Belt conveyor line detection robot and operation method

Abstract

The invention discloses a belt conveyor line detection robot and an operation method, and belongs to the technical field of high-end intelligent detection equipment. The robot is arranged in a narrow space between an upper belt and a lower belt, replaces manual inspection, automatically moves along a track, collects data of key components by integrating various sensors, compares the data with preset data, diagnoses health conditions of the components, and sends abnormal results to a background. Compared with the prior art, the robot can detect the top surface, the bottom surface and transmission parts of the belt at the same time, has the characteristics of mobile inspection and high integration of multiple sensors, and is high in efficiency and accuracy. The anti-overturning design ensures the safety under the working conditions of shutdown and inspection, and tasks can still be executed in an extremely strong wind environment. The flat shape adapts to narrow space, and multi-point automatic dust removal enhances dust environment adaptability. The robot automatically detects energy, automatically returns to be charged with low electric quantity and continues to inspect after being fully charged, personnel participation is not needed in the whole process, manpower is saved, and the robot is more intelligent and autonomous.

Description

Technical Field

[0001] The invention belongs to the technical field of high-end intelligent detection equipment. Background Art

[0002] The belt conveyor line inspection equipment is a new type of equipment that replaces manual inspection of component failures. The belt conveyor line inspection equipment shown in the existing patents is arranged above or on the side of the belt line. Most of them inspect cracks on the top surface of the belt, belt deviation, material stacking height, flammable gas detection, temperature and humidity detection, etc. It is difficult to detect bearing failures of transmission components between the top and bottom surfaces of the belt, such as upper and lower rollers.

[0003] In order to solve the above problems, a belt conveyor line inspection robot was designed.

[0004] The technology of the present invention places the robot in the narrow space between the upper and lower belts, which can replace people to patrol the belt conveyor line. When the robot simulates people's self-inspection along the track, the robot's integrated multiple sensors collect data on key components of the belt conveyor line, and compare the collected data with the robot's preset data. Based on the comparison results, the robot diagnoses abnormal health conditions of key components and sends the abnormal results to the back-end personnel.

[0005] Compared with existing technologies, this technology can detect both the top and bottom surfaces of the belt conveyor line, and the transmission components between the top and bottom surfaces of the belt. Specifically, it has the characteristics of mobile inspection and high integration of multiple sensors, with high inspection efficiency and accuracy. The anti-overturning design, shutdown conditions and inspection conditions can all ensure the safety of the robot, and it can still perform inspection tasks in extremely strong wind environments. The flat design allows the robot to shuttle through the narrow space between the upper and lower belt surfaces of the conveyor line, and the robot has better spatial adaptability. The multi-point automatic dust removal design allows the robot to automatically clean the dust environment and has better adaptability to the inspection environment. The robot autonomously detects energy, automatically returns to the operation and maintenance cabin to charge when the battery is low, and autonomously returns after it is fully charged to continue the inspection. The entire process does not require human participation, saving manpower and being more autonomous and intelligent. Summary of the invention

[0006] The present invention provides a belt conveyor line inspection technology, which aims to solve the problem of automated inspection of belt conveyor lines. Specifically, it is necessary to detect the top and bottom surfaces of the belt of the belt conveyor line, and to detect the transmission components between the top and bottom surfaces of the belt, so as to solve the problem that existing inspection equipment only detects the top and side surfaces of the belt conveyor.

[0007] A belt conveyor line detection robot comprises a body module, a drive module, a windproof and anti-overturning module, an obstacle avoidance module, a position recognition module, a high-definition camera module, an infrared camera module, a noise collection module, a wireless transceiver system, a control panel, a power battery system, and a dust removal power source.

[0008] The vehicle body module is respectively connected with the driving module, the windproof and anti-overturning module, the obstacle avoidance module, the position recognition module, the high-definition camera module, the infrared camera module, the noise collection module, the wireless transceiver system, the control panel, the power battery system, and the dust removal power source.

[0009] In the above technical solution, the vehicle body module includes an upper cover, a lower cover, a dust cover, a front left sensor cabin, a front right sensor cabin, a rear left sensor cabin, a rear right sensor cabin, and a pickup cover. The upper cover is respectively connected and fixed to the lower cover, the dust cover, the front left sensor cabin, the front right sensor cabin, the rear left sensor cabin, the rear right sensor cabin, and the pickup cover by screws.

[0010] In the above technical scheme, the drive module has four groups, namely the front left drive module, the front right drive module, the rear left drive module, and the rear right drive module. Each group of the drive modules is composed of an independently driven anti-skid wheel and a servo motor, and the anti-skid wheel tire surface has a pattern. The front left drive module is installed on the front left side of the body module. The middle hole of the front left anti-skid wheel is connected to the output shaft of the front left servo motor, and the front left servo motor is fixed to the front left inner wall of the upper cover. The front right drive module is installed on the front right side of the body module. The middle hole of the front right anti-skid wheel is connected to the output shaft of the front right servo motor, and the front right servo motor is fixed to the front right inner wall of the upper cover. The rear left drive module is installed on the rear left side of the body module. The middle hole of the rear left anti-skid wheel is connected to the output shaft of the rear left servo motor, and the rear left servo motor is fixed to the rear left inner wall of the upper cover. The rear right drive module is installed on the rear right side of the body module. The middle hole of the rear right anti-skid wheel is connected to the output shaft of the rear right servo motor, and the rear right servo motor is fixed on the rear right inner wall of the upper cover.

[0011] In the above technical scheme, there are two groups of windproof and anti-rollover modules, each of which is composed of an independent idler wheel, a swing rod and a steering gear, which are respectively located in the middle grooves on the left and right sides of the upper cover of the vehicle body module. The left idler wheel is connected to the end of the swing rod with a shaft through a bearing, the inner hole of the bearing is connected to the shaft diameter of the end of the swing rod with a shaft, and the outer ring of the bearing is connected to the inner hole of the idler wheel. The inner hole of the other end of the swing rod is connected to the output shaft of the steering gear. The steering gear is fixed to the left center of the upper cover of the vehicle body module. The right idler wheel is connected to the end of the swing rod with a shaft through a bearing, the inner hole of the bearing is connected to the shaft diameter of the end of the swing rod with a shaft, and the outer ring of the bearing is connected to the inner hole of the idler wheel. The inner hole of the other end of the swing rod is connected to the output shaft of the steering gear. The steering gear is fixed to the right center of the upper cover of the vehicle body module.

[0012] In the above technical solution, there are four groups of obstacle avoidance modules, which are arranged on the front and rear sides of the robot respectively, and each group of obstacle avoidance modules is composed of a laser radar. The front left laser radar is installed on the front left end face of the sensor cabin. The front right laser radar is installed on the front right end face of the sensor cabin. The rear left laser radar is installed on the rear left end face of the sensor cabin. The rear right laser radar is installed on the rear right end face of the sensor cabin. Each group of laser radar cables is connected to the control board.

[0013] In the above technical solution, the position identification module consists of a card reader and several RFID cards. The card reader is installed in the identification module cavity on the upper cover and can be fixed at four points by bolts or by snaps. The dust cover closes the identification module cavity on the upper cover.

[0014] In the above technical solution, the high-definition camera module is composed of two high-definition cameras and two dust removal modules. The high-definition cameras are installed on the front and rear ends of the upper cover, the front camera, the rear camera, the front dust removal module, and the rear dust removal module. The front dust removal module is installed in front of the camera and fixed on the top surface of the upper cover. The rear dust removal module is installed behind the camera and fixed on the top surface of the upper cover. The high-definition camera can rotate 360 ​​degrees, and in more working conditions, the front camera is directly in front and the rear camera faces directly behind. There are several small holes on the inclined top surface of the dust removal module, and the diameter of the small holes first decreases and then increases from top to bottom along the axial direction.

[0015] In the above technical solution, the infrared camera module is composed of four groups of infrared cameras and four groups of dust removal modules. The front left infrared camera and dust removal module are installed on the outer cylindrical plane of the front left sensing cabin. The front right infrared camera and dust removal module are installed on the outer cylindrical plane of the front right sensing cabin. The rear left infrared camera and dust removal module are installed on the outer cylindrical plane of the rear left sensing cabin. The rear right infrared camera and dust removal module are installed on the outer cylindrical plane of the rear right sensing cabin.

[0016] In the above technical solution, the noise collection module has an array composed of a plurality of microphones, which are fixed in the microphone cavity on the upper cover, and the microphone cover is fixed to the upper cover.

[0017] In the above technical solution, the wireless transceiver system is composed of two sets of wireless transceiver modules. The left wireless transceiver module is installed in the left long strip groove on the upper cover. The right wireless transceiver module is installed in the right long strip groove on the upper cover.

[0018] In the above technical solution, the control panel is fixedly installed at four points inside the vehicle body module, and the control panel is connected to the drive module, obstacle avoidance module, position recognition module, high-definition camera module, infrared camera module, noise collection module, and wireless transceiver system through cables.

[0019] In the above technical solution, the power battery is fixedly installed at four points inside the vehicle body module. The power battery is connected to the control panel via a cable.

[0020] In the above technical solution, the dust removal power source is fixed on the front face of the upper cover. The air inlet of the dust removal power source is provided with an air filter module. The dust removal power source is connected to the control panel through a signal bar. The dust removal power source is connected to the power battery cable. The air pipe of the dust removal power source passes through the front face of the upper cover to connect the dust removal module and the dust removal module. Another air pipe of the dust removal power source is connected to the inner cavity of the vehicle body module.

[0021] A belt conveyor line detection robot automatic detection operation method based on the above technical solution includes the following steps:

[0022] S1. Place the inspection robot into the robot track with a conveyor line. The anti-skid wheels of the drive module are located on the top surface of the track, and the windproof and anti-rollover module is located on the bottom surface of the idler wheels of the track. The anti-skid wheels and the idler wheels tightly clamp the track, and the inspection program starts.

[0023] S2. The detection robot drives into the electronic tag of roller No. 1 on the belt conveyor line. The position recognition module detects the electronic tag of roller No. 1 on the belt conveyor line and sends the position data to the control panel. The control panel sends instructions to the high-definition camera module, infrared camera module, and noise collection module to detect the high-definition image, infrared image, and noise data of key components near roller No. 1. When the temperature, noise, infrared image, and high-definition image data of key components near roller No. 1 are greater than the data set by the control panel, the control panel starts the wireless transceiver system to display an alarm message to the background, and the background displays that the key components near roller No. 1 are abnormal. When the temperature, noise, infrared image, and high-definition image data of key components near roller No. 1 are less than the data set by the control panel, the control panel starts the wireless transceiver system 9 to display normal equipment information to the background, indicating that the key components near roller No. 1 are normal.

[0024] S3. By analogy, the detection robot reads the position information of all remaining rollers on the belt conveyor line and the temperature, noise, infrared image, and high-definition image data of key components near the remaining rollers. The measured data is compared with the data set by the control panel. The control panel determines the abnormality and starts the wireless transceiver system to send the detection information to the background.

[0025] In the above-mentioned automatic detection operation method of the belt conveyor line, when the dust concentration on the robot surface is high, the control board starts the dust removal power source, and the high-pressure gas is ejected from the dust removal module and the small holes of the dust removal module through the gas pipeline, forming a high-pressure gas layer on the outer protective cover of the camera and the surface of the infrared camera module to isolate the dust. Another high-pressure gas enters the inner cavity of the body module to achieve positive pressure dust prevention in the inner cavity.

[0026] In the above-mentioned automatic detection method for belt conveyor lines, when the robot encounters obstacles in front or behind, the obstacle avoidance module sends an obstacle signal to the control panel, and the control panel issues a stop command to the drive module, the robot automatically stops driving, and the control panel starts the wireless transceiver system to send obstacle information to the background. After the obstacle is cleared, the background remotely starts or the local button starts the robot, and the control panel restarts the robot to continue automatic inspection.

[0027] In the above-mentioned automatic inspection method for the conveyor belt, when the robot's control panel detects that the power battery is less than 20%, the robot's control panel starts the return program, the drive module drives the inspection robot into the charging station, and the control panel starts the wireless transceiver system to send charging information to the background. After charging is completed, the control panel restarts the robot's automatic inspection program.

[0028] Beneficial Effects

[0029] Compared with existing technologies, this technology can detect both the top and bottom surfaces of the belt conveyor line, and the transmission components between the top and bottom surfaces of the belt. Specifically, it has the characteristics of mobile inspection and high integration of multiple sensors, with high inspection efficiency and accuracy. The anti-overturning design, shutdown conditions and inspection conditions can all ensure the safety of the robot, and it can still perform inspection tasks in extremely strong wind environments. The flat design allows the robot to shuttle through the narrow space between the upper and lower belt surfaces of the conveyor line, and the robot has better spatial adaptability. The multi-point automatic dust removal design allows the robot to automatically clean the dust environment and has better adaptability to the inspection environment. The robot autonomously detects energy, automatically returns to the operation and maintenance cabin to charge when the battery is low, and autonomously returns after it is fully charged to continue the inspection. The entire process does not require human participation, saving manpower and being more autonomous and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] Figure 1 : A three-dimensional diagram of the belt conveyor line detection robot of the present invention;

[0032] Figure 2 : A three-dimensional diagram of the body module of the belt conveyor line detection robot of the present invention;

[0033] Figure 3 : A three-dimensional diagram of the belt conveyor line detection robot without a dust removal power source installed in the present invention;

[0034] Figure 4 : Flow diagram of the working method of the present invention

[0035] In the figure, the vehicle body module 1, the driving module 2, the windproof and anti-overturning module 3, the obstacle avoidance module 4, the position recognition module 5, the high-definition camera module 6, the infrared camera module 7, the noise collection module 8, the wireless transceiver system 9, the control panel 10, the power battery system 11, the dust removal power source 12,

[0036] Body module 1, upper cover 11, lower cover 12, dust cover 13, front left sensor cabin 14a, front right sensor cabin 14b, rear left sensor cabin 14c, rear right sensor cabin 14d, pickup cover 15,

[0037] Drive module 2, front left anti-skid wheel 21a, front right anti-skid wheel 21b, rear left anti-skid wheel 21c, rear right anti-skid wheel 21d,

[0038] Windproof and anti-overturning module 3, idler wheel 31, swing rod 32, steering gear 33, left idler wheel 31a, left swing rod 32a, right idler wheel 31b, right swing rod 32b,

[0039] Obstacle avoidance module 4, front left laser radar 41a, front right laser radar 41b, rear left laser radar 41c, rear right laser radar 41d,

[0040] Position identification module 5, card reader 51

[0041] High-definition camera module 6, high-definition camera head 61, dust removal module 62, front camera head 61a, rear camera head 61b, front dust removal module 62a, rear dust removal module 62b,

[0042] Infrared camera module 7, infrared camera 71, dust removal module 72, front left infrared camera 71a, front left dust removal module 72a, front right infrared camera 71b, front right dust removal module 72b, rear left infrared camera 71c, rear left dust removal module 72c, rear right infrared camera 71d, rear right dust removal module 72d,

[0043] Noise collection module 8, microphone array 81,

[0044] Wireless transceiver system 9, left wireless transceiver module 91a, right wireless transceiver module 91b, DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings and examples:

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] Example 1

[0050] See also Figures 1 to 3 The present invention provides a technical solution: a belt conveyor line detection robot includes a body module 1, a drive module 2, a windproof and anti-overturning module 3, an obstacle avoidance module 4, a position recognition module 5, a high-definition camera module 6, an infrared camera module 7, a noise collection module 8, a wireless transceiver system 9, a control panel 10, a power battery system 11, and a dust removal power source 12.

[0051] The vehicle body module 1 is respectively connected to the driving module 2, the windproof and anti-overturning module 3, the obstacle avoidance module 4, the position recognition module 5, the high-definition camera module 6, the infrared camera module 7, the noise collection module 8, the wireless transceiver system 9, the control panel 10, the power battery system 11, and the dust removal power source 12.

[0052] like Figure 2 As shown, the vehicle body module 1 includes an upper cover 11, a lower cover 12, a dust cover 13, a front left sensor cabin 14a, a front right sensor cabin 14b, a rear left sensor cabin 14c, a rear right sensor cabin 14d, and a pickup cover 15. The upper cover 11 is respectively fixed to the lower cover 12, the dust cover 13, the front left sensor cabin 14a, the front right sensor cabin 14b, the rear left sensor cabin 14c, the rear right sensor cabin 14d, and the pickup cover 15 by screws.

[0053] like Figure 3 As shown, the driving module 2 is composed of four independently driven anti-skid wheels 21 and four servo motors 22. The tire surface of the anti-skid wheel 21 has a pattern. The middle hole of the front left anti-skid wheel 21a is connected to the output shaft of the front left servo motor 22a, and the front left servo motor 22a is fixed to the front left inner wall of the upper cover 11. The middle hole of the front right anti-skid wheel 21b is connected to the output shaft of the front right servo motor 22b, and the front right servo motor 22b is fixed to the front right inner wall of the upper cover 11. The middle hole of the rear left anti-skid wheel 21c is connected to the output shaft of the rear left servo motor 22c, and the rear left servo motor 22c is fixed to the rear left inner wall of the upper cover 11. The middle hole of the rear right anti-skid wheel 21d is connected to the output shaft of the rear right servo motor 22d, and the rear right servo motor 22ds is fixed to the rear right inner wall of the upper cover 11.

[0054] like Figure 3 As shown, the windproof and anti-overturning module 3 is composed of two independent idler wheels 31, a swing rod 32 and a steering gear 33, which are respectively located in the middle grooves on the left and right sides of the upper cover 11 of the vehicle body module 1. The left idler wheel 31a is connected to the shaft end 321a of the swing rod 32a through a bearing 34a, the inner hole of the bearing 34a is connected to the shaft diameter of the shaft end 321a of the swing rod 32a, and the outer ring of the bearing 34a is connected to the inner hole of the idler wheel 31a. The inner hole of the other end 322a of the swing rod 32a is connected to the output shaft of the steering gear 33a. The steering gear 33a is fixed to the left side of the upper cover 11 of the vehicle body module 1 in the middle. The right idler wheel 31b is connected to the shaft end 321b of the swing rod 32b through a bearing 34b, the inner hole of the bearing 34b is connected to the shaft diameter of the shaft end 321b of the swing rod 32b, and the outer ring of the bearing 34b is connected to the inner hole of the idler wheel 31b. The inner hole of the other end 322b of the swing rod 32b is connected to the output shaft of the steering gear 33b. The steering gear 33b is fixed at the center of the right side of the upper cover 11 of the vehicle body module 1.

[0055] like Figure 2 Figure 3 As shown, the obstacle avoidance module 4 is composed of four laser radars 41. The front left laser radar 41a is installed on the front left end surface of the sensing cabin 14a. The front right laser radar 41b is installed on the front right end surface of the sensing cabin 14b. The rear left laser radar 41c is installed on the rear left end surface of the sensing cabin 14c. The rear right laser radar 41d is installed on the rear right end surface of the sensing cabin 14d.

[0056] The position identification module 5 is composed of a card reader 51 and a plurality of RFID cards 52. The card reader 51 is installed in the identification module cavity on the upper cover 11. Figure 3As shown, the dust cover 13 can be fixed at four points by bolts or by snaps, and the identification module cavity on the upper cover 11 is closed.

[0057] The high-definition camera module 6 is composed of two high-definition cameras 61 and two dust removal modules 62. Figure 3 As shown, the high-definition camera 61 is installed on the front and rear ends of the upper cover 11, with a front camera 61a, a rear camera 61b, a front dust removal module 62a, and a rear dust removal module 62b. The front dust removal module 62a is installed in front of the camera 61a and fixed on the top surface of the upper cover 11. The rear dust removal module 62b is installed behind the camera 61b and fixed on the top surface of the upper cover 11. The high-definition camera 61 can rotate 360 ​​degrees, and in more working conditions, the front camera 61a is located directly in front, and the rear camera 61b faces directly behind. There are several small holes on the inclined top surface of the dust removal module 62, and the diameter of the small holes first decreases and then increases from top to bottom along the axial direction.

[0058] The infrared camera module 7 is composed of four groups of infrared cameras 71 and four groups of dust removal modules 72. Figure 3 As shown, the front left infrared camera 71a and the dust removal module 72a are installed on the outer cylindrical plane of the front left sensing cabin 14a. The front right infrared camera 71b and the dust removal module 72b are installed on the outer cylindrical plane of the front right sensing cabin 14b. The rear left infrared camera 71c and the dust removal module 72c are installed on the outer cylindrical plane of the rear left sensing cabin 14c. The rear right infrared camera 71d and the dust removal module 72d are installed on the outer cylindrical plane of the rear right sensing cabin 14d.

[0059] The noise collection module 8 has an array of a plurality of microphones 81 , which are fixed in a microphone cavity on the upper cover 11 , and the microphone cover plate 15 is fixed to the upper cover 11 .

[0060] The wireless transceiver system 9 is composed of two sets of wireless transceiver modules 91. Figure 3 As shown, the left wireless transceiver module 91a is installed in the left long strip groove on the upper cover 11. The right wireless transceiver module 91a is installed in the right long strip groove on the upper cover 11.

[0061] The control panel 10 is fixedly installed at four points inside the vehicle body module 1, and the control panel 10 is connected to the driving module 2, the obstacle avoidance module 4, the position recognition module 5, the high-definition camera module 6, the infrared camera module 7, the noise collection module 8, and the wireless transceiver system 9 through cables.

[0062] The power battery 11 is fixedly installed at four points inside the vehicle body module 1. The power battery 11 is connected to the control panel 10 via a cable.

[0063] The dust removal power source 12 is fixed to the front end surface of the upper cover 11. Figure 1 As shown. The air inlet of the dust removal power source has an air filter module. The dust removal power source 12 is connected to the control panel 10 through a signal bar. The dust removal power source 12 is connected to the power battery 11 by a cable. The air pipe of the dust removal power source 12 passes through the front end surface of the upper cover 11 to connect the dust removal module 62 and the dust removal module 72. Another air pipe of the dust removal power source 12 is connected to the inner cavity of the vehicle body module 1.

[0064] Example 2

[0065] Based on Example 1, Figure 4 As shown, a belt conveyor line automatic detection operation method is provided.

[0066] S1. Place the inspection robot into the robot track with the conveyor line. The anti-skid wheels 21 of the driving module 2 are located on the top surface of the track. The windproof and anti-overturning module 3 is located on the bottom surface of the idler wheels 31 of the track. The anti-skid wheels 21 and the idler wheels 31 tightly clamp the track, and the inspection program starts.

[0067] S2. The detection robot drives into the electronic tag 521 of the No. 1 roller on the belt conveyor line. The position recognition module 5 detects the electronic tag 521 of the No. 1 roller on the belt conveyor line and sends the position data to the control panel 10. The control panel 10 sends instructions to the high-definition camera module 6, the infrared camera module 7, and the noise collection module 8 to detect the high-definition image, infrared image, and noise data of the key components near the No. 1 roller. When the temperature, noise, infrared image, and high-definition image data of the key components near the No. 1 roller are greater than the data set by the control panel 10, the control panel 10 starts the wireless transceiver system 9 to display the alarm information to the background, and the background displays that the key components near the No. 1 roller are abnormal. When the temperature, noise, infrared image, and high-definition image data of the key components near the No. 1 roller are less than the data set by the control panel 10, the control panel 10 starts the wireless transceiver system 9 to display the normal equipment information to the background, indicating that the key components near the No. 1 roller are normal.

[0068] S3. By analogy, the detection robot reads the position information of all remaining rollers on the belt conveyor line and the temperature, noise, infrared image, and high-definition image data of key components near the remaining rollers. The measured data is compared with the data set by the control panel 10. The control panel 10 determines the abnormality and starts the wireless transceiver system 9 to send the detection information to the background.

[0069] The automatic detection method of the belt conveyor line is characterized in that in the steps S1-S3, when the dust concentration on the robot surface is high, the control board 10 starts the dust removal power source 12, and the high-pressure gas is ejected from the small holes of the dust removal module 62 and the dust removal module 72 through the gas pipeline, forming a high-pressure gas layer on the outer protective cover of the camera 61 and the surface of the infrared camera module 7 to isolate the dust. Another high-pressure gas enters the inner cavity of the vehicle body module 1 to achieve positive pressure dust prevention in the inner cavity.

[0070] The automatic detection method for a belt conveyor line is characterized in that, in the steps S1-S3, if the robot encounters an obstacle in front or behind, the obstacle avoidance module 4 sends an obstacle signal to the control panel 10, the control panel 10 issues a stop command to the drive module 2, the robot automatically stops driving, and the control panel 10 starts the wireless transceiver system 9 to send obstacle information to the background. After the obstacle is cleared, the background remotely starts or the local button starts the robot, and the control panel 10 restarts the robot to continue the automatic inspection.

[0071] The automatic inspection method for the conveyor belt is characterized in that in the steps S1-S3, when the robot control panel 10 detects that the power of the power battery 11 is less than 20%, the robot control panel 10 starts the return program, the drive module s2 drives the inspection robot to enter the charging station, and the control panel 10 starts the wireless transceiver system 9 to send charging information to the background. After charging is completed, the control panel 10 restarts the robot automatic inspection program

[0072] The present invention is described above by way of examples, but the present invention is not limited to the above specific embodiments, and any changes or modifications made based on the present invention belong to the scope of protection claimed by the present invention.

Claims

1. A belt conveyor line inspection robot includes a body module 1, a drive module 2, a windproof and anti-overturning module 3, an obstacle avoidance module 4, a position recognition module 5, a high-definition camera module 6, an infrared camera module 7, a noise collection module 8, a wireless transceiver system 9, a control panel 10, a power battery system 11, and a dust removal power source 12.

2. According to claim 1, the vehicle body module 1 includes an upper cover 11, a lower cover 12, a dust cover 13, a front left sensor cabin 14a, a front right sensor cabin 14b, a rear left sensor cabin 14c, a rear right sensor cabin 14d, and a pickup cover 15.

3. The driving module 2 according to claim 1 is composed of four independently driven anti-skid wheels 21 and four servo motors 22. The tire surface of the anti-skid wheel 21 has a pattern. The middle hole of the front left anti-skid wheel 21a is connected to the output shaft of the front left servo motor 22a, and the front left servo motor 22a is fixed to the front left inner wall of the upper cover 11. The middle hole of the front right anti-skid wheel 21b is connected to the output shaft of the front right servo motor 22b, and the front right servo motor 22b is fixed to the front right inner wall of the upper cover 11. The middle hole of the rear left anti-skid wheel 21c is connected to the output shaft of the rear left servo motor 22c, and the rear left servo motor 22c is fixed to the rear left inner wall of the upper cover 11. The middle hole of the rear right anti-skid wheel 21d is connected to the output shaft of the rear right servo motor 22d, and the rear right servo motor 22ds is fixed to the rear right inner wall of the upper cover 11.

4. The windproof and anti-overturning module 3 according to claim 1 is composed of two independent idler wheels 31, a swing rod 32 and a steering gear 33, which are respectively located in the middle grooves on the left and right sides of the upper cover 11 of the vehicle body module 1. The left idler wheel 31a is connected to the shaft end 321a of the swing rod 32a through a bearing 34a, the inner hole of the bearing 34a is connected to the shaft diameter of the shaft end 321a of the swing rod 32a, and the outer ring of the bearing 34a is connected to the inner hole of the idler wheel 31a. The inner hole of the other end 322a of the swing rod 32a is connected to the output shaft of the steering gear 33a. The steering gear 33a is fixed to the left side of the upper cover 11 of the vehicle body module 1 in the middle. The right idler wheel 31b is connected to the shaft end 321b of the swing rod 32b through a bearing 34b, the inner hole of the bearing 34b is connected to the shaft diameter of the shaft end 321b of the swing rod 32b, and the outer ring of the bearing 34b is connected to the inner hole of the idler wheel 31b. The inner hole of the other end 322b of the swing rod 32b is connected to the output shaft of the steering gear 33b. The steering gear 33b is fixed at the center of the right side of the upper cover 11 of the vehicle body module 1.

5. The obstacle avoidance module 4 according to claim 1 is composed of four laser radars 41. The front left laser radar 41a is installed on the end surface of the front left sensor cabin 14a. The front right laser radar 41b is installed on the end surface of the front right sensor cabin 14b. The rear left laser radar 41c is installed on the end surface of the rear left sensor cabin 14c. The rear right laser radar 41d is installed on the end surface of the rear right sensor cabin 14d.

6. According to claim 1, the position identification module 5 is composed of a card reader 51 and a plurality of RFID cards 52. The card reader 51 is installed in the identification module cavity on the upper cover 11. It can be fixed at four points by bolts or by snaps. The dust cover 13 closes the identification module cavity on the upper cover 11.

7. The high-definition camera module 6 according to claim 1 is composed of two high-definition cameras 61 and two dust removal modules 62. The high-definition camera 61 is installed on the front and rear ends of the upper cover 11, with a front camera 61a, a rear camera 61b, a front dust removal module 62a, and a rear dust removal module 62b. The front dust removal module 62a is installed in front of the camera 61a and fixed on the top surface of the upper cover 11. The rear dust removal module 62b is installed behind the camera 61b and fixed on the top surface of the upper cover 11. The high-definition camera 61 can rotate 360 ​​degrees, and in most working conditions, the front camera 61a is in the front and the rear camera 61b faces the rear. There are several small holes on the inclined top surface of the dust removal module 62, and the diameter of the small holes first decreases and then increases from top to bottom along the axial direction.

8. The infrared camera module 7 according to claim 1 is composed of four groups of infrared cameras 71 and four groups of dust removal modules 72. The front left infrared camera 71a and the front left dust removal module 72a are installed on the outer cylindrical plane of the front left sensing cabin 14a. The front right infrared camera 71b and the front right dust removal module 72b are installed on the outer cylindrical plane of the front right sensing cabin 14b. The rear left infrared camera 71c and the rear left dust removal module 72c are installed on the outer cylindrical plane of the rear left sensing cabin 14c. The rear right infrared camera 71d and the rear right dust removal module 72d are installed on the outer cylindrical plane of the rear right sensing cabin 14d.

9. A belt conveyor line automatic inspection operation method, using a belt conveyor line inspection robot according to any one of claims 1-13, comprising the following steps: S1, placing the inspection robot in the robot track with the conveyor line, the anti-skid wheel 21 of the driving module 2 is located on the top surface of the track, the windproof and anti-overturning module 3 is located on the bottom surface of the idler wheel 31 of the track, the anti-skid wheel 21 and the idler wheel 31 tightly clamp the track, and the inspection program starts. S2, the inspection robot drives into the No. 1 roller electronic tag 521 on the belt conveyor line, the position recognition module 5 detects the No. 1 roller electronic tag 521 on the belt conveyor line, sends the position data to the control panel 10, and the control panel 10 sends instructions to the high-definition camera module 6, the infrared camera module 7, and the noise collection module 8 to detect the high-definition image, infrared image, and noise data of the key components near the No. 1 roller. When the temperature, noise, infrared image, and high-definition image data of the key components near the No. 1 roller are greater than the data set by the control panel 10, the control panel 10 starts the wireless transceiver system 9 to display the alarm information to the background, and the background displays that the key components near the No. 1 roller are abnormal. When the temperature, noise, infrared image, and high-definition image data of key components near the No. 1 roller are less than the data set by the control panel 10, the control panel 10 starts the wireless transceiver system 9 to display the normal equipment information to the background, indicating that the key components near the No. 1 roller are normal. S3. By analogy, the detection robot reads the position information of all remaining rollers on the belt conveyor line and the temperature, noise, infrared image, and high-definition image data of key components near the remaining rollers. The measured data is compared with the data set by the control panel 10, and the control panel 10 determines that it is abnormal, and the control panel 10 starts the wireless transceiver system 9 to send the detection information to the background.

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