Coal conveyor belt track inspection robot and inspection method

Abstract

The present invention provides a coal conveyor belt track inspection robot and inspection method, the inspection robot includes a robot body, a driving device and a track cleaning device arranged inside the robot body, a control platform, an image acquisition device and an infrared thermal imager arranged at the lower part of the robot body; the driving device and the track cleaning device are respectively fixed on the front and rear sides of the robot body, and the driving device drives the robot body to move forward and backward on the track to realize the inspection function; the image acquisition device and the infrared thermal imager are used to perform video monitoring and identification on the coal conveyor belt, and send the results to the control platform, and the control command is issued by the control platform. The present invention realizes accurate measurement, control and real-time monitoring of the robot position through the control platform. When a problem occurs, the inspection robot realizes automatic start and stop, alarms and notifies the background administrator to make repairs, improves production efficiency, and reduces unnecessary losses in the production process.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a coal conveyor belt track inspection robot and an inspection method. Background Art

[0002] The power industry is a basic industry of the national economy, and its development level is directly related to the national economy and people's livelihood. Coal conveyor belts are widely used in coal production, thermal power generation, steel manufacturing and other industrial production. Compared with other transportation equipment, coal conveyor belts have the advantages of simple structure, high stability, large transportation volume, and convenient maintenance. They are important equipment in the industrial production process. Among them, the regional operation management of the coal transportation system of thermal power plants is a complex systemic issue. With the increase of the transmission distance of the coal conveyor belt, the increase of the transmission capacity and the increase of the transmission speed, the problems of deviation, stacking, scattering, tearing, slipping, bearing abnormality, foreign matter falling, coal conveying equipment failure, and excessive temperature in local areas in the operation of the coal conveyor belt are becoming increasingly prominent. If there is any negligence, potential hidden dangers will be transformed into safety accidents, affecting the production safety of power companies.

[0003] A large amount of coal is piled up in indoor and outdoor warehouses in thermal power plants, but coal is flammable. After a long period of transportation and storage, coal becomes more dangerous due to factors such as volatilization of moisture and changes in compaction. Spontaneous combustion may occur anywhere coal is piled or transported, and is more likely to occur on coal conveyor belt systems. Coal oxidizes with oxygen in the air, causing the temperature to rise. If there is no monitoring system that cannot detect when it rises to 400 degrees Celsius, it is very easy to cause a fire. This not only threatens the safety of the staff, but may also damage the running belt, and even cause losses to a larger area, complete interruption of power generation, etc. During these pre-oxidation processes, a large amount of methane and carbon monoxide gases are also produced. These toxic gases make firefighting more difficult.

[0004] Prior art CN114367997A discloses an intelligent inspection robot between belts, whose bearing platform is equipped with a load-bearing mechanism and a driving mechanism, and also includes a pitch angle adjustment mechanism and a cleaning mechanism for the sensing device, and also proposes a new structural solution for the driving wheel driving unit and the tensioning wheel tensioning unit of the driving mechanism. The present invention has a simple structure, reliable performance, high space utilization, and improved redundancy for track slope consistency and stability in application scenarios, and is also sufficient to cope with application scenarios with large amounts of dust in the on-site environment. However, the driving mechanism of the prior art is still relatively complex, and the cleaning function has the defect of blind spots;

[0005] Prior art CN117021139A discloses a rail-mounted coal transport inspection robot, comprising a robot assembly, a cleaning assembly, a crushing assembly, an adjustment guide assembly and a rail, wherein the cleaning assembly, the crushing assembly and the adjustment guide assembly are all arranged above the robot assembly, the cleaning assembly comprises a grinding brush, a rotating cleaning brush and a cleaning motor, the grinding brush comprises a brush body shell, a sliding rod is arranged on the brush body shell, and the cleaning assembly and the crushing assembly cooperate with each other to clean the coal ash or coal slag on the rail according to different situations, thereby ensuring the normal operation of the robot assembly, but the prior art device is relatively complex, and the cleaning device cannot be adjusted at different angles;

[0006] Prior art CN217669431U discloses a coal conveying corridor hanging rail type intelligent inspection robot, comprising a hanging rail, a hanging rail drive module hung on the hanging rail, and an intelligent main body module and a pan / tilt module connected below the hanging rail drive module, the hanging rail drive module comprising a hanger for the intelligent main body module and the pan / tilt module to be installed and connected, and a hanging rail drive mechanism arranged on the hanger, the hanging rail drive mechanism is at least two groups arranged spaced apart in the front and rear direction of the hanging rail, each group of hanging rail drive mechanisms is rotatably installed and connected on the hanger, and each group of hanging rail drive mechanisms has an independent drive structure hung on the hanging rail, but the prior art device is relatively complex and lacks a cleaning function;

[0007] Prior art DE202023103646U1 discloses a patrol robot, but the function of the prior art is relatively simple;

[0008] Prior art US2021031359A1 discloses a patrol robot, but the function of the prior art is relatively simple and the device structure is relatively complex;

[0009] The prior art discloses a patrol robot disclosed in WO2022011781A1, but the function of the prior art is relatively simple and the device structure is relatively complex;

[0010] In recent years, major power generation groups have successively carried out comprehensive and in-depth information, automation, and intelligent construction on the fuel business, which accounts for more than 70% of the cost of thermal power plants, and have achieved good results. However, as an important part of the fuel transportation line business, the inspection of the coal transport trestle is a heavy labor task and harsh conditions. At present, the traditional manual operation method is still used, which has many problems such as low efficiency, poor timeliness and safety, weak reliability and stability, frequent false alarms and missed alarms, a large number of blind spots in video surveillance, and the inability to track the on-site situation in a timely and rapid manner. In addition, the dust volume in the coal drop area is extremely high, which has a great impact on related equipment and often causes alarms. Summary of the invention

[0011] In summary, the existing technology has the technical problems of complex devices and blind spots in cleaning. After research, the applicant intends to adopt a symmetrical arrangement of walking wheels based on the above existing technology, but use a driving wheel to drive, to simplify the structure of the driving device, thereby reducing costs, and use axial deflection to improve the cleaning function.

[0012] To this end, the present invention provides a coal conveyor belt track inspection robot, the improvement of which is that the inspection robot includes a robot body 100, a driving device 200 and a track cleaning device 300 arranged inside the robot body 100, a control platform 500, an image acquisition device 400 and an infrared thermal imager 600 arranged at the lower part of the robot body 100;

[0013] The driving device 200 and the track cleaning device 300 are respectively fixed to the front and rear sides of the robot body 100, and the driving device 200 drives the robot body 100 to move forward and backward on the track 700 to realize the inspection function;

[0014] The image acquisition device 400 and the infrared thermal imager 600 are used to perform video monitoring and identification on the coal conveyor belt, and send the results to the control platform 500, which then issues control commands.

[0015] Furthermore, the driving device 200 includes a walking drive motor 1, a motor frame 2, a first elastic pad 3, a second elastic pad 4, an output shaft 5, a small pulley 6, a belt 7, a large pulley 8, a worm 9, a worm wheel 10, a walking wheel 11 and a bracket 12; the walking drive motor 1 is connected to the inner wall of the casing through the motor frame 2, a first elastic pad 3 is arranged between the motor frame 2 and the inner wall of the casing, and a second elastic pad 4 is arranged between the driving motor 1 and the motor frame 2; the first elastic pad 3 and the second elastic pad 4 are both used for vibration isolation; the output shaft 5 of the walking drive motor 1 is coaxially connected to the small pulley 6, driving the small pulley 6 to rotate, and the small pulley 6 drives the large pulley 8 to rotate through the belt 7; the large pulley 8 is coaxially connected to the worm 9, the worm 9 is meshingly connected to the worm wheel 10, and the walking wheel 11 is coaxially connected to the worm wheel 10.

[0016] Furthermore, the worm 9 and the worm wheel 10 are both mounted in a bracket 12 via bearings, and the bracket 12 is fixed to the inner wall of the casing and driven by the worm wheel meshing.

[0017] Furthermore, the track cleaning device 300 includes a first brush disc 21, a second brush disc 22, a track cleaning unit housing 23, a first upper groove 24, a first connecting block 25, a first side groove 26, a second connecting block 27, a threaded hole 28, a screw 29, a rotating knob 30, a second upper groove 31, a third connecting block 32, a fourth connecting block 33, a waist-shaped hole 34, a fixing screw 35, a connecting arm 36, a pivot 37, a second side groove 38, a third side groove 39 and a spring 40; the first brush disc and the second brush disc are respectively provided with brush wheels (not shown in the figure, but those skilled in the art can understand it).

[0018] The first brush disc 21 and the second brush disc 22 extend out of the track cleaning unit housing 23, and the first brush disc 21 and the second brush disc 22 are respectively located on both sides of the track;

[0019] The lower end of the rotating shaft of the first brush disc 21 is located in the track cleaning unit housing 23 and is placed in the first upper groove 24. The upper surface of the first connecting block 25 is provided with a first upper groove 24, and the lower end of the rotating shaft of the first brush disc 21 can rotate freely around its axis in the first upper groove 24; the first connecting block 25 is provided with a vertical through hole, through which the first connecting block 25 and the slide rail 41 are slidably connected; the first side elevation of the first connecting block 25 is provided with a first side groove 26, and the first side groove 26 is provided with a second connecting block 27, and the second connecting block 27 is also provided with a threaded hole 28, and the axis of the threaded hole 28 is parallel to the rotating shaft of the first brush disc 21; the second connecting block 27 is connected to the screw 29 through the threaded hole 28, and the screw 29 extends upward from one end of the track cleaning unit housing 23 to connect the knob 30, and the height of the first brush disc 21 can be adjusted by rotating the knob 30;

[0020] The upper and lower ends of the slide rail 41 are connected to the inner wall of the track cleaning unit housing 23, and the screw 29 is inserted into the track cleaning unit housing 23;

[0021] The lower end of the rotating shaft of the second brush plate 22 located in the track cleaning unit housing 23 is placed in the second upper groove 31, the upper surface of the third connecting block 32 is provided with the second upper groove 31, and the lower end of the third connecting block 32 is connected to the fourth connecting block 33; a waist-shaped hole 34 vertical in the length direction is provided on the fourth connecting block, and a fixing screw 35 is passed through the waist-shaped hole 34, and the position of the third connecting block 32 relative to the fourth connecting block 33 in the vertical direction is adjusted by changing the fastening position of the fixing screw 35;

[0022] A connecting arm 36 extends outward from the second side elevation of the first connecting block 25, and the fourth connecting block 33 is connected to the connecting arm 36 via a pivot 37. The fourth connecting block 33 can rotate around the pivot 37, allowing the angle between it and the first connecting block 25 to be variable.

[0023] Furthermore, a second side groove 38 is arranged on the second side elevation of the first connecting block 25, and a third side groove 39 is arranged on the side elevation of the fourth connecting block 33. A spring 40 is arranged with one end located in the second side groove 38 and the other end located in the third side groove 39. The spring 40 is in a compressed state under the pressure of the fourth connecting block 33, and its restoring force pushes the second brush plate 22 to move closer to the track to ensure the cleaning effect.

[0024] Furthermore, the track 700 includes an upper protrusion and a lower protrusion, with a track groove formed in the middle, and the inspection robot body 100 is suspended in the track grooves on the left and right sides.

[0025] Furthermore, the diameter of the small pulley 6 is smaller than that of the large pulley 8, realizing the first stage of deceleration; the diameter of the worm 9 is smaller than the diameter of the worm wheel 10, realizing the second stage of deceleration, and at the same time, the rotating shaft of the worm wheel 1 is perpendicular and staggered with the axis of the worm 9, realizing vertical steering of the rotation direction.

[0026] The present invention also provides a coal conveyor belt track inspection method, the improvement of which is that the method comprises

[0027] (1) The inspection robot control platform initializes the image acquisition device and infrared thermal imager;

[0028] (2) The inspection robot control platform sends a data collection request signal;

[0029] (3) The image acquisition device and infrared thermal imager collect data and send the collected data to the control platform in real time;

[0030] (4) The control platform compares the collected data with the preset threshold and controls the start and stop of the coal conveyor belt according to the comparison results.

[0031] Furthermore, the inspection robot control platform synchronizes the comparison results to the background control center, and the background control center pushes abnormal information to the administrator according to the actual situation.

[0032] Furthermore, the method also includes the control platform accurately measuring and controlling the position of the inspection robot, detecting the actual rolling distance of the inspection robot, calculating the position of the inspection robot, and feeding back the information to the background control center in a timely manner.

[0033] Beneficial effects:

[0034] The inspection robot provided by the present invention can realize forward and backward movement on the track, and the inspection robot is equipped with a track cleaning device, which can clean the track in real time to prevent dust and smoke in the environment from remaining on the track and affecting the normal movement of the inspection robot, and can prevent the smoke and dust on the track from falling on the rear driving device. The control platform can realize accurate measurement, control and real-time monitoring of the robot's position. When a problem occurs, the inspection robot can automatically start and stop, alarm and notify the backstage administrator to make repairs, improve production efficiency, and reduce unnecessary losses in the production process.

[0035] The inspection robot of the present invention can detect parameters in real time, and can detect faults such as excessive temperature in the coal conveyor trestle area, excessive accumulation of coal powder at the bottom of the coal conveyor belt, falling foreign objects, abnormal coal conveying equipment, etc., thereby improving the safety of coal conveyor belt operation.

[0036] It should be understood that the above general description and the following specific embodiments are only exemplary and illustrative and do not limit the scope of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A structural diagram of a coal conveyor belt track inspection robot according to the present invention;

[0038] Figure 2 The structure diagram of the driving device of the coal conveyor belt track inspection robot according to the present invention is shown in FIG. Figure 1 ;

[0039] Figure 3 The structure diagram of the driving device of the coal conveyor belt track inspection robot according to the present invention is shown in FIG. Figure 2 ;

[0040] Figure 4 The structure diagram of the track cleaning device of the coal conveyor belt track inspection robot according to the present invention is shown in FIG. Figure 1 ;

[0041] Figure 5 The structure diagram of the track cleaning device of the coal conveyor belt track inspection robot according to the present invention is shown in FIG. Figure 2 ;

[0042] In the figure, 100-robot body, 200-driving device, 300-track cleaning device, 400-image acquisition device, 500-control platform, 600-infrared thermal imager, 700-track, 1-travel driving motor, 2-motor frame, 3-first elastic pad, 4-second elastic pad, 5-output shaft, 6-small pulley, 7-belt, 8-large pulley, 9-worm, 10-worm wheel, 11-travel wheel, 12-bracket, 21-first brush Disk, 22-second brush disk, 23-track cleaning unit housing, 24-first upper groove, 25-first connecting block, 26-first side groove, 27-second connecting block, 28-threaded hole, 29-screw, 30-rotating knob, 31-second upper groove, 32-third connecting block, 33-fourth connecting block, 34-waist hole, 35-fixing screw, 36-connecting arm, 37-pivot, 38-second side groove, 39-third side groove, 40-spring.

[0043] It should be understood that the drawings are not necessarily drawn to scale, presenting somewhat simplified representations of various features illustrative of the basic principles of the present disclosure. The specific design features of the present invention as disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment.

[0044] In the drawings, reference numbers refer to the same or equivalent parts of the present invention throughout the several figures of the drawing. DETAILED DESCRIPTION

[0045] Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings and described below. Although the present invention will be described in conjunction with exemplary embodiments of the present invention, it should be understood that this specification is not intended to limit the present invention to those exemplary embodiments. On the other hand, the present invention is intended to cover not only the exemplary embodiments of the present invention, but also various alternatives, modifiers, equivalents and other embodiments, which may be included in the spirit and scope of the present invention as defined by the appended claims.

[0046] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The specific structures and functions described in the exemplary embodiments of the present invention are for illustrative purposes only. Embodiments according to the concepts of the present invention can be implemented in various forms, and it should be understood that they should not be interpreted as being limited to the exemplary embodiments described in the exemplary embodiments, but include all modifications, equivalents or substitutes included in the spirit and scope of the present invention.

[0047] Throughout the specification, the professional terms used herein are only for describing various exemplary embodiments and are not intended to be limiting. It will be further understood that the terms "include", "comprising", "having", etc., when used in the exemplary embodiments, specifically refer to the presence of the stated parts, steps, operations or elements, but do not exclude the presence or addition of one or more other parts, steps, operations or elements.

[0048] like Figure 1 As shown, the present invention provides a coal conveyor belt track inspection robot, the inspection robot includes a robot body 100, a driving device 200 and a track cleaning device 300 arranged inside the robot body 100, a control platform 500 arranged at the lower part of the robot body 100, an image acquisition device 400 and an infrared thermal imager 600;

[0049] The driving device 200 and the track cleaning device 300 are respectively fixed to the front and rear sides of the robot body 100;

[0050] The inspection robot of the present invention is suspended on an H-shaped track 700, which may generally include a track hanger assembly, a track body, and the like, and the inspection robot is mounted on the track 700 and walks. The track 700 is preferably made of an H-shaped high-strength aluminum alloy profile, and the surface is anodized to have high corrosion resistance and strong wear resistance. Figure 1 Detailed structure of the track 700 is shown in FIG. The H-shaped track 700 includes an upper protrusion and a lower protrusion, with a track groove formed in the middle, and the robot body 100 of the inspection robot is suspended in the track grooves on the left and right sides.

[0051] In the above technical solution, the track cleaning device 300 is used to clean the dust on the track 700 to prevent the dust from affecting the inspection robot and to prevent the dust from falling on the driving device 200 and causing damage to its internal equipment.

[0052] In the above technical solution, if Figures 2-3 As shown, the driving device 200 includes a travel drive motor 1, a motor frame 2, a first elastic pad 3, a second elastic pad 4, an output shaft 5, a small pulley 6, a belt 7, a large pulley 8, a worm 9, a worm wheel 10, a travel wheel 11 and a bracket 12; wherein the travel drive motor 1 is connected to the inner wall of the casing through the motor frame 2, a first elastic pad 3 is arranged between the motor frame 2 and the inner wall of the casing, and a second elastic pad 4 is arranged between the drive motor 1 and the motor frame 2; the first elastic pad 3 and the second elastic pad 4 are both used for vibration isolation;

[0053] The output shaft 5 of the travel drive motor 1 is coaxially connected with the small pulley 6, driving the small pulley 6 to rotate, and the small pulley 6 drives the large pulley 8 to rotate through the belt 7. The diameter of the small pulley 6 is smaller than that of the large pulley 8, realizing the first stage of deceleration;

[0054] The large pulley 8 is coaxially connected with the worm 9, and the worm 9 is meshed with the worm wheel 10. The diameter of the worm 9 is smaller than the diameter of the worm wheel 10 to achieve the second stage of speed reduction. At the same time, the rotating shaft of the worm wheel 1 is perpendicular to the axis of the worm 9 and staggered to achieve vertical steering of the rotation direction;

[0055] The traveling wheel 11 is coaxially connected to the worm gear 10;

[0056] The worm gear meshing transmission realizes the conversion of speed direction and magnitude in the smallest possible space. At the same time, the walking drive motor 1 is located below the transmission structure, which lowers the center of gravity of the robot and makes the travel more stable.

[0057] The worm 9 and the worm wheel 10 are both mounted in a bracket 12 via bearings, and the bracket 12 is fixed to the inner wall of the casing.

[0058] Those skilled in the art will appreciate that the running wheels in the present application are an even number and are symmetrically arranged on both sides of the track, and one of the running wheels is driven by a driving device (not shown in the figure, but will be appreciated by those skilled in the art).

[0059] In the above technical solution, if Figures 4-5 As shown, the track cleaning device 300 includes a first brush disc 21, a second brush disc 22, a track cleaning unit housing 23, a first upper groove 24, a first connecting block 25, a first side groove 26, a second connecting block 27, a threaded hole 28, a screw 29, a rotating knob 30, a second upper groove 31, a third connecting block 32, a fourth connecting block 33, a waist-shaped hole 34, a fixing screw 35, a connecting arm 36, a pivot 37, a second side groove 38, a third side groove 39 and a spring 40, and the first brush disc and the second brush disc are respectively provided with brush wheels (not shown in the figure, but those skilled in the art can understand it).

[0060] The positions of the first brush plate 21 and the second brush plate 22 are adjustable, not only can they be adjusted up and down, but also can be swung, thereby ensuring the cleaning effect;

[0061] The first brush disc 21 and the second brush disc 22 extend out of the track cleaning unit housing 23, and the first brush disc 21 and the second brush disc 22 are respectively located on both sides of the track;

[0062] The lower end of the rotating shaft of the first brush disc 21 is located in the track cleaning unit casing 23 and is placed in the first upper groove 24. The upper surface of the first connecting block 25 is provided with the first upper groove 24, and the lower end of the rotating shaft of the first brush disc 21 can rotate freely around its axis in the first upper groove 24; the first connecting block 25 is provided with a vertical through hole, through which the first connecting block 25 and the slide rail 41 are slidably connected; the first side elevation of the first connecting block 25 is provided with a first side groove 26, and the second connecting block 27 is provided in the first side groove 26. The second connecting block 27 is also provided with a threaded hole 28, and the axis of the threaded hole 28 is parallel to the rotating shaft of the first brush disc 21; the second connecting block 27 is connected to the screw 29 through the threaded hole 28, and the screw 29 extends upward from one end of the track cleaning unit casing 23 to connect the knob 30, and the height of the first brush disc 21 can be adjusted by rotating the knob 30;

[0063] The upper and lower ends of the slide rail 41 are connected to the inner wall of the track cleaning unit housing 23, and the screw 29 is inserted through the track cleaning unit housing 23;

[0064] The lower end of the rotating shaft of the second brush plate 22 located in the track cleaning unit housing 23 is placed in the second upper groove 31, the upper surface of the third connecting block 32 is provided with the second upper groove 31, and the lower end of the third connecting block 32 is connected to the fourth connecting block 33; a waist-shaped hole 34 vertical in the length direction is provided on the fourth connecting block, and a fixing screw 35 is passed through the waist-shaped hole 34, and the position of the third connecting block 32 relative to the fourth connecting block 33 in the vertical direction is adjusted by changing the fastening position of the fixing screw 35;

[0065] The above structure enables the first brush plate 21 and the second brush plate 22 to extend out of the track cleaning unit housing 23 to be adjustable in height, thereby adapting to tracks of different specifications;

[0066] A connecting arm 36 extends outwardly from the second side elevation of the first connecting block 25, and the fourth connecting block 33 is connected to the connecting arm 36 via a pivot 37, so that the fourth connecting block 33 can rotate around the pivot 37, thereby allowing the angle between it and the first connecting block 25 to be variable.

[0067] Compared with a straight track, the track above the coal conveyor belt may have a different wall thickness or side wall angle at turns and other locations. The above structure allows the inclination angle of the second brush plate 22 to change with the wall thickness or side wall angle of the track, thereby avoiding jamming of the inspection robot during its walking process, thereby ensuring image output quality and improving inspection accuracy.

[0068] In the above technical solution, a second side groove 38 is arranged on the second side elevation of the first connecting block 25, and correspondingly, a third side groove 39 is arranged on the side elevation of the fourth connecting block 33. A spring 40 is arranged with one end located in the second side groove 38 and the other end located in the third side groove 39. The spring 40 is in a compressed state due to the pressure of the fourth connecting block 33, and its restoring force can ensure that the second brush plate 22 moves closer to the track, thereby ensuring the cleaning effect.

[0069] The inspection robot of the present invention is provided with a power system and a control platform 500 electrically connected to the power system. The power system provides power to various systems in the inspection robot, thereby realizing the normal operation of the inspection robot;

[0070] In the above technical solution, the control platform 500 is fixed at the bottom of the robot body 100, and is used to realize accurate measurement and control of the position of the inspection robot. It is also used to detect the actual rolling distance of the inspection robot, so as to calculate the position of the inspection robot and feed back the information to the background control center in a timely manner;

[0071] When the inspection robot moves, the control platform 500 rotates as the inspection robot moves. The control platform 500 can record the actual rolling distance of the inspection robot, thereby calculating the travel distance of the inspection robot.

[0072] In the above technical solution, the inspection robot is usually in a coal transportation environment, and there will be a large amount of pollutants such as coal ash and dust, which will not only accumulate on the track 700, but also because static electricity will be generated on the surface of the inspection robot in a working state, a large amount of dust will be adsorbed. Therefore, a dust cleaning device, such as a wiper, can be provided in front of the image acquisition device 400 and the infrared thermal imager 600 of the inspection robot of the present invention, which is used to remove dust on the surface of the image acquisition device 400 and the infrared thermal imager 600, thereby ensuring that the image acquisition device 400 can stably acquire high-definition images and the outside of the infrared thermal imager 600 will not be blocked.

[0073] Based on another purpose, the present invention also provides a coal conveyor belt track inspection method, the method comprising:

[0074] 1. The inspection robot control platform initializes the image acquisition device and infrared thermal imager;

[0075] 2. The inspection robot control platform sends a data collection request signal;

[0076] 3. The image acquisition device and infrared thermal imager collect data and send the collected data to the control platform in real time;

[0077] Among them, the image acquisition device and the infrared thermal imager establish a code stream with the control platform to transmit image data in real time;

[0078] The image acquisition device and the infrared thermal imager collect image information of the tail roller of the coal conveyor belt, image information of the head roller of the coal conveyor belt, image information of the belt surface after the coal falls off the coal conveyor belt, and temperature information of the specified position of the coal conveyor belt; respectively extract the running angle of the coal conveyor belt, the coal flow height, the temperature of the coal conveyor belt, the amount of coal powder accumulation at the bottom of the coal conveyor belt, the image data of the coal conveyor belt area, the sound of the coal conveying equipment and the belt surface smoothness of the coal conveyor belt.

[0079] 4. The control platform compares the collected data with the preset threshold value and controls the start and stop of the coal conveyor belt according to the comparison results;

[0080] The running angle of the coal conveyor belt, coal flow height, temperature of the coal conveyor belt, amount of coal powder accumulation at the bottom of the coal conveyor belt, image data of the coal conveyor belt area, sound of the coal conveying equipment and surface smoothness of the coal conveyor belt collected by the image acquisition device and the infrared thermal imager are compared with the preset thresholds, and the start and stop of the coal conveyor belt are controlled according to the comparison results.

[0081] Among them, the present invention sets a standard threshold on the basis of collecting a large number of labeled samples consisting of the running angle of the coal conveyor belt, the coal flow height, the temperature of the coal conveyor belt, the amount of coal powder accumulation at the bottom of the coal conveyor belt, the image data of the coal conveyor belt area, the sound of the coal conveying equipment and the belt surface smoothness data of the coal conveyor belt, and makes an abnormality judgment based on the collection results and the preset threshold to realize the fault diagnosis function of equipment abnormality.

[0082] In the above technical solution, the inspection robot control platform synchronizes the comparison results to the background control center via Ethernet, and the background control center pushes abnormal information to the administrator according to the actual situation.

[0083] In the above technical solution, the control platform accurately measures and controls the position of the inspection robot, detects the actual rolling distance of the inspection robot, calculates the position of the inspection robot, and promptly feeds back the information to the background control center;

[0084] When the inspection robot moves, the control platform rotates as the inspection robot moves, and records the actual rolling distance of the inspection robot, thereby calculating the travel distance of the inspection robot.

[0085] The above-mentioned embodiments of the present application can be implemented in various hardware, software coding or a combination of the two. For example, the embodiments of the present application can also represent the program code for executing the above-mentioned method in a data signal processor. The present application can also relate to the various functions performed by a computer processor, a digital signal processor, a microprocessor or a field programmable gate array. The above-mentioned processor can be configured according to the present application to perform specific tasks, which are completed by executing machine-readable software code or firmware code that defines the specific method disclosed by the present application. The software code or firmware code development can represent different programming languages ​​and different formats or forms. Different target platform compiled software codes can also be represented. However, the different code styles, types and languages ​​of the software code for performing tasks according to the present application and other types of configuration codes do not depart from the spirit and scope of the present application.

[0086] The foregoing description of specific exemplary embodiments of the present invention has been presented for the purpose of illustration and description. It is not intended to exclude or limit the present invention to the precise form disclosed, and it is obvious that many modifications and changes are feasible in view of the above teachings. Exemplary embodiments are selected and described to explain certain principles of the present invention and their practical application, so that other technicians in the field can make or use various exemplary embodiments of the present invention, and various alternatives and modifications thereof. It is intended that the scope of the present invention will be defined by the claims attached hereto and their equivalents.

[0087] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A coal conveyor belt track inspection robot, characterized in that: The inspection robot comprises a robot body (100), a driving device (200) and a track cleaning device (300) arranged inside the robot body (100), and a control platform (500), an image acquisition device (400) and an infrared thermal imager (600) arranged below the robot body (100); The driving device (200) and the track cleaning device (300) are respectively fixed to the front and rear sides of the robot body (100); the driving device (200) drives the robot body (100) to move forward and backward on the track (700) to realize an inspection function; The image acquisition device (400) and the infrared thermal imager (600) are used to perform video monitoring and identification on the coal conveyor belt, and send the results to the control platform (500), which then issues a control command. The track cleaning device (300) comprises a first brush disc (21), a second brush disc (22), a track cleaning unit housing (23), a first upper groove (24), a first connecting block (25), a first side groove (26), a second connecting block (27), a threaded hole (28), a screw rod (29), a knob (30), a second upper groove (31), a third connecting block (32), a fourth connecting block (33), a waist-shaped hole (34), a fixing screw (35), a connecting arm (36), a pivot (37), a second side groove (38), a third side groove (39) and a spring (40); The first brush disc (21) and the second brush disc (22) extend out of the track cleaning unit housing (23), and the first brush disc (21) and the second brush disc (22) are respectively located on both sides of the track; The lower end of the rotating shaft of the first brush disc (21) is located in the housing (23) of the track cleaning unit and is placed in the first upper groove (24). The upper surface of the first connecting block (25) is provided with the first upper groove (24). The lower end of the rotating shaft of the first brush disc (21) can freely rotate around its axis in the first upper groove (24). The first connecting block (25) is provided with a vertical through hole, and the first connecting block (25) is slidably connected to the slide rail (41) through the through hole. The first side of the first connecting block (25) is provided with a first vertical through hole. A first side groove (26) is provided on the surface, a second connection block (27) is provided in the first side groove (26), a threaded hole (28) is further provided on the second connection block (27), and the axis of the threaded hole (28) is parallel to the rotation axis of the first brush plate (21); the second connection block (27) is connected to a screw rod (29) via the threaded hole (28), and one end of the screw rod (29) extends upward from the housing (23) of the track cleaning unit and is connected to a knob (30), and the height of the first brush plate (21) can be adjusted by rotating the knob (30); The upper and lower ends of the slide rail (41) are connected to the inner wall of the track cleaning unit casing (23), and the screw rod (29) is inserted into the track cleaning unit casing (23); The lower end of the rotating shaft of the second brush plate (22) is located in the rail cleaning unit housing (23) and is placed in the second upper groove (31); the upper surface of the third connecting block (32) is provided with the second upper groove (31); the lower end of the third connecting block (32) is connected to the fourth connecting block (33); a waist-shaped hole (34) vertical in the length direction is provided on the fourth connecting block; a fixing screw (35) is passed through the waist-shaped hole (34); and the position of the third connecting block (32) relative to the fourth connecting block (33) in the vertical direction is adjusted by changing the fastening position of the fixing screw (35); A connecting arm (36) extends outwardly from the second side elevation of the first connecting block (25); the fourth connecting block (33) is connected to the connecting arm (36) via a pivot (37); the fourth connecting block (33) can rotate around the pivot (37), allowing the angle between the fourth connecting block (33) and the first connecting block (25) to be variable.

2. A coal conveyor belt track inspection robot according to claim 1, characterized in that: The driving device (200) comprises a travel drive motor (1), a motor frame (2), a first elastic pad (3), a second elastic pad (4), an output shaft (5), a small pulley (6), a belt (7), a large pulley (8), a worm (9), a worm wheel (10), a travel wheel (11) and a bracket (12); the travel drive motor (1) is connected to the inner wall of the casing via the motor frame (2); a first elastic pad (3) is arranged between the motor frame (2) and the inner wall of the casing; the drive motor (1) and the motor frame (2) are connected to each other. A second elastic pad (4) is arranged between the frame (2); the first elastic pad (3) and the second elastic pad (4) are both used for vibration isolation; the output shaft (5) of the travel drive motor (1) is coaxially connected with the small belt pulley (6) to drive the small belt pulley (6) to rotate, and the small belt pulley (6) drives the large belt pulley (8) to rotate through the belt (7); the large belt pulley (8) is coaxially connected with the worm (9), the worm (9) is meshingly connected with the worm wheel (10), and the travel wheel (11) is coaxially connected with the worm wheel (10).

3. A coal conveyor belt track inspection robot according to claim 2, characterized in that: The worm (9) and the worm wheel (10) are both mounted in a bracket (12) via bearings, and the bracket (12) is fixed to the inner wall of the casing to achieve meshing transmission through the worm wheel.

4. A coal conveyor belt track inspection robot according to claim 1, characterized in that: A second side groove (38) is provided on the second side elevation of the first connecting block (25), a third side groove (39) is provided on the side elevation of the fourth connecting block (33), and a spring (40) is provided, one end of which is located in the second side groove (38) and the other end of which is located in the third side groove (39). The spring (40) is in a compressed state under the pressure of the fourth connecting block (33), and its restoring force pushes the second brush plate (22) to move closer to the track, thereby ensuring a cleaning effect.

5. The coal conveyor belt track inspection robot according to claim 1, characterized in that: The track (700) comprises an upper raised portion and a lower raised portion, with a track groove formed in the middle, and the inspection robot body (100) is suspended in the track grooves on the left and right sides.

6. A coal conveyor belt track inspection robot according to claim 2, characterized in that: The diameter of the small pulley (6) is smaller than that of the large pulley (8), thereby realizing the first stage of speed reduction; the diameter of the worm (9) is smaller than that of the worm wheel (10), thereby realizing the second stage of speed reduction; and at the same time, the rotating shaft of the worm wheel (10) is perpendicular to and interlaced with the axis of the worm (9), thereby realizing vertical steering of the rotation direction.

7. A coal conveyor belt track inspection method, used for the coal conveyor belt track inspection robot according to any one of claims 1 to 6, characterized in that: The method comprises (1) The inspection robot control platform initializes the image acquisition device and infrared thermal imager; (2) The inspection robot control platform sends a data collection request signal; (3) The image acquisition device and infrared thermal imager collect data and send the collected data to the inspection robot control platform in real time; (4) The inspection robot control platform compares the collected data with the preset threshold and controls the start and stop of the coal conveyor belt according to the comparison results.

8. A coal conveyor belt track inspection method according to claim 7, characterized in that: The inspection robot control platform synchronizes the comparison results to the background control center, and the background control center pushes abnormal information to the administrator according to the actual situation.

9. A coal conveyor belt track inspection method according to claim 7, characterized in that: The method also includes the inspection robot control platform accurately measuring and controlling the position of the inspection robot, detecting the actual rolling distance of the inspection robot, calculating the position of the inspection robot, and feeding back the information to the background control center in a timely manner.

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