Abnormal sound positioning method for belt conveyor carrier roller and inspection robot

Abstract

The abnormal sound positioning method for the belt conveyor carrier roller comprises the following steps that an instruction is sent to a microphone array, and sound made by the belt conveyor carrier roller is collected through the microphone array; according to preset abnormal sound characteristics, whether the sound made by the belt conveyor carrier roller belongs to abnormal sound or not is judged; and if yes, the direction of the abnormal sound is calculated according to the sound emitted by the belt conveyor carrier roller and collected by the microphone array. According to the abnormal sound positioning method for the belt conveyor carrier roller, the abnormal sound direction of the belt conveyor carrier roller can be automatically positioned. The embodiment of the invention further provides the inspection robot.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot technology, and in particular to a method for locating abnormal noise of belt conveyor rollers and an inspection robot. Background Art

[0002] In industrial production environments, equipment will make noises. Abnormal equipment sounds often indicate abnormal operation of the equipment, such as worn or damaged parts, which requires personnel intervention for maintenance. However, the production environment has many devices and a complex environment, which makes it inconvenient for personnel to frequently enter and check.

[0003] Therefore, there is an urgent need for a detection method or device that can automatically detect and locate abnormal noise in an environment. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to provide a method for locating abnormal noise of a belt conveyor roller and an inspection robot, which can automatically locate the abnormal noise orientation of the belt conveyor roller.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present application provides a method for locating abnormal noise of a belt conveyor roller, comprising the following steps:

[0006] Sending instructions to the microphone array to collect the sound emitted by the belt conveyor roller through the microphone array;

[0007] According to the preset abnormal sound characteristics, determining whether the sound emitted by the belt conveyor roller is an abnormal sound; and

[0008] If so, the position of the abnormal sound is calculated based on the sound emitted by the belt conveyor roller collected by the microphone array.

[0009] Further, the calculating the position of the abnormal sound according to the sound emitted by the belt conveyor roller collected by the microphone array includes:

[0010] A loudness matrix is ​​obtained based on the sound signals emitted by the belt conveyor roller received by different microphones of the microphone array, and the direction of the abnormal sound is calculated by a difference method.

[0011] Furthermore, the microphone array is arranged on the inspection robot body, and after calculating the position of the abnormal sound according to the sound emitted by the belt conveyor roller collected by the microphone array, the method further comprises:

[0012] According to the current position of the inspection robot body and the direction of the abnormal sound, the position of the belt conveyor roller that emits the abnormal sound is located.

[0013] Furthermore, before judging whether the sound emitted by the belt conveyor roller is an abnormal sound according to the preset abnormal sound characteristics, the method further includes:

[0014] Extract the abnormal noise characteristics of the belt conveyor roller.

[0015] Further, the extracting of abnormal noise characteristics of the belt conveyor roller includes:

[0016] The abnormal noise characteristics of the belt conveyor roller are extracted through a machine learning algorithm.

[0017] Furthermore, after sending the instruction to the microphone array and collecting the sound emitted by the belt conveyor roller through the microphone array, the method further includes:

[0018] The sound emitted by the belt conveyor roller collected by the microphone array is filtered.

[0019] Furthermore, the filtering process of the sound emitted by the belt conveyor roller collected by the microphone array includes:

[0020] The sound emitted by the belt conveyor roller collected by the microphone array is subjected to waveform noise reduction processing.

[0021] In a second aspect, an embodiment of the present application provides an inspection robot for inspecting a belt conveyor, wherein the inspection robot calculates the location of an abnormal sound by using an abnormal sound locating method as described in any one of the above items.

[0022] Furthermore, the inspection robot includes a robot body and a microphone, and the microphone is arranged on the robot body and faces the roller.

[0023] Furthermore, there are multiple microphones, and the multiple microphones are arranged on the robot body in an array.

[0024] In the abnormal noise locating method for belt conveyor rollers provided in the embodiment of the present application, the sound emitted by the belt conveyor roller is collected by a microphone array, and based on the pre-set abnormal noise characteristics, it is determined whether the sound emitted by the belt conveyor roller is an abnormal noise, and finally, based on the sound emitted by the belt conveyor roller collected by the microphone array, the direction of the abnormal noise is calculated. Therefore, the abnormal noise locating method for belt conveyor rollers provided in the embodiment of the present application can automatically detect and locate the abnormal noise of the belt conveyor roller, reduce the frequency of operator intervention for detection, and can detect the abnormal noise of the belt conveyor roller at different positions, with high flexibility, and no need to modify the detection device or the inspection robot, easy installation and cost saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0026] Figure 1 A schematic flow chart of a method for locating abnormal noise of a belt conveyor roller provided in an embodiment of the present application;

[0027] Figure 2 A schematic diagram of the structure of the inspection robot provided in an embodiment of the present application;

[0028] Figure 3 A structural block diagram of an abnormal noise positioning device for belt conveyor rollers provided in an embodiment of the present application;

[0029] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0030] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0035] Reference Figure 1 The embodiment of the present application provides a method for locating abnormal noise of a belt conveyor roller, comprising the following steps:

[0036] S101: Sending a command to a microphone array to collect the sound emitted by the belt conveyor roller through the microphone array;

[0037] S101: judging whether the sound emitted by the belt conveyor roller is an abnormal sound according to a preset abnormal sound feature; and

[0038] S101: If yes, calculate the direction of the abnormal sound based on the sound emitted by the belt conveyor roller collected by the microphone array.

[0039] In the abnormal noise locating method for belt conveyor rollers provided in the embodiment of the present application, the sound emitted by the belt conveyor roller is collected by a microphone array, and based on the pre-set abnormal noise characteristics, it is determined whether the sound emitted by the belt conveyor roller is an abnormal noise, and finally, based on the sound emitted by the belt conveyor roller collected by the microphone array, the direction of the abnormal noise is calculated. Therefore, the abnormal noise locating method for belt conveyor rollers provided in the embodiment of the present application can automatically detect and locate the abnormal noise of the belt conveyor roller, reduce the frequency of operator intervention for investigation, and can detect the abnormal noise of the belt conveyor roller at different positions, with high flexibility, and no need to modify the detection device or the inspection robot, easy installation and cost saving.

[0040] It should be noted that the embodiment of the present application only takes the belt conveyor roller as an example application scenario. The abnormal noise locating method for the belt conveyor roller provided in the embodiment of the present application can be applied in other industrial production environments, such as assembly line equipment in a factory.

[0041] Further, in some embodiments of the present application, the location of the abnormal sound is calculated based on the sound emitted by the belt conveyor roller collected by the microphone array, including:

[0042] A loudness matrix is ​​obtained based on the sound signals emitted by the belt conveyor roller received by different microphones of the microphone array, and the direction of the abnormal sound is calculated by a difference method.

[0043] Specifically, since the microphone array includes multiple microphones, and the multiple microphones are located at different distances from the sound source, the strength of the sound signal emitted by the belt conveyor through-hole collected by each microphone is different. Therefore, the sound signals emitted by the belt conveyor rollers received by different microphones can be mathematically processed to establish a loudness matrix, and the position of the abnormal sound can be located by the differential method. Therefore, the abnormal sound positioning method for belt conveyor rollers provided in the embodiment of the present application can automatically detect and locate the abnormal sound of belt conveyor rollers through the above-mentioned settings, reduce the frequency of operator intervention for detection, and detect abnormal sounds of belt conveyor rollers at different positions, with high flexibility, and no need to modify the detection device or inspection robot, easy installation and cost saving.

[0044] Furthermore, in some embodiments of the present application, the microphone array is disposed on the inspection robot body, and after calculating the position of the abnormal sound according to the sound emitted by the belt conveyor roller collected by the microphone array, the method further includes:

[0045] According to the current position of the inspection robot body and the direction of the abnormal sound, the position of the belt conveyor roller that emits the abnormal sound is located.

[0046] Specifically, the inspection robot usually runs on a designated track at a uniform speed to inspect the belt conveyor rollers. The distance between the inspection robot and the belt conveyor rollers is usually a fixed value, such as 2 to 3 meters, and the microphone array is set on the inspection robot body. After the direction of the abnormal sound is calculated based on the sound emitted by the belt conveyor rollers collected by the microphone array, the position of the belt conveyor roller emitting the abnormal sound can be located according to the current position of the inspection robot body and the direction of the abnormal sound, thereby realizing automatic detection and positioning of the abnormal sound.

[0047] Furthermore, in some embodiments of the present application, before judging whether the sound emitted by the belt conveyor roller is an abnormal sound according to the preset abnormal sound feature, the method further includes:

[0048] Extract the abnormal noise characteristics of the belt conveyor roller.

[0049] Specifically, before judging whether the sound emitted by the belt conveyor roller is an abnormal sound based on the pre-set abnormal sound characteristics, it is necessary to extract the abnormal sound characteristics of the belt conveyor roller, such as the timbre and intensity of the abnormal sound, so as to facilitate the identification of the abnormal sound of the belt conveyor roller, and then facilitate the automatic detection and positioning of the abnormal sound.

[0050] Further, in some embodiments of the present application, the extracting of the abnormal noise characteristics of the belt conveyor roller includes:

[0051] The abnormal noise characteristics of the belt conveyor roller are extracted through a machine learning algorithm.

[0052] Specifically, as described above, before judging whether the sound emitted by the belt conveyor roller is an abnormal sound based on the pre-set abnormal sound characteristics, it is necessary to extract the abnormal sound characteristics of the belt conveyor roller, such as the timbre and intensity of the abnormal sound, so as to facilitate the identification of the abnormal sound of the belt conveyor roller.

[0053] Machine learning algorithms belong to artificial intelligence algorithms. Machine learning uses data or past experience to optimize the performance standards of computer programs. Therefore, the embodiments of the present application extract the abnormal sound characteristics of belt conveyor rollers through machine learning algorithms, which can more accurately and intelligently extract the abnormal sound characteristics, thereby facilitating more accurate identification of abnormal noises of belt conveyor rollers.

[0054] Furthermore, in some embodiments of the present application, after sending the instruction to the microphone array and collecting the sound emitted by the belt conveyor roller through the microphone array, the method further includes:

[0055] The sound emitted by the belt conveyor roller collected by the microphone array is filtered.

[0056] Specifically, during the continuous operation of the inspection robot, the microphone array has been collecting environmental sounds. Therefore, it is necessary to filter the sound emitted by the belt conveyor roller collected by the microphone array to eliminate background noise in the environment, so as to facilitate accurate identification of abnormal noises from the belt conveyor roller.

[0057] Furthermore, in some embodiments of the present application, filtering the sound emitted by the belt conveyor roller collected by the microphone array includes:

[0058] The sound emitted by the belt conveyor roller collected by the microphone array is subjected to waveform noise reduction processing.

[0059] That is, the basic principle of sound noise reduction is to process the noise signal so that it is subtracted from the original signal or part of the noise is filtered out, thereby achieving the purpose of reducing noise interference. During the continuous operation of the inspection robot, the microphone array has been collecting environmental sounds. Therefore, it is necessary to perform waveform noise reduction processing on the sound emitted by the belt conveyor roller collected by the microphone array to eliminate background noise or noise in the environment, so as to facilitate accurate identification of abnormal noise of the belt conveyor roller.

[0060] In addition, refer to Figure 2The embodiment of the present application provides an inspection robot 10 for inspecting a belt conveyor roller 20. The inspection robot calculates the position of an abnormal sound by using any of the abnormal sound locating methods described above.

[0061] In the inspection robot provided in the embodiment of the present application, the sound emitted by the belt conveyor roller is collected by a microphone, and based on the pre-set abnormal sound characteristics, it is determined whether the sound emitted by the belt conveyor roller is an abnormal sound. Finally, based on the sound emitted by the belt conveyor roller collected by the microphone, the direction of the abnormal sound is calculated. Therefore, the abnormal sound positioning method for the belt conveyor roller provided in the embodiment of the present application can automatically detect and locate the abnormal sound of the belt conveyor roller, reduce the frequency of operator intervention for detection, and can detect the abnormal sound of the belt conveyor roller at different positions, with high flexibility. At the same time, there is no need to modify the detection device or the inspection robot, and the installation is convenient and cost-saving.

[0062] Furthermore, in some embodiments of the present application, the inspection robot 10 includes a robot body 11 and a microphone 12. The microphone 12 is arranged on the robot body 10 and faces the belt conveyor roller 20, so that the sound emitted by the belt conveyor roller 20 can be continuously collected during the inspection process of the inspection robot 10.

[0063] Furthermore, in some embodiments of the present application, the number of the microphones 12 is multiple, and the multiple microphones 12 are arranged on the robot body 11 in an array manner. Therefore, according to the different sounds of the belt conveyor roller collected by the microphone array, the abnormal sound direction of the belt conveyor roller 20 can be located.

[0064] Figure 3 2 is a structural block diagram of an abnormal noise positioning device 200 for a belt conveyor roller according to an embodiment of the present application. Figure 3 As shown, the abnormal sound locating device 200 for the belt conveyor roller of the embodiment of the present application includes: a sound collecting module 210, an abnormal sound judging module 220 and an abnormal sound locating module 230, wherein:

[0065] A sound collection module 210 is used to send instructions to the microphone array to collect the sound emitted by the belt conveyor roller through the microphone array;

[0066] The abnormal sound judging module 220 is used to judge whether the sound emitted by the belt conveyor roller is an abnormal sound according to a preset abnormal sound feature; and

[0067] The abnormal sound positioning module 230 is used to calculate the direction of the abnormal sound based on the sound emitted by the belt conveyor roller collected by the microphone array.

[0068] In the abnormal sound locating device 200 for belt conveyor rollers provided in the embodiment of the present application, the sound emitted by the belt conveyor roller is collected by a microphone array, and based on the pre-set abnormal sound characteristics, it is determined whether the sound emitted by the belt conveyor roller is an abnormal sound, and finally, based on the sound emitted by the belt conveyor roller collected by the microphone array, the direction of the abnormal sound is calculated. Therefore, the abnormal sound locating device for belt conveyor rollers provided in the embodiment of the present application can automatically detect and locate the abnormal sound of the belt conveyor roller, reduce the frequency of operator intervention for detection, and can detect the abnormal sound of the belt conveyor roller at different positions, with high flexibility, and no need to modify the detection device or the inspection robot, so it is easy to install and saves costs.

[0069] It should be noted that the specific implementation method of the abnormal noise locating device for belt conveyor rollers in the embodiment of the present application is similar to the specific implementation method of the video generation method in the embodiment of the present application. Please refer to the description of the method part for details and will not be repeated here.

[0070] Figure 4 Schematic diagram of the structure of an electronic device 300 according to an embodiment of the present application.

[0071] like Figure 4 As shown, the electronic device 300 includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from the storage part 302 to a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The CPU 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0072] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.

[0073] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 309, and / or installed from a removable medium 311. When the computer program is executed by a central processing unit (CPU) 301, the above-mentioned functions defined in the electronic device of the present application are executed.

[0074] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electronic device, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0075] In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction-executing electronic device, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction-executing electronic device, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0076] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the processing receiving device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the aforementioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based electronic device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0077] The units or modules involved in the embodiments described in this application can be implemented by software or hardware. The units or modules described can also be set in a processor, and the processor is used to implement the abnormal sound positioning method for the belt conveyor roller when executing the program:

[0078] Sending instructions to the microphone array to collect the sound emitted by the belt conveyor roller through the microphone array;

[0079] According to the preset abnormal sound characteristics, determining whether the sound emitted by the belt conveyor roller is an abnormal sound; and

[0080] If so, the position of the abnormal sound is calculated based on the sound emitted by the belt conveyor roller collected by the microphone array.

[0081] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently and not be assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the abnormal noise locating method for belt conveyor rollers described in the present application:

[0082] Sending instructions to the microphone array to collect the sound emitted by the belt conveyor roller through the microphone array;

[0083] According to the preset abnormal sound characteristics, determining whether the sound emitted by the belt conveyor roller is an abnormal sound; and

[0084] If so, the position of the abnormal sound is calculated based on the sound emitted by the belt conveyor roller collected by the microphone array.

[0085] As another aspect, the present application further provides a computer program product, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer program product stores one or more programs, and when the above programs are used by one or more processors to execute the abnormal noise locating method for belt conveyor rollers described in the present application:

[0086] Sending instructions to the microphone array to collect the sound emitted by the belt conveyor roller through the microphone array;

[0087] According to the preset abnormal sound characteristics, determining whether the sound emitted by the belt conveyor roller is an abnormal sound; and

[0088] If so, the position of the abnormal sound is calculated based on the sound emitted by the belt conveyor roller collected by the microphone array.

[0089] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for locating abnormal noise of belt conveyor rollers, characterized in that: The following steps are involved: Sending instructions to the microphone array to collect the sound emitted by the belt conveyor roller through the microphone array; According to the preset abnormal sound characteristics, determine whether the sound emitted by the belt conveyor roller is an abnormal sound; and If so, the position of the abnormal sound is calculated based on the sound emitted by the belt conveyor roller collected by the microphone array.

2. The method according to claim 1, characterized in that The calculating the position of the abnormal sound according to the sound emitted by the belt conveyor roller collected by the microphone array comprises: A loudness matrix is ​​obtained based on the sound signals emitted by the belt conveyor roller received by different microphones of the microphone array, and the direction of the abnormal sound is calculated by a difference method.

3. The method according to claim 2, characterized in that The microphone array is arranged on the inspection robot body, and after calculating the position of the abnormal sound according to the sound emitted by the belt conveyor roller collected by the microphone array, the method further includes: According to the current position of the inspection robot body and the direction of the abnormal sound, the position of the belt conveyor roller that emits the abnormal sound is located.

4. The method according to claim 1, characterized in that Before judging whether the sound emitted by the belt conveyor roller is an abnormal sound according to the preset abnormal sound characteristics, the method further includes: Extract the abnormal noise characteristics of the belt conveyor roller.

5. The method according to claim 4, characterized in that The step of extracting the abnormal noise characteristics of the belt conveyor roller comprises: The abnormal noise characteristics of the belt conveyor roller are extracted through a machine learning algorithm.

6. The method according to claim 1, characterized in that After sending the instruction to the microphone array and collecting the sound emitted by the belt conveyor roller through the microphone array, the method further includes: The sound emitted by the belt conveyor roller collected by the microphone array is filtered.

7. The method according to claim 6, characterized in that The filtering process of the sound emitted by the belt conveyor roller collected by the microphone array includes: The sound emitted by the belt conveyor roller collected by the microphone array is subjected to waveform noise reduction processing.

8. An inspection robot for inspecting a belt conveyor, characterized in that: The inspection robot calculates the direction of the abnormal sound by using the abnormal sound positioning method according to any one of claims 1 to 7.

9. The inspection robot according to claim 8, characterized in that: The inspection robot comprises a robot body and a microphone, wherein the microphone is arranged on the robot body and faces the roller.

10. The inspection robot according to claim 9, characterized in that: The number of the microphones is multiple, and the multiple microphones are arranged on the robot body in an array manner.

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