Intelligent inspection and safety management and control system and method for conveying belt

Abstract

The invention relates to an intelligent inspection and safety management and control system and method for a conveying belt, and the system comprises a foreign matter picking device which comprises a conveying belt, a visual detection unit and an industrial robot which are sequentially arranged in the material conveying direction, and a rotating shaft of the conveying belt is provided with an encoder; wherein the visual detection unit is erected above the conveying belt and used for detecting foreign matter and obtaining the pose data of the foreign matter, and the industrial robot is used for executing the foreign matter clamping action according to the pose data of the foreign matter and the angular displacement data, output by the encoder, of the conveying belt; the electric deviation rectifying device comprises deviation rectifying sensors arranged on the two sides of the conveying belt in pairs, a control unit and an electric push rod; the deviation correcting sensor is used for detecting whether the center of the conveying belt deviates from the center of the material conveyor or not and sending deviation data to the control unit, the control unit outputs an adjusting electric signal to the electric push rod according to the deviation data, and the electric push rod pushes or pulls a self-aligning carrier roller of the conveying belt according to the whole electric signal.

Description

Technical Field

[0001] The invention relates to an intelligent inspection and safety control system and method for a conveyor belt, and belongs to the technical field of coal conveying system control. Background Art

[0002] The coal transportation system of coal-fired power plants is one of the important links in the safe production of power plants, but there are many problems in the traditional coal transportation system, such as large dust at the transportation transfer point, material blockage in the coal drop pipe, belt deviation, belt tearing, low belt conveying output, frequent trestle washing, serious equipment corrosion, high energy consumption, serious equipment impact damage and high noise. Among them, conveyor belt deviation is one of the main reasons for abnormal wear of conveyor belts, and the existing manual deviation correction method is inefficient and has safety hazards.

[0003] There are already some invention patents to solve the problem of intelligent inspection and safety control of conveyor belts. For example:

[0004] Patent CN116553074A discloses a belt conveyor with a deviation correction function and a conveyor belt deviation correction method. The conveyor realizes multi-degree-of-freedom deviation correction of rollers through a cross-axis assembly and a rotary power assembly, and realizes high-precision deviation correction through closed-loop control to detect the deflection angle, thereby improving the deviation correction and conveying efficiency. However, in actual application, the patent needs to further optimize the structure and parameters of the self-aligning swing frame and the rotary power assembly to improve the deviation correction accuracy and efficiency.

[0005] Patent CN107720099A discloses a device for correcting the deviation of a circular tube conveyor belt. The device includes a correction sensor, an electrical control system, and a correction actuator, which can realize automatic control of the torsion correction of the circular tube conveyor belt, with high detection sensitivity, fast response and calculation speed. However, the patent needs to further improve the precision and accuracy of the sensor to ensure more accurate detection of the deflection range and direction of the conveyor belt.

[0006] However, the current solution does not take into account the impact of foreign matter on coal flow transportation, and the correction method is not intelligent and has low efficiency. Summary of the invention

[0007] In order to solve the above problems existing in the prior art, the present invention proposes a conveyor belt intelligent inspection and safety management system and method.

[0008] The technical solution of the present invention is as follows:

[0009] On the one hand, the present invention provides a conveyor belt intelligent inspection and safety control system, comprising:

[0010] A foreign matter sorting device comprises a conveyor belt, a visual inspection unit and an industrial robot arranged in sequence along a material conveying direction, wherein an encoder is installed on a rotating shaft of the conveyor belt;

[0011] The visual detection unit is set up above the conveyor belt to detect foreign objects and obtain the position and posture data of the foreign objects. The industrial robot is used to perform the foreign object clamping action based on the position and posture data of the foreign objects and the conveyor belt angular displacement data output by the encoder.

[0012] The electric deviation correction device comprises a deviation correction sensor, a control unit and an electric push rod which are arranged in pairs on both sides of the conveyor belt;

[0013] The deviation correction sensor is used to detect whether the center of the conveyor belt deviates from the center of the material conveyor, and sends the deviation data to the control unit. The control unit adjusts the electrical signal to the electric push rod according to the deviation data output, and the electric push rod pushes or pulls the self-aligning roller of the conveyor belt according to the correct electrical signal.

[0014] As a preferred embodiment, the visual detection unit includes a camera and an image processing module. The camera collects the image of the foreign body on the conveyor belt surface, and the image processing module obtains the visual coordinate system position information PV (X V ,Y V ,C V );The PV is converted into the foreign body's position PU (X U ,Y U ,C U );

[0015] The coordinate transformation formula is:

[0016]

[0017] Among them, (X0, Y0) is the coordinate of the origin of the visual coordinate system in the robot world coordinate system, R 11 , R 12 , R 21 , R 22 is the parameter in the rotation matrix, which describes the rotation relationship between the visual coordinate system and the robot world coordinate system. x and T y is the translation vector, and θ is the rotation angle between the two coordinate systems;

[0018] The industrial robot reads the conveyor belt angular displacement data output by the encoder in real time, and controls the movement of the robot end effector based on the motion control model of the PID control algorithm. The control output u(t) of the PID control algorithm is calculated by the following formula:

[0019]

[0020] Among them, K p is the proportionality coefficient, K i is the integration coefficient, Kd is the differential coefficient, and e(t) is the deviation value at the current moment, that is, the difference between the current end effector position of the industrial robot and the foreign object target position.

[0021] As a preferred embodiment, the step of adjusting the electrical signal output by the control unit to the electric push rod according to the deviation data includes:

[0022] The control unit uses a deviation calculation algorithm based on the least squares method to calculate the adjustment electrical signal and output an adjustment electrical signal related to the conveyor belt position deviation and deviation direction to the electric push rod. The formula for calculating the conveyor belt deviation based on the least squares method is as follows:

[0023]

[0024] Among them, (x i ,y i ) is the conveyor belt data collected by the deviation correction sensor, a0 and a1 are the parameters of the fitting line, and ΔS is the conveyor belt deviation.

[0025] As a preferred embodiment, the system further comprises:

[0026] The sprinkler fire extinguishing module is equipped with video surveillance and infrared cameras above the conveyor belt. When the sprinkler fire extinguishing module detects smoke or flames, the sprinkler system is activated to extinguish the fire.

[0027] As a preferred embodiment, the system further comprises:

[0028] The personnel intrusion recognition module is used to install cameras at the entrances and exits of designated areas. By deploying artificial intelligence algorithms, it can identify and automatically alarm scenes such as not wearing a safety helmet, area intrusion, and climbing over guardrails. At the same time, it counts the number of people entering and leaving, issues an overcrowding alarm, and outputs control commands to the conveyor.

[0029] As a preferred embodiment, the system further comprises:

[0030] Coal spillage identification module: The coal flow polygon detection area in the video screen is detected through the visual detection unit. When the coal area in the calibration area is found to be larger than the set value, it is judged that there is a risk of coal blockage or coal blockage has occurred, and a system alarm is issued.

[0031] As a preferred embodiment, the system further comprises:

[0032] Tear detection module: The conveyor belt in the video image is detected through the visual detection unit, and an alarm signal is output when a tear fault of the conveyor belt is detected.

[0033] On the other hand, the present invention also provides a method for intelligent inspection and safety control of a conveyor belt, comprising the following steps:

[0034] Set up foreign matter picking device and electric deviation correcting device;

[0035] The foreign object picking device detects foreign objects on the conveyor belt and obtains the position and posture data of the foreign objects, and controls the industrial robot to perform the foreign object gripping action based on the position and posture data of the foreign objects and the angular displacement data of the conveyor belt;

[0036] The electric deviation correction device detects whether the center of the conveyor belt deviates from the center of the material conveyor, and outputs an adjusted electrical signal to the electric push rod of the conveyor belt according to the deviation data. The electric push rod pushes or pulls the self-aligning roller of the conveyor belt according to the correct electrical signal.

[0037] On the other hand, the present invention further proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the conveyor belt intelligent inspection and safety control method as described in any embodiment of the present invention is implemented.

[0038] On the other hand, the present invention further proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent inspection and safety control method for the conveyor belt as described in any embodiment of the present invention.

[0039] Compared with the prior art, the present invention provides a conveyor belt intelligent inspection and safety management system, which has the following beneficial effects:

[0040] 1. The intelligent control of the coal transportation system is realized. The visual inspection unit and industrial robot are used to automatically detect foreign objects and automatically pick up debris, which improves the operation safety and efficiency of the coal transportation system and solves the problem that the traditional coal transportation system relies on manual inspection;

[0041] 2. The automatic deviation correction function is realized through the deviation correction sensor, control unit and electric push rod, which improves the deviation correction accuracy and efficiency, effectively solves the abnormal wear problem caused by the deviation of the conveyor belt, and extends the service life of the conveyor belt;

[0042] 3. The system integrates the two major functions of foreign body sorting and automatic deviation correction, builds a complete intelligent unmanned inspection and safety control system for the coal transportation system, realizes comprehensive intelligent control of the coal transportation system, and improves the integrity of operation and maintenance inspection information and the comprehensiveness of control;

[0043] 4. The conveyor belt angular displacement data is obtained by the encoder, and combined with the foreign object posture data obtained by the visual detection unit, the industrial robot can accurately locate and clamp foreign objects, improving the accuracy and efficiency of foreign object picking;

[0044] 5. The system adopts advanced visual inspection technology and robotics technology to improve the intelligence level of the coal transportation system, which is conducive to reducing labor costs and improving production efficiency and safety.

[0045] Additional aspects and advantages of the present invention will be set forth in the following description, and some of them will be apparent from the description, or may be understood by practicing the present invention. In addition, the various aspects and advantages of the present invention may be realized and obtained by the method steps and combinations particularly pointed out in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 An example diagram of a system for sorting foreign objects in accordance with the first embodiment of the present invention

[0047] Figure 2 It is a schematic diagram of the partial structure of the electric deviation correction device in the system of the first embodiment of the present invention.

[0048] The accompanying drawings in the figure are marked as follows:

[0049] 1. Conveyor belt; 2. Visual inspection unit; 3. Industrial robot; 4. Encoder; 5. Correction sensor; 6. Control unit; 7. Electric push rod. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0052] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0053] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0054] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0055] Embodiment 1:

[0056] See also Figure 1 and Figure 2 This embodiment provides a conveyor belt intelligent inspection and safety control system, which is characterized by comprising:

[0057] The foreign matter sorting device comprises a conveyor belt 1, a visual inspection unit 2 and an industrial robot 3 which are arranged in sequence along the material conveying direction, and an encoder 4 is installed on the rotating shaft of the conveyor belt 1;

[0058] The visual inspection unit 2 is mounted above the conveyor belt 1 to detect foreign objects and obtain the position and posture data of the foreign objects. The industrial robot 3 is used to perform the foreign object gripping action based on the position and posture data of the foreign objects and the conveyor belt angular displacement data output by the encoder 4.

[0059] The encoder 4 is installed on the rotating shaft of the conveyor belt 1 to detect the angular displacement data of the conveyor belt 1; the visual detection unit 2 is used to obtain photos of foreign objects and detect their positions; in front of the conveyor belt running direction, an industrial robot 3 is fixed to track and grab products.

[0060] The electric deviation correction device comprises a deviation correction sensor 5, a control unit 6 and an electric push rod 7 which are arranged in pairs on both sides of the conveyor belt 1;

[0061] The deviation correction sensor 5 is used to detect whether the center of the conveyor belt 1 deviates from the center of the material conveyor, and sends the deviation data to the control unit 6. The control unit 6 adjusts the electrical signal to the electric push rod 7 according to the deviation data output. The electric push rod 7 pushes or pulls the self-aligning roller of the conveyor belt 1 according to the adjusted electrical signal.

[0062] As a preferred implementation of this embodiment, the visual detection unit 2 includes a camera and an image processing module. The camera collects the image of the foreign body on the conveyor belt surface, and the image processing module obtains the visual coordinate system position information PV (X V ,Y V ,C V );The PV is converted into the foreign body's position PU (X U ,Y U ,C U );

[0063] The coordinate transformation formula is:

[0064]

[0065] Among them, (X0, Y0) is the coordinate of the origin of the visual coordinate system in the robot world coordinate system, R 11 , R 12, R 21 , R 22 is the parameter in the rotation matrix R, which describes the rotation relationship between the visual coordinate system and the robot world coordinate system. x and T y is the translation vector, and θ is the rotation angle between the two coordinate systems;

[0066] The industrial robot 3 reads the conveyor belt angular displacement data output by the encoder 4 in real time, and controls the movement of the robot end effector based on the motion control model of the PID control algorithm. The control output u(t) of the PID control algorithm is calculated by the following formula:

[0067]

[0068] Among them, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, and e(t) is the deviation value at the current moment, that is, the difference between the current end effector position of the industrial robot 3 and the foreign object target position.

[0069] As a preferred implementation of this embodiment, the step of the control unit 6 adjusting the electrical signal to the electric push rod 7 according to the deviation data output includes:

[0070] The control unit 6 uses a deviation calculation algorithm based on the least squares method to calculate the adjustment electrical signal and outputs an adjustment electrical signal related to the conveyor belt position deviation and deviation direction to the electric push rod 7. The formula for calculating the conveyor belt deviation based on the least squares method is as follows:

[0071]

[0072] Among them, (x i ,y i ) is the conveyor belt data collected by the deviation correction sensor 5, a0 and a1 are the parameters of the fitting line, and ΔS is the conveyor belt deviation.

[0073] The working principle of this embodiment is as follows:

[0074] After starting the system, calibrate the camera parameters and set the camera's exposure time, resolution and other parameters; perform zero-point calibration on encoder 4 to ensure that it can accurately measure the angular displacement data of conveyor belt 1; perform initialization settings on industrial robot 3, including zeroing the joint angle and setting the motion range, to ensure the normal operation of each device.

[0075] When a foreign object on the conveyor belt enters the camera's field of view, the camera detects the foreign object and takes a picture (the detection can use a pre-trained target detection model pre-deployed in the camera processor, such as the YOLO model), and detects the position information PV of the foreign object in the visual coordinate system through an image processing algorithm. At the same time, the angle position data of the conveyor belt encoder 4 is read.

[0076] The pose information PV in the visual coordinate system is converted into the position information PU in the robot world coordinate system. By collecting the conveyor encoder data in real time, the PID control algorithm is used to control the end effector of the industrial robot 3 to continuously approach the foreign object. During the approach process, the robot's motion parameters are continuously updated to ensure that it accurately tracks the foreign object.

[0077] When the robot reaches the location of the foreign object, it performs the grabbing action and ends the foreign object tracking state after grabbing the foreign object. The grabbed foreign object is placed in the designated collection area to complete the picking operation.

[0078] The electric deviation correction device detects whether the conveyor belt 1 in operation deviates through deviation data, automatically analyzes the deviation amount and the severity of the deviation, and timely adjusts the conveyor belt 1 so that it can run on an ideal path.

[0079] Set the corresponding time parameters in the parameter interface. When conveyor belt 1 deviates during transportation, the system will automatically correct the deviation direction. For example, when the left running time is set to 3S and the left slight deviation running time interval is set to 3 seconds, when conveyor belt 1 deviates to the left and triggers the left deviation switch for more than 3S, the system drives the electric push rod to reverse for 3S, and the deviation correction stops.

[0080] The deviation correction sensors are installed in pairs, and their symmetry center is consistent with the center of the conveyor. When the center of the running conveyor belt 1 deviates from the center of the conveyor, the deviation correction sensors on both sides start working, and thus output the deviated electrical signal to the deviation correction control box. After calculation by the microprocessor in the control box, an electrical signal related to the position deviation and deviation direction of the conveyor belt is output to the electric push rod, thereby pushing or pulling the self-aligning roller to return the center of the deviated conveyor belt to the center of the conveyor until the deviation disappears, the deviation correction control box stops outputting, the electric push rod stops, and the deviation correction ends.

[0081] When the self-aligning roller is adjusted to the limit position and the conveyor belt 1 continues to deviate and cannot be restored within a period of time, the control box outputs an alarm signal and the alarm indicator lights up. When the conveyor belt returns to normal, the alarm signal must be manually released before it can be used.

[0082] As a preferred implementation of this embodiment, the system further includes:

[0083] The sprinkler fire extinguishing module is a video surveillance and infrared camera arranged above the conveyor belt 1. When the sprinkler fire extinguishing module detects smoke or flames, the sprinkler system is activated to extinguish the fire.

[0084] As a preferred implementation of this embodiment, the system further includes:

[0085] The personnel intrusion recognition module is used to install cameras at the entrances and exits of designated areas. By deploying artificial intelligence algorithms, it can recognize and automatically alarm scenes such as not wearing a helmet, intruding the area, and climbing over the guardrail. At the same time, it counts the number of people entering and leaving, issues an overcrowding alarm, and outputs control commands to the conveyor. It can recognize and automatically alarm scenes such as not wearing a helmet, intruding the area, and climbing over the guardrail. At the same time, it counts the number of people entering and leaving, realizes closed management of the area, and issues an overcrowding alarm.

[0086] In the process of conveying materials, the belt conveyor may be damaged due to large pieces of gangue or large pieces of materials blocking the belt conveyor head. As a preferred implementation of this embodiment, the system also includes:

[0087] Coal spilling and coal spilling identification module: The coal flow polygon detection area in the video screen is detected by the visual detection unit 2. When the coal area in the calibration area is found to be larger than the set value, it is judged that there is a risk of coal blockage or coal blockage has occurred, and a system alarm is issued. Through this embodiment, when it is found that the coal area in the calibration area is too large, it is judged that there is a risk of coal blockage or coal blockage has occurred, and a system alarm is issued.

[0088] As a preferred implementation of this embodiment, the system further includes:

[0089] Tear detection module: The conveyor belt 1 in the video image is detected through the visual detection unit 2. When a tear failure of the conveyor belt 1 is detected, an alarm signal is output, and an alarm or emergency stop signal can be issued in time to avoid the expansion of the accident and minimize the loss of the conveyor belt.

[0090] Embodiment 2:

[0091] This embodiment provides a conveyor belt intelligent inspection and safety management method, including the following steps:

[0092] Set up foreign matter picking device and electric deviation correcting device;

[0093] The foreign object picking device detects foreign objects on the conveyor belt and obtains the position and posture data of the foreign objects, and controls the industrial robot to perform the foreign object gripping action based on the position and posture data of the foreign objects and the angular displacement data of the conveyor belt;

[0094] The electric deviation correction device detects whether the center of the conveyor belt deviates from the center of the material conveyor, and outputs an adjusted electrical signal to the electric push rod of the conveyor belt according to the deviation data. The electric push rod pushes or pulls the self-aligning roller of the conveyor belt according to the correct electrical signal.

[0095] The method steps in this embodiment correspond to the functions of each device in the above-mentioned embodiment 1, and will not be repeated here.

[0096] Embodiment three:

[0097] This embodiment proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the intelligent inspection and safety control method for the conveyor belt as described in any embodiment of the present invention is implemented.

[0098] Embodiment 4:

[0099] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for intelligent inspection and safety management of conveyor belts as described in any embodiment of the present invention is implemented.

[0100] In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0101] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0103] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk and other media that can store program codes.

[0104] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A conveyor belt intelligent inspection and safety control system, characterized in that: include: A foreign matter sorting device comprises a conveyor belt (1), a visual inspection unit (2) and an industrial robot (3) which are arranged in sequence along a material conveying direction, wherein an encoder (4) is installed on the rotating shaft of the conveyor belt (1); The visual detection unit (2) is mounted above the conveyor belt (1) and is used to detect foreign objects and obtain position and posture data of the foreign objects. The industrial robot (3) is used to perform a foreign object gripping action based on the position and posture data of the foreign objects and the conveyor belt angular displacement data output by the encoder (4). An electric deviation correction device comprises deviation correction sensors (5) arranged in pairs on both sides of a conveyor belt (1), a control unit (6) and an electric push rod (7); The deviation correction sensor (5) is used to detect whether the center of the conveyor belt (1) deviates from the center of the material conveyor, and sends the deviation data to the control unit (6). The control unit (6) outputs an adjustment electric signal to the electric push rod (7) according to the deviation data, and the electric push rod (7) pushes or pulls the centering roller of the conveyor belt (1) according to the adjustment electric signal.

2. According to claim 1, the intelligent inspection and safety control system for conveyor belts is characterized in that: The visual detection unit (2) comprises a camera and an image processing module. The camera collects an image of a foreign object on the surface of the conveyor belt. The image processing module obtains visual coordinate system position information PV (X V ,Y V ,C V );The PV is converted into the foreign body's position PU (X U ,Y U ,C U ); The coordinate transformation formula is: Among them, (X0, Y0) is the coordinate of the origin of the visual coordinate system in the robot world coordinate system, R 11 , R 12 , R 21 , R 22 is the parameter in the rotation matrix, which describes the rotation relationship between the visual coordinate system and the robot world coordinate system. x and T y is the translation vector, and θ is the rotation angle between the two coordinate systems; The industrial robot (3) reads the conveyor belt angular displacement data output by the encoder (4) in real time, and controls the movement of the robot end effector based on a motion control model of a PID control algorithm. The control output u(t) of the PID control algorithm is calculated by the following formula: Among them, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, and e(t) is the deviation value at the current moment, that is, the difference between the current end effector position of the industrial robot (3) and the foreign body target position.

3. The intelligent inspection and safety control system for conveyor belts according to claim 1 is characterized in that: The step of the control unit (6) adjusting the electrical signal to the electric push rod (7) according to the deviation data output comprises: The control unit (6) uses a deviation calculation algorithm based on the least square method to calculate the adjustment electric signal, and outputs an adjustment electric signal related to the conveyor belt position deviation and deviation direction to the electric push rod (7). The formula for calculating the conveyor belt deviation based on the least square method is as follows: Among them, (x i ,y i ) is the conveyor belt data collected by the deviation correction sensor (5), a0 and a1 are the parameters of the fitting line, and ΔS is the conveyor belt deviation.

4. The intelligent inspection and safety control system for conveyor belts according to claim 1 is characterized in that: The system further comprises: The sprinkler fire extinguishing module is a video surveillance and infrared camera arranged above the conveyor belt (1). When the sprinkler fire extinguishing module detects smoke or flames, the sprinkler system is activated to extinguish the fire.

5. The intelligent inspection and safety control system for conveyor belts according to claim 1 is characterized in that: The system further comprises: The personnel intrusion recognition module is used to install cameras at the entrances and exits of designated areas. By deploying artificial intelligence algorithms, it can identify and automatically alarm scenes such as not wearing a safety helmet, area intrusion, and climbing over guardrails. At the same time, it counts the number of people entering and leaving, issues an overcrowding alarm, and outputs control commands to the conveyor.

6. The intelligent inspection and safety control system for conveyor belts according to claim 1 is characterized in that: The system further comprises: Coal spill identification module: The visual detection unit (2) detects the coal flow polygon detection area in the video image. When it is found that the coal area in the calibration area is larger than the set value, it is judged that there is a risk of coal blockage or coal blockage has occurred, and a system alarm is issued.

7. The intelligent inspection and safety control system for conveyor belts according to claim 1 is characterized in that: The system further comprises: The tear detection module detects the conveyor belt (1) in the video image through the visual detection unit (2), and outputs an alarm signal when a tear fault of the conveyor belt (1) is detected.

8. A method for intelligent inspection and safety control of conveyor belts, characterized in that: The following steps are involved: Set up foreign matter picking device and electric deviation correcting device; The foreign object picking device detects foreign objects on the conveyor belt and obtains the position and posture data of the foreign objects, and controls the industrial robot to perform the foreign object gripping action based on the position and posture data of the foreign objects and the angular displacement data of the conveyor belt; The electric deviation correction device detects whether the center of the conveyor belt deviates from the center of the material conveyor, and outputs an adjusted electrical signal to the electric push rod of the conveyor belt according to the deviation data. The electric push rod pushes or pulls the self-aligning roller of the conveyor belt according to the correct electrical signal.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to claim 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to claim 8 is implemented.

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