when the angle between the preceding line and the horizontal line is acute, mark the slope of the preceding line as the third slope, and the value of the third slope is represented by the symbol M1; when the angle between the preceding line and the horizontal line is obtuse, mark the slope of the preceding line as the fourth slope, and the fourth slope is represented by the symbol M2, calculate the vertical distance between the highest numerical point and the lowest numerical point and mark the value of the vertical distance as ; Using the formula B=( / ) ×t1+M*×t2+ × t3 to obtain the deviation value B; where * = 1 or 2; t1, t2 and t3 are all preset weight ratios;

[0020] The noise analysis module is used to process the noise of the belt working process. Specifically, it collects the noise value of the belt working process in real time. , through the formula C= , The distance from the noise source is 1 meter, and lg represents the logarithm with base 10, where The value of varies according to the distance between the worker and the equipment, and Always take the value based on the worker closest to the equipment;

[0021] The damage analysis module is used to process the damage of the belt. Specifically, it collects the number of belt damages and the area of each belt damage in real time, and calibrates the number of belt damages collected as n and the area of each belt damage as n. , add up all the damaged areas and get the damage degree value D;

[0022] The cleaning analysis module is used to process the attachments generated by the belt. Specifically, it collects the number of attachments on the belt surface and marks the thickness of each attachment as , the bottom area of the corresponding attachment is marked as , respectively The volume of each attachment is obtained, and the attachment value E is obtained by adding up all the obtained volumes.

[0023] As a preferred embodiment of the present invention, each obtained value is compared with the corresponding preset machine value range in the database. The specific processing process is as follows:

[0024] S1: If the belt speed value A does not fall within the preset speed value range, an abnormal speed signal is generated and sent to the data execution module. The data execution module analyzes the abnormal speed signal to obtain the power supply frequency and the number of magnetic pole pairs of the motor at that time, and adjusts these data through the intelligent robot;

[0025] S2: If the belt deviation value B does not fall within the preset value range, an abnormal deviation signal is generated and fed back to the data execution module. The abnormal deviation signal is analyzed by the data execution template to obtain the deviation position and deviation slope corresponding to each monitoring point. The belt straightener is adjusted according to the obtained parameters.

[0026] S3: If the damage value C exceeds the preset noise value range, an abnormal noise signal is generated and fed back to the data execution template. The data execution module obtains the noise value of the equipment itself and the distance between the worker and the equipment. After stopping the normal operation of the equipment, the cause of the fault is analyzed and the equipment is adjusted accordingly.

[0027] S4: If the damage value of the belt is higher than the preset damage value range, an abnormal damage signal is generated and fed back to the data execution module. The data execution module obtains the location and area of the damage, calculates the obtained data, and replaces or repairs the damaged belt;

[0028] S5: When the attachment value E is higher than the preset attachment value range, a cleaning signal is generated and fed back to the data execution module. The data execution module obtains the volume of attachments at each location, and the inspection robot controls the cleaning mechanism to clean the attachments at different locations.

[0029] As a preferred embodiment of the present invention, it includes a transport device, a cleaning mechanism is provided on the top of the transport device, and the cleaning mechanism includes a first mounting bracket, the first mounting bracket is fixedly connected to the top of the transport device, a driving motor is installed on the left wall of the first mounting bracket, the output end of the driving motor is fixedly connected to a screw rod, and the outer surface of the screw rod is threadedly connected to an adjusting seat, an electric push rod is installed at the bottom of the adjusting seat, and the extending end of the electric push rod is fixedly connected to the second mounting bracket, the adjusting motor is installed on the right wall of the second mounting bracket, and the outer surface of the output end of the adjusting motor is fixedly connected to a cleaning scraper, the rear side wall of the second mounting bracket is connected to a dirt storage box, and the second mounting bracket and the dirt storage box are both provided with a connecting groove, a cleaning brush roller is rotatably connected to the left inner wall of the transport device, and the right end of the cleaning brush roller and the right end of the screw rod are fixedly connected to a transmission wheel, and a transmission belt is connected for transmission between the two sets of the transmission wheels.

[0030] As a preferred embodiment of the present invention, the working hours of multiple equipment managers are obtained, the working hours of the multiple equipment managers are summed and averaged to obtain the average work value, and managers with working hours higher than the average work value are marked as senior equipment managers, and managers with working hours lower than the average work value are marked as general equipment managers.

[0031] As a preferred embodiment of the present invention, the server is also used to normalize the movement speed value A, the deviation distance value B, the damage value C, the breakage value D and the adhesion value E of the belt during transportation and substitute them into the formula , where FG is the overall fault value of the equipment, as well as They are all preset weight factors and are compared with the two early warning intervals in the database. When FG is within the first early warning interval, a general fault instruction is generated. When FG is within the second early warning interval, a high-level fault instruction is generated and fed back to the data execution module. The specific processing process of general fault instructions and high-level fault instructions is as follows: when a general fault instruction is triggered, a general fault instruction is issued to the screened general equipment management personnel mobile terminal through the data execution module, and each value is compared through each analysis module. The comparison result is fed back to the data execution module, and the specific value is obtained through the data execution module and then issued to the general equipment management personnel mobile terminal. When a high-level fault instruction is triggered, a high-level fault instruction is issued to the screened high-level equipment management personnel mobile terminal through the data execution module, and the comparison result is fed back to the data execution module. The specific value is obtained through the data execution module and then issued to the high-level equipment management personnel mobile terminal.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention uses a patrol robot to dynamically monitor various types of information during the operation of the belt, analyze and process various types of operating information during the operation, and provide feedback to the data execution module based on the obtained results, so that different solutions can be executed according to the feedback results. Through the adjustment of the equipment itself and the processing of the management personnel, different abnormal conditions can be targeted, thereby realizing the patrol robot's timely feedback on abnormal situations and parameter adjustment.

[0034] 2. The present invention can control the cleaning mechanism to accurately clean the attachments by analyzing the attachments on the belt surface. The command is transmitted to the drive motor, so that the drive motor drives the screw to rotate, and the adjustment seat moves on the screw to be directly above the attachment. The mounting frame is driven downward by the electric push rod, and the adjustment motor is started to adjust the angle of the cleaning scraper to clean the attachments. At the same time, the arrangement of the two sets of transmission wheels and transmission belts can further clean the dirt remaining on the belt after cleaning the attachments, saving manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0036] Figure 1 It is a principle block diagram of the present invention;

[0037] Figure 2 It is a diagram of the cleaning mechanism of the present invention;

[0038] Figure 3 for Figure 2 A local map of

[0039] Figure 4 It is a line graph of the present invention.

[0040] 1. Transport equipment; 111. First mounting bracket; 112. Drive motor; 113. Screw; 114. Adjustment seat; 115. Electric push rod; 116. Second mounting bracket; 117. Adjustment motor; 118. Cleaning scraper; 119. Dirt storage box; 120. Cleaning brush roller; 121. Drive wheel; 122. Drive belt. DETAILED DESCRIPTION

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] See also Figure 1 As shown, an intelligent robot inspection system based on coal belt transportation includes a data acquisition module, a database, a server and a data execution module;

[0043] The data acquisition module collects operating information in real time through an intelligent robot and sends it to the database. The operating information includes the power frequency during belt transportation, motor slip rate, number of motor pole pairs, belt deviation distance within the monitoring point, noise level of the belt equipment itself, damaged areas on the belt surface and the area of each damaged area, and the number, thickness, and area of attached objects.

[0044] The intelligent inspection robot is equipped with multiple cameras, and the position of the cameras can be adjusted according to the actual situation. The intelligent inspection robot is connected to the belt conveyor equipment through communication;

[0045] The database also includes a manager information group, which contains the basic information and working hours of the managers;

[0046] The server analyzes and processes the operation information, which is mainly divided into speed analysis module, deviation analysis module, noise analysis module, damage analysis module and cleaning analysis module. The specific process is as follows:

[0047] The speed analysis module collects the power frequency at different times, and the initial time is marked as , the end time is T , and mark the collected moments as , the power supply frequencies corresponding to different moments are marked as , through the formula The average power frequency f in the time period is obtained, and then the belt speed value A is obtained by using the formula A=60*f / p to calculate the average power frequency f and the number of magnetic poles p of the motor. When the belt speed value A does not fall within the preset speed value range, an abnormal speed signal is generated; and the abnormal speed signal is sent to the data execution module;

[0048] The deviation analysis module draws the numerical points corresponding to the monitoring points in the line graph, connects the numerical points of two adjacent monitoring points to obtain the deviation value line, calculates the slope of each deviation value line and the angle with the horizontal line, and when the angle between the deviation value line and the horizontal line is acute, the slope of the deviation value line is marked as the first slope, and when the angle between the deviation value line and the horizontal line is obtuse, it is marked as the second slope. All the first slopes are summed to obtain the first total value. , sum up all the second slope values to get the second total value and mark it as , connect the numerical point that is ranked first in the line graph, connect the numerical point that is ranked first and the numerical point that is ranked last in the line graph to obtain a line segment and mark the line segment as the preceding line, calculate the slope of the preceding line and the angle with the horizontal line, when the angle between the preceding line and the horizontal line is acute, mark the slope of the preceding line as the third slope, and the value of the third slope is represented by the symbol M1; when the angle between the preceding line and the horizontal line is obtuse, mark the slope of the preceding line as the fourth slope, and the fourth slope is represented by the symbol M2, calculate the vertical distance between the highest numerical point and the lowest numerical point and mark the value of the vertical distance as ; Using the formula B=( / ) ×t1+M*×t2+ × t3 to obtain the deviation value B; where * = 1 or 2; t1, t2, and t3 are all preset weight ratios. When the deviation value of the belt does not fall within the deviation preset value range, an abnormal deviation signal is generated and sent to the data execution module;

[0049] The noise analysis module collects the noise value of the belt working process in real time , through the formula C= Get the damage value C, The distance from the noise source is 1 meter, and lg represents the logarithm with base 10, where The value of varies according to the distance between the worker and the equipment, and The value is always taken according to the worker closest to the equipment. When the damage value C is higher than the preset noise value range, an abnormal noise signal is generated and sent to the data execution module;

[0050] The damage analysis module collects the number of belt damages and the area of each belt damage in real time, and calibrates the number of belt damages collected as n and the area of each belt damage as n. , add up all the damaged areas and get the damage degree value D. When the damage value of the belt is higher than the preset damage value range, an abnormal damage signal is generated and sent to the data execution module;

[0051] The cleaning analysis module collects the number of attachments on the belt surface and marks the thickness of each attachment as , the bottom area of the corresponding attachment is marked as , respectively The volume of each attachment is obtained, and all the volumes are added together to obtain an attachment value E. When the attachment value of the belt is higher than the attachment preset value range, a cleaning signal is generated and sent to the data execution module.

[0052] The specific process of the data execution module is as follows:

[0053] If the belt speed value A does not fall within the preset speed value range, an abnormal speed signal is generated and sent to the data execution module. The data execution module analyzes the abnormal speed signal to obtain the power supply frequency and the number of magnetic poles of the motor at that time. When the speed is low, the inspection robot increases the power of the belt device drive end. When the speed is high, the power of the belt device drive end is reduced.

[0054] When an abnormal deviation signal is received, the deviation position and deviation slope corresponding to each monitoring point are obtained, and the deviation position is corrected by the belt corrector. The belt corrector corrects and adjusts the belt according to the deviation slope at different positions;

[0055] When an abnormal noise signal is received, the noise value of the equipment itself and the distance between the worker and the equipment are obtained. After stopping the normal operation of the equipment, the cause of the fault is investigated and extracted. If the drive end is abnormal, the parameters of the drive end are adjusted or a spare drive end is used. If an abnormality occurs inside the equipment, the parameters of the equipment are analyzed, the abnormal parameters are extracted and adjusted;

[0056] When an abnormal damage signal is received, the image information on the conveyor belt is collected and analyzed to determine the location of the damaged part on the conveyor belt. The equipment is immediately stopped and the damaged areas of the belts are added and averaged to obtain the average damaged area. The number of damaged areas below the average damaged area and the number of damaged areas above the average damaged area are screened out and marked as P1 and P2 respectively. When P1 is greater than P2, the damaged belt is repaired by spraying. When P2 is less than P1, the belt is replaced.

[0057] When the cleaning signal is received, the image information, thickness information and position information on the conveyor belt are collected, the position and thickness of the attachments are analyzed, and the cleaning mechanism is controlled to clean the attachments. After the inspection robot receives the cleaning signal of the attachments, the drive motor is started to move the adjustment seat left and right on the screw rod, and move to the top of the attachment in advance. The electric push rod is started to drive the mounting frame to move downward, and the adjustment motor is started to adjust the angle of the cleaning scraper downward to clean the attachments. After cleaning, the angle is adjusted upward to move the attachments on the cleaning scraper into the dirt storage box for storage. While the screw rod rotates, the cleaning brush roller is driven to rotate through two sets of transmission wheels and transmission belts, so that after the cleaning scraper continues to clean the attachments, the cleaning brush roller further cleans the remaining attachments, ensuring the cleaning effect.

[0058] Furthermore, it includes a transport device 1, a cleaning mechanism is provided on the top of the transport device 1, and the cleaning mechanism includes a first mounting frame 111, the first mounting frame 111 is fixedly connected to the top of the transport device 1, a drive motor 112 is installed on the left side wall of the first mounting frame 111, the output end of the drive motor 112 is fixedly connected to a screw rod 113, and the outer surface of the screw rod 113 is threadedly connected to an adjustment seat 114, a limit block is fixedly connected to the rear side wall of the adjustment seat 114, a limit groove is provided on the upper inner wall of the first mounting frame 111 to match the limit block, and the limit block is slidably connected in the limit groove, and an electric push rod is installed at the bottom of the adjustment seat 114. Rod 115, and the extended end of the electric push rod 115 is fixedly connected to the second mounting bracket 116, an adjusting motor 117 is installed on the right side wall of the second mounting bracket 116, and the outer surface of the output end of the adjusting motor 117 is fixedly connected to a cleaning scraper 118, and the rear side wall of the second mounting bracket 116 is connected to a dirt storage box 119, and the second mounting bracket 116 and the dirt storage box 119 are both provided with connecting grooves, a cleaning brush roller 120 is rotatably connected to the left inner wall of the transport equipment 1, and the right end of the cleaning brush roller 120 and the right end of the screw rod 113 are fixedly connected to a transmission wheel 121, and a transmission belt 122 is connected between the two sets of transmission wheels 121.

[0059] It should be noted that after the inspection robot receives the cleaning signal of the attachments, it starts the drive motor 112, so that the adjustment seat 114 moves left and right on the screw rod 113, moves to the top of the attachment in advance, starts the electric push rod 115 to drive the second mounting bracket 116 to move downward, starts the adjustment motor 117 to adjust the angle of the cleaning scraper 118 downward to clean the attachments, and adjusts the angle upward after cleaning to move the attachments on the cleaning scraper 118 into the dirt storage box 119 for storage. While the screw rod 113 rotates, the cleaning brush roller 120 is driven to rotate through two sets of transmission wheels 121 and transmission belts 122, so that after the cleaning scraper 118 continues to clean the attachments, the cleaning brush roller 120 further cleans the remaining attachments, thereby ensuring the cleaning effect.

[0060] Obtain the working hours of multiple equipment managers, sum and average the working hours of multiple equipment managers to obtain the average working value, and mark the managers with working hours higher than the average working value as senior equipment managers, and the managers with working hours lower than the average working value as general equipment managers;

[0061] The server is also used to normalize the movement speed value A of the belt during transportation, the deviation distance value B of the belt, the damage value C, the breakage value D of the belt, and the adhesion value E and substitute them into the formula , where FG is the overall fault value of the equipment, as well as They are all preset weight factors and compared with the two early warning intervals in the database. When FG is within the first early warning interval, a general fault instruction is generated. When FG is within the second early warning interval, a high-level fault instruction is generated and fed back to the data execution module. The specific processing process of the general fault instruction and the high-level fault instruction is as follows: when the general fault instruction is triggered, the general fault instruction is issued to the general equipment management personnel mobile terminal after screening through the data execution module, and each analysis module compares each value, and the comparison result is fed back to the data execution module. After obtaining the specific value through the data execution module, it is issued to the general equipment management personnel mobile terminal. When the high-level fault instruction is triggered, the high-level fault instruction is issued to the high-level equipment management personnel mobile terminal after screening through the data execution module, and the comparison result is fed back to the data execution module. After obtaining the specific value through the data execution module, it is issued to the high-level equipment management personnel mobile terminal;

[0062] When a general fault instruction is generated, a position feedback instruction is simultaneously sent to the mobile terminals of all general equipment managers. The distance between the equipment and all general equipment managers is obtained, and the distance values are sorted in ascending order. The instruction is then sent to the mobile terminal of the general equipment manager with the smallest distance value. After receiving the instruction, the manager further obtains the parameters contained in the instruction through the mobile terminal and performs targeted processing on the equipment based on the parameters.

[0063] Generate a high-level fault instruction, send a position feedback instruction to the mobile terminals of all senior equipment managers, and screen out the senior equipment manager with the smallest distance value. After receiving the instruction, the manager obtains the parameters contained in the instruction through the mobile terminal. Based on the parameter results, the senior equipment manager can selectively send a high-level fault instruction to the mobile terminal of a random general equipment manager through the mobile terminal to jointly handle the abnormal situation of the equipment.

[0064] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent robot inspection system based on coal belt transportation, including a data acquisition module, a database, a server and a data execution module, characterized by: The data acquisition module collects operation information in real time through intelligent robots and sends the operation information to the database; The server analyzes and processes the operation information. The specific process is as follows: Processing the operation information to obtain parameter values, wherein the parameter values include the movement speed value, deviation value, damage value, breakage value and adhesion value of the belt equipment; Compare the parameter value with the corresponding preset machine value range, and when the parameter value does not belong to or is higher than the corresponding preset machine value range, generate a corresponding signal group, wherein the signal group includes an abnormal speed signal, an abnormal deviation signal, an abnormal noise signal, an abnormal damage signal and a cleaning signal; Send the signal group to the data execution module: The data execution module is used to receive the signal group and perform the corresponding control operations; specifically: When an abnormal speed signal is received, the power supply frequency and the number of pole pairs of the motor are acquired and these acquired data are adjusted respectively; When an abnormal deviation signal is received, the deviation position and deviation slope corresponding to each monitoring point are obtained, and the deviation position is corrected through the belt corrector; When an abnormal noise signal is received, the noise level of the equipment itself and the distance between the worker and the equipment are obtained. The normal operation of the equipment is stopped and the cause of the fault is investigated. When an abnormal damage signal is received, the image information on the conveyor belt is collected, the location of the damaged part on the conveyor belt is analyzed, the operation of the equipment is immediately stopped, and the damaged belt is repaired or replaced; When a cleaning signal is received, the image information, thickness information and position information on the conveyor belt are collected, the position and thickness of the attachments are analyzed, and the cleaning mechanism is controlled to clean the attachments; The server includes a speed analysis module, a deviation analysis module, a noise analysis module, a damage analysis module and a cleaning analysis module; The speed analysis module is used to process the power frequency at different times. Specifically: the initial time is marked as , the end time is T , and mark the collected moments as , the power supply frequencies corresponding to different moments are marked as , through the formula Get the average power frequency f during this time period, and then use the obtained average power frequency f and the number of magnetic poles p of the motor to get the belt movement speed value A through the formula A=60*f / p; The deviation analysis module is used to process the deviation distance of the belt within the monitoring point. Specifically, the numerical points corresponding to the monitoring points in the broken line graph are drawn, the numerical points of two adjacent monitoring points are connected to obtain the deviation numerical line, and the slope of each deviation numerical line and the angle with the horizontal line are calculated. When the angle between the deviation numerical line and the horizontal line is an acute angle, the slope of the deviation numerical line is marked as the first slope. When the angle between the deviation numerical line and the horizontal line is an obtuse angle, it is marked as the second slope. All the first slopes are summed to obtain the first total value. , sum up all the second slope values to get the second total value and mark it as , connect the numerical point that is ranked first in the line graph, connect the numerical point that is ranked first and the numerical point that is ranked last in the line graph to obtain a line segment and mark the line segment as the preceding line, calculate the slope of the preceding line and the angle with the horizontal line, when the angle between the preceding line and the horizontal line is acute, mark the slope of the preceding line as the third slope, and the value of the third slope is represented by the symbol M1; when the angle between the preceding line and the horizontal line is obtuse, mark the slope of the preceding line as the fourth slope, and the fourth slope is represented by the symbol M2, calculate the vertical distance between the highest numerical point and the lowest numerical point and mark the value of the vertical distance as ; Using the formula B=( / )×t1+M*×t2+ × t3 to obtain the deviation value B; where * = 1 or 2; t1, t2 and t3 are all preset weight ratios; The noise analysis module is used to process the noise of the belt working process. Specifically, it collects the noise value of the belt working process in real time. , through the formula C= , The distance from the noise source is 1 meter, and lg represents the logarithm with base 10, where The value of varies according to the distance between the worker and the equipment, and Always take the value based on the worker closest to the equipment; The damage analysis module is used to process the damage of the belt. Specifically, it collects the number of belt damages and the area of each belt damage in real time, and calibrates the number of belt damages collected as n and the area of each belt damage as n. , add up all the damaged areas and get the damage degree value D; The cleaning analysis module is used to process the attachments generated by the belt. Specifically, it collects the number of attachments on the belt surface and marks the thickness of each attachment as , the bottom area of the corresponding attachment is marked as , respectively The volume of each attachment is obtained, and the attachment value E is obtained by adding up all the obtained volumes.

2. The intelligent robot inspection system based on coal belt transportation according to claim 1 is characterized in that: Compare each obtained value with the corresponding preset machine value range in the database. The specific processing process is as follows: S1: If the belt speed value A does not fall within the preset speed value range, an abnormal speed signal is generated and sent to the data execution module. The data execution module analyzes the abnormal speed signal to obtain the power supply frequency and the number of magnetic pole pairs of the motor at that time, and adjusts these data through the intelligent robot; S2: If the belt deviation value B does not fall within the preset value range, an abnormal deviation signal is generated and fed back to the data execution module. The abnormal deviation signal is analyzed by the data execution template to obtain the deviation position and deviation slope corresponding to each monitoring point. The belt straightener is adjusted according to the obtained parameters. S3: If the damage value C exceeds the preset noise value range, an abnormal noise signal is generated and fed back to the data execution template. The data execution module obtains the noise value of the equipment itself and the distance between the worker and the equipment. After stopping the normal operation of the equipment, the cause of the fault is analyzed and the equipment is adjusted accordingly. S4: If the damage value D of the belt is higher than the preset damage value range, an abnormal damage signal is generated and fed back to the data execution module. The data execution module obtains the location and area of the damage, calculates the obtained data, and replaces or repairs the damaged belt; S5: When the attachment value E is higher than the preset attachment value range, a cleaning signal is generated and fed back to the data execution module. The data execution module obtains the volume of attachments at each location, and the inspection robot controls the cleaning mechanism to clean the attachments at different locations.

3. An intelligent robot inspection system based on coal belt transportation according to claim 2, comprising a transportation device (1), characterized in that: The cleaning mechanism comprises a first mounting frame (111), the first mounting frame (111) being fixedly connected to the top of the transport equipment (1), a driving motor (112) being mounted on the left side wall of the first mounting frame (111), an output end of the driving motor (112) being fixedly connected to a screw rod (113), and an outer surface of the screw rod (113) being threadedly connected to an adjustment seat (114), an electric push rod (115) being mounted on the bottom of the adjustment seat (114), and an extended end of the electric push rod (115) being fixedly connected to a second mounting frame (116), and a right side of the second mounting frame (116) An adjusting motor (117) is mounted on the wall, and a cleaning scraper (118) is fixedly connected to the outer surface of the output end of the adjusting motor (117). A dirt storage box (119) is connected to the rear side wall of the second mounting frame (116), and the second mounting frame (116) and the dirt storage box (119) are both provided with communicating grooves. A cleaning brush roller (120) is rotatably connected to the left inner wall of the transport device (1), and the right end of the cleaning brush roller (120) and the right end of the screw rod (113) are both fixedly connected to a transmission wheel (121), and a transmission belt (122) is connected between the two sets of the transmission wheels (121).

4. The intelligent robot inspection system based on coal belt transportation according to claim 3 is characterized in that: Obtain the working hours of multiple equipment managers, sum up the working hours of multiple equipment managers and then average them to get the average work value. Managers with working hours higher than the average work value are marked as senior equipment managers, and managers with working hours lower than the average work value are marked as general equipment managers.

5. The intelligent robot inspection system based on coal belt transportation according to claim 4 is characterized in that: The server is also used to normalize the movement speed value A of the belt during transportation, the deviation distance value B of the belt, the damage value C, the breakage value D of the belt, and the adhesion value E and substitute them into the formula , where FG is the overall fault value of the equipment, as well as They are all preset weight factors and are compared with the two early warning intervals in the database. When FG is within the first early warning interval, a general fault instruction is generated. When FG is within the second early warning interval, a high-level fault instruction is generated and fed back to the data execution module. The specific processing process of general fault instructions and high-level fault instructions is as follows: when a general fault instruction is triggered, a general fault instruction is issued to the screened general equipment management personnel mobile terminal through the data execution module, and each value is compared through each analysis module. The comparison result is fed back to the data execution module, and the specific value is obtained through the data execution module and then issued to the general equipment management personnel mobile terminal. When a high-level fault instruction is triggered, a high-level fault instruction is issued to the screened high-level equipment management personnel mobile terminal through the data execution module, and the comparison result is fed back to the data execution module. The specific value is obtained through the data execution module and then issued to the high-level equipment management personnel mobile terminal.

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