A fully automated belt cleaning detection device and method of use

Abstract

The application provides a full-automatic belt cleaning detection device and a use method, relates to the technical field of visual detection after belt cleaning, and comprises a first cleaner. The first cleaner is installed on the top front side of a main frame body. The first cleaner is composed of a linkage rotating shaft, a connecting frame one and a first scraper. The linkage rotating shaft is fixedly connected with a connecting ring of a linkage rod through a screw rod. The connecting frame one is installed on the linkage rotating shaft. The first scraper is installed on the connecting frame one. An installation support is installed outside the linkage rotating shaft. The second cleaner comprises an installation shaft and a second scraper. Through the closed-loop control process of "first cleaning-first visual detection-second cleaning parameter regulation-second cleaning-second visual detection", full-automatic regulation and control of belt cleaning from detection to adjustment are realized. Manual intervention is not needed. The problem that the existing belt cleaning device can only judge the cleaning effect through manual regular inspection, so that the problem of substandard cleaning cannot be found in time is solved.

Description

Technical Field

[0001] This invention relates to the field of belt conveyor cleaning technology, specifically to automated control technology for belt cleaning based on vision detection. Background Technology

[0002] Belt conveyors, as core equipment for material transportation in industrial production, are widely used in mining, metallurgy, ports, chemical and other fields. During the material transportation process, some transported materials, especially viscous and powdery materials, will adhere to the belt surface. If not removed in time, the residual material will enter between the rollers and the belt, causing wear on the roller surface, belt misalignment, increased belt running resistance, extra energy consumption, and inaccurate measurement of transport volume due to material falling. Therefore, belt conveyors are generally equipped with a belt cleaner to clean the belt. However, existing belt cleaning devices have certain defects in use: most devices lack real-time detection methods and rely solely on manual periodic checks to judge the cleaning effect, resulting in the inability to detect substandard cleaning in time; the position, pressure and other parameters of the first and second cleaners are preset values ​​and cannot be dynamically adjusted according to the actual contamination of the belt surface, resulting in poor adaptability to materials of different viscosity and particle size; a few devices using visual detection are only used for fault alarms and do not form a closed-loop control with the cleaner, thus failing to achieve true fully automated control.

[0003] Therefore, we need to develop a fully automated belt cleaning and inspection device that integrates visual inspection technology and can realize post-first cleaning inspection, dynamic control of second cleaning, and secondary inspection and verification. Summary of the Invention

[0004] This invention aims to overcome the shortcomings of existing belt cleaning devices, such as low automation, uncontrollable cleaning effect, and lack of closed-loop control in visual inspection. It provides a fully automated belt cleaning and inspection device and its usage method. The device obtains residual information on the belt surface through the first visual inspection after the first cleaning, intelligently adjusts the parameters of the second cleaner, and then verifies the cleaning effect through a second visual inspection, forming a complete automated control closed loop to achieve precise and efficient belt cleaning.

[0005] This invention provides a fully automated belt cleaning and detection device and its usage method, specifically including: a main frame, a first-stage cleaner, a second-stage cleaner, a second-stage lifting controller, and a hydraulic telescopic rod; a fixed support is fixedly and vertically erected on the top surface of the main frame, and a collection box is placed on the main frame; a lifting rod is fixedly connected to the right side of the fixed support, and a transverse sliding plate is connected to the top of the fixed support; a hydraulic controller is installed on the lifting rod, and a hydraulic rod is installed on the hydraulic controller; a connecting valve is installed at the bottom right side of the hydraulic controller, and a counterweight is placed on the lifting rod; the first-stage cleaner is installed on the top front side of the main frame, and the first-stage cleaner is composed of a linkage shaft, a connecting frame, and a first-stage scraper. The linkage shaft is fixedly connected to a connecting ring of the linkage rod by a screw, the first connecting frame is installed on the linkage shaft, the first-stage scraper is installed on the first connecting frame, and a mounting bracket is installed on the outside of the linkage shaft. The mounting bracket is internally fastened with a detection probe mounting rod. Two additional sets of mounting brackets are installed on fixed uprights at the rear of the collection box. The two front sets are located below the belt and behind the first-stage sweeper, while the two rear sets are located below the belt and behind the second-stage sweeper. The second-stage sweeper includes a mounting shaft and two scrapers. The mounting shaft is fixedly connected between the two fixed brackets, and the two scrapers are mounted on the mounting shaft. The second-stage sweeper is located behind the first-stage sweeper. The second-stage lifting controller is fixedly connected to the outside of the fixed bracket. The second-stage lifting controller consists of a guide plate, a mounting frame, and a lifting device. The guide plate is fixedly welded to the outside of the fixed bracket, the mounting frame is connected between the upper and lower guide plates, and the lifting device is mounted on the mounting frame. The hydraulic telescopic rod is mounted on a transverse sliding plate via angle steel. The bottom of the hydraulic telescopic rod is rotatably connected to a linkage rod via a rotating shaft.

[0006] Furthermore, the transverse slide plate has a transverse slide groove inside, and the transverse slide plate is connected to the fixed bracket by a bolt assembly. Three sets of connecting holes are equally spaced to ensure that the height of the transverse slide plate can be adjusted, so that the initial height of the hydraulic telescopic rod is adjustable, improving the applicability of the device. The drive roller is rotatably connected to the fixed bracket by a bearing, and a belt is installed on the outside of the drive roller.

[0007] Furthermore, a hydraulic line is connected to the bottom of the connecting valve, which is connected to two secondary lifting controllers and two hydraulic telescopic rods. An electrical control device is installed on the top surface of the lifting rod, and the electrical control device is electrically connected to an external hardware control device. An electrically controlled telescopic rod is installed on the top of the electrical control device, and a through hole is opened at the moving end of the electrically controlled telescopic rod. The hydraulic rod is engaged inside the through hole. When it is necessary to adjust the pressure value, the industrial control computer and programmable logic controller of the external hardware control device are used to adjust the electrically controlled telescopic rod and the connecting valve, thereby driving the hydraulic rod to press, thus adjusting the pressure of the first or second stage sweeper.

[0008] Furthermore, the connecting frame is snapped onto a rectangular plate fixedly welded to the top surface of the linkage shaft. The outside of the connecting frame is provided with an irregularly shaped clamping plate. The inside of the first scraper is provided with an irregularly shaped groove that matches the connecting frame. The irregularly shaped clamping plate is snapped into the irregularly shaped groove, and the connecting frame and the first scraper are fastened together by bolts.

[0009] Furthermore, a connecting shaft is fixedly connected inside the mounting shaft, and both ends of the connecting shaft are snapped onto the lifting device. A rectangular plate is fixedly welded to the top surface of the mounting shaft, and a connecting frame two is snapped onto the outside of the rectangular plate. An irregularly shaped clamping plate is provided on the outside of the connecting frame two, and two scrapers are snapped onto the outside of the connecting frame two. Irregularly shaped grooves are opened inside the two scrapers, and the connecting frame two and the irregularly shaped clamping plate on the outside of the irregularly shaped grooves are snapped onto the inside of the irregularly shaped grooves. The two scrapers and the connecting frame two are fastened together by bolts.

[0010] Furthermore, the guide plate has a longitudinal groove inside, and the upper and lower sides of the mounting frame are connected to the guide plate by bolts inside the longitudinal groove. When the lifter moves up and down by adjusting the electric control and hydraulic rod, it drives the second sweeper to move to achieve automatic control. The longitudinal groove of the guide plate provides movement space for the position adjustment of the mounting frame.

[0011] Furthermore, the bottom of the mounting bracket is provided with an arc-shaped plate and is fixedly connected to the mounting bracket by bolts. The top of the mounting bracket is provided with an open notch, and the top of the notch is provided with a rectangular plate for connection. A vision acquisition module and an image preprocessing module are installed on the detection probe mounting rod. A data transmission unit is installed inside the detection probe mounting rod. The data transmission unit adopts a gigabit Ethernet interface with an image data transmission rate of ≥100Mbps. The vision acquisition module is an industrial camera with a resolution of higher than 5 million pixels and a frame rate of higher than 30fps. The industrial camera can be used to acquire images of the belt surface. The image preprocessing module is used to preprocess the acquired images to assist the industrial control computer and programmable logic controller of the external hardware control device in judging the images.

[0012] Furthermore, a rotating shaft is snapped onto the top of the front panel of the collection box, and rollers are fixedly connected to both sides of the rotating shaft. The rollers are snapped onto the top of the collection box. A mounting shaft is fixedly connected to the rotating shaft, and a through hole is opened inside the mounting shaft. A rotating plate is fixedly inserted into the through hole. The angle of the rotating plate can be adjusted by rotating it. The rollers increase the friction between the rotating shaft and the collection box, ensuring that the position of the rotating plate can be kept fixed after adjustment. The collection box can collect the material after the belt is cleaned, and at the same time provide an installation position for the second detection.

[0013] A method for using a fully automated belt cleaning and detection device, comprising the following steps:

[0014] S1. The operator selects the belt specification (width, material), the type of material to be conveyed (such as coal, ore, grain) on the touch screen, sets the target cleanliness parameters (residual area ratio ≤ 0.05%, 3D raised particles ≤ 0.1mm) and belt running speed (0.8-1.2m / s).

[0015] S2. The first-stage sweeper drives the first-stage scraper to contact the belt surface with initial pressure (150N) to perform the first-stage sweeping;

[0016] S3. The industrial camera begins to acquire images of the belt surface after the first cleaning (each frame covers an area of ​​100mm×800mm). The images are preprocessed by the image preprocessing module (denoising, enhancement, and correction). Based on the QR code labels on the belt surface, the images are stitched together to form a complete panoramic image of the belt surface.

[0017] S4. Use the YOLOv5 model for target detection, output the bounding box (x,y,w,h) of each residue, calculate the area of ​​a single residue (w×h) and the proportion of the total area (total residue area / belt detection area), classify the residue type (block, powder, sticky) by color and shape features, generate the first detection report and transmit the data to the external hardware control terminal;

[0018] S5. The computer and programmable logic controller invoke the decision model based on the first detection report:

[0019] If the residual area accounts for more than 1% of the total area: it is judged as heavily polluted, and the maximum cleaning intensity is activated.

[0020] If 0.5% < residual area percentage ≤ 1%: moderate contamination, pressure 300N, rotation speed 1200r / min;

[0021] If 0.1% < residual area percentage ≤ 0.5%: light contamination, pressure 200N, rotation speed 1000r / min;

[0022] If the residual area percentage is ≤0.1%: slight contamination, pressure 150N, rotation speed 800r / min;

[0023] S6. Output control commands to the electric telescopic rod, hydraulic telescopic rod and connecting valve, and adjust the contact pressure between the two scrapers and the belt at the same time;

[0024] S7, the industrial camera and laser line scanner work synchronously to collect data on the surface of the belt after the second cleaning. The image recognition algorithm repeats the analysis process of step S4, compares the detection results with the target cleanliness parameters until they match the preset parameters, and completes the cleaning and automatic control.

[0025] Beneficial effects

[0026] During use, this invention achieves fully automated control of belt cleaning from detection to adjustment through a closed-loop control process of "first-stage cleaning - first-stage visual inspection - second-stage cleaning parameter adjustment - second-stage cleaning - second-stage visual inspection", without the need for manual intervention.

[0027] Secondly, visual inspection technology can be used to identify 0.5mm. 2 The above-mentioned minute residues improve detection accuracy, making it more accurate and effective than traditional manual visual inspection; the control mechanism of the two-stage cleaner ensures that different types of residues can be effectively removed, controlling and reducing the area ratio of residual materials.

[0028] Furthermore, the pressure of the hydraulic rod is regulated by the electrically controlled telescopic rod, saving labor costs. Both the first and second sweepers can be independently controlled, enabling flexible control and ensuring thorough cleaning. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0030] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0031] In the attached diagram:

[0032] Figure 1 This is a schematic diagram of the right front view of the main frame of an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the main frame structure from the left rear side, according to an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of the structure of the fixed bracket according to an embodiment of the present invention.

[0035] Figure 4 This is a schematic diagram of the structure of the first-stage cleaner according to an embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram of the structure of the lifting controller according to Embodiment 2 of the present invention.

[0037] Figure 6 This is a schematic diagram of the structure of the second-stage cleaner of the present invention.

[0038] Figure 7 This is a schematic diagram of the lifting rod structure according to an embodiment of the present invention.

[0039] Figure 8 This is a schematic diagram of the structure of the collection box according to an embodiment of the present invention.

[0040] Figure 9This is a schematic diagram of the unfolded structure of the mounting bracket according to an embodiment of the present invention.

[0041] Figure 10 This is an embodiment of the present invention. Figure 8 A magnified structural diagram of point A in the middle.

[0042] List of reference numerals

[0043] 1. Main frame; 101. Fixed bracket; 1011. Transverse slide plate; 102. Drive roller; 2. Lifting rod; 201. Electrical control; 202. Hydraulic rod; 203. Counterweight; 204. Connecting valve; 3. First-stage sweeper; 31. Linkage shaft; 32. Connecting frame one; 33. First-stage scraper; 4. Second-stage sweeper; 41. Mounting shaft; 4101. Connecting shaft; 42. Connecting frame two; 43. Second-stage scraper; 5. Second-stage lifting controller; 51. Guide plate; 52. Mounting frame; 53. Lifter; 6. Mounting bracket; 601. Detection probe mounting rod; 7. Collection box; 701. Fixed upright plate; 702. Rotating plate; 703. Rotating retaining shaft; 7031. Retaining wheel; 7032. Mounting retaining shaft; 8. Hydraulic telescopic rod; 801. Linkage rod. Detailed Implementation

[0044] To make the objectives, solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise stated, the terms used herein have their ordinary meanings in the art. The same reference numerals in the drawings represent the same parts.

[0045] Example: Please refer to Figures 1 to 10 As shown:

[0046] This invention provides a fully automated belt cleaning and detection device and its usage method, comprising: a main frame 1, a first-stage cleaner 3, a second-stage cleaner 4, a second-stage lifting controller 5, and a hydraulic telescopic rod 8; a fixed support 101 is fixedly and vertically erected on the top surface of the main frame 1, and a collection box 7 is placed on the main frame 1; a lifting rod 2 is fixedly connected to the right side of the fixed support 101, and a transverse sliding plate 1011 is connected to the top of the fixed support 101; a hydraulic controller is installed on the lifting rod 2, and a hydraulic rod 202 is installed on the hydraulic controller. A connecting valve 204 is installed at the bottom right side of the hydraulic controller, and a counterweight 203 is placed on the lifting rod 2; the first-stage sweeper 3 is installed on the top front side of the main frame 1. The first-stage sweeper 3 is composed of a linkage shaft 31, a connecting frame 32, and a first-stage scraper 33. The linkage shaft 31 is fixedly connected to the connecting ring of the linkage rod 801 by a screw. The connecting frame 32 is installed on the linkage shaft 31, and the first-stage scraper 33 is installed on the connecting frame 32. A mounting bracket 6 is installed on the outside of the linkage shaft 31; the mounting bracket 6... An internally fastened mounting rod 601 for the detection probe is attached. Two additional sets of mounting brackets 6 are mounted on the fixed upright plate 701 at the rear of the collection box 7. The two front sets of mounting brackets 6 are located below the belt 103 and behind the first-stage cleaner 3, while the two rear sets of mounting brackets 6 are located below the belt 103 and behind the second-stage cleaner 4. The second-stage cleaner 4 includes a mounting shaft 41 and a second-stage scraper 43. The mounting shaft 41 is fixedly connected between the two fixed brackets 101, and the second-stage scraper 43 is mounted on the mounting shaft 41. 4 is located on the rear side of the first-stage sweeper 3; the second-stage lifting controller 5 is fixedly connected to the outside of the fixed bracket 101. The second-stage lifting controller 5 consists of a guide plate 51, a mounting bracket 52 and a lifting device 53. The guide plate 51 is fixedly welded to the outside of the fixed bracket 101. The mounting bracket 52 is connected between the upper and lower guide plates 51. The lifting device 53 is installed on the mounting bracket 52; the hydraulic telescopic rod 8 is installed on the transverse slide plate 1011 through angle steel. The bottom of the hydraulic telescopic rod 8 is rotatably connected to the linkage rod 801 through a rotating shaft.

[0047] As attached Figure 5 As shown, the guide plate 51 has a longitudinal groove inside, and the upper and lower sides of the mounting bracket 52 are connected to the guide plate 51 by bolts inside the longitudinal groove.

[0048] As attached Figure 1 and attached Figure 2As shown, the transverse chute plate 1011 has a transverse chute inside, and the transverse chute plate 1011 is connected to the fixed bracket 101 by bolt assembly. The drive roller 102 is rotatably connected to the fixed bracket 101 by bearing. The drive roller 102 is equipped with a belt 103. When the belt 103 drives the drive roller 102 to rotate, it supports the end of the belt 103 and ensures the normal rotation of the belt 103. After the first cleaning by the sweeper 3, visual inspection is performed. If the proportion of residue captured by the detection probe is high, the external hardware device connected to it calculates and outputs control commands until the material residue on the belt 103 after the second cleaning reaches the preset standard.

[0049] As attached Figure 6 As shown, a connecting shaft 4101 is fixedly connected inside the mounting shaft 41. Both ends of the connecting shaft 4101 are clamped onto the lifter 53. A rectangular plate is fixedly welded to the top surface of the mounting shaft 41. A connecting frame 42 is clamped to the outside of the rectangular plate. A shaped clamping plate is provided on the outside of the connecting frame 42, and a second scraper 43 is clamped to the outside of the connecting frame 42. A shaped groove is opened inside the second scraper 43, and the connecting frame 42 and the shaped clamping plate on the outside of the groove are clamped inside. The second scraper 43 and the connecting frame 42 are fastened together by bolts. When the connecting shaft 4101 is moved by the lifter 53, the mounting shaft 41 and the second scraper 43 are moved synchronously, and the distance between the second scraper 43 and the belt 103 is adjusted to realize the automatic control of the second cleaning.

[0050] As attached Figure 8 and attached Figure 10 As shown, a rotating shaft 703 is snapped onto the top of the front panel of the collection box 7. Rollers 7031 are fixedly connected to both sides of the rotating shaft 703, and the rollers 7031 are snapped onto the top of the collection box 7. A mounting shaft 7032 is fixedly connected to the rotating shaft 703. A through hole is provided inside the mounting shaft 7032, and a rotating plate 702 is fixedly inserted into the through hole. Rotating the rotating plate 702 allows for adjustment of its placement angle. The rollers 7031 increase the friction between the rotating shaft 703 and the collection box 7, ensuring that the rotating plate 702 remains fixed after adjustment. The collection box 7 can collect the material cleaned by the belt 103 and also provides an installation position for the second-stage inspection.

[0051] As attached Figure 4As shown, the connecting frame 32 is snapped onto a rectangular plate fixedly welded to the top surface of the linkage shaft 31. The connecting frame 32 has an irregularly shaped clamping plate on its exterior. The first scraper 33 has an irregularly shaped groove inside that matches the connecting frame 32. The irregularly shaped clamping plate is snapped into the irregularly shaped groove. The connecting frame 32 and the first scraper 33 are fastened together by bolts. When the linkage rod 801 rotates, it coaxially drives the linkage shaft 31 to rotate, causing the first scraper 33 to rotate. The contact angle and distance with the belt 103 change, thus achieving automatic control.

[0052] As attached Figure 9 As shown, the bottom of the mounting bracket 6 is provided with an arc-shaped plate and is fixedly connected to the mounting bracket 6 by bolts. The top of the mounting bracket 6 is provided with an open notch, and a rectangular plate for connection is provided at the top of the notch. A vision acquisition module and an image preprocessing module are installed on the detection probe mounting rod 601. A data transmission unit is installed inside the detection probe mounting rod 601. The data transmission unit adopts a gigabit Ethernet interface, and the image data transmission rate is ≥100Mbps. The vision acquisition module is an industrial camera with a resolution higher than 5 million pixels and a frame rate higher than 30fps. The industrial camera can be used to acquire images of the surface of the belt 103. The image preprocessing module preprocesses the acquired images and assists the industrial control computer and programmable logic controller of the external hardware control device in judging the images. A 3D contour scanning module and an ambient light compensation module are added to the detection probe mounting rod 601 on the mounting bracket 6 on the rear side of the second-stage cleaner 4. A laser line scanner with a scanning accuracy of 0.05mm and a scanning rate of 1000 lines / second is used to detect tiny residual particles on the belt surface. The ambient light compensation module adjusts the light source brightness in real time from 3000-8000 lux through a photosensitive sensor to ensure the detection accuracy under different lighting conditions and guarantee the accuracy of visual inspection.

[0053] As attached Figure 1 As shown, a hydraulic line 2041 is connected to the bottom of the connecting valve 204. The hydraulic line 2041 is connected to two secondary lifting controllers 5 and two hydraulic telescopic rods 8. An electrical control 201 is installed on the top surface of the lifting rod 2. The electrical control 201 is electrically connected to an external hardware control device. An electrically controlled telescopic rod is installed on the top of the electrical control 201. The moving end of the electrically controlled telescopic rod has a through hole. The hydraulic rod 202 is engaged inside the through hole. When it is necessary to adjust the pressure value, the industrial control computer and programmable logic controller of the external hardware control device are used to regulate the electrical control 201, which opens and closes the electrically controlled telescopic rod and the connecting valve 204. The electrically controlled telescopic rod drives the hydraulic rod 202 to press, thereby regulating the pressure and adjusting the pressure of the first-stage cleaner 3 or the second-stage cleaner 4.

[0054] The specific usage and function of this embodiment: In this invention, the operator sets parameters such as belt type (rubber or PVC), material properties (viscous or non-viscous), and target cleanliness (residual area ≤ 0.05%) via a touchscreen. The belt conveyor starts and runs at a preset speed (e.g., 1.0 m / s). The first-stage cleaner 3 cleans the surface of the belt 103. An industrial camera can capture images of the surface of the belt 103. The image preprocessing module preprocesses the captured images, and the industrial control computer and programmable logic controller of the external hardware control device judge the images and adjust the control... The command is output to the electrically controlled telescopic rod, which moves up and down to regulate the pressure of the hydraulic rod 202. The hydraulic telescopic rod 8 and the lifter 53 are adjusted through the connecting valve 204. After the secondary cleaning of the belt 103 by the secondary cleaner 4, the vision acquisition module and image preprocessing module on the rear mounting bracket 6, the industrial camera and laser line scanner work synchronously to collect the surface data of the belt 103 after the secondary cleaning. The image recognition algorithm repeats the analysis process of step S4, compares the detection results with the target cleanliness parameters until they are consistent with the preset parameters, and completes the cleaning and automatic control.

[0055] It should be noted that the hardware configuration mentioned in the instruction manual, taking the model described below as an example, is not limited to this model: the industrial control computer uses a CPU i7-10700, 16GB of memory, and a 512GB solid-state drive; the programmable logic controller uses a Siemens S7-1214C PLC; the touch screen is 10.1 inches with a resolution of 1280×800; the data storage server has a storage capacity of 1TB and supports data retention for more than one year; the 4G communication module supports remote data transmission and control; the image recognition algorithm is based on the deep learning YOLOv5 model, and the training dataset contains more than 100,000 images of belts with different materials and different levels of pollution, which can identify the type, area, and location of residual materials.

[0056] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the scope of protection of the present invention, which is determined by the appended claims.

Claims

1. A fully automated belt cleaning and detection device, characterized in that, include: The main frame (1), drive roller (102), first-stage sweeper (3), second-stage sweeper (4), second-stage lifting controller (5), and hydraulic telescopic rod (8) are provided. A fixed support (101) is fixedly and vertically erected on the top surface of the main frame (1), and a collection box (7) is placed on the main frame (1). A lifting rod (2) is fixedly connected to the right side of the fixed support (101), and a transverse sliding plate (1011) is connected to the top of the fixed support (101). A belt (103) is installed on the outside of the drive roller (102). A hydraulic controller is installed on the lifting rod (2), and a hydraulic rod (2) is installed on the hydraulic controller. 02), a connecting valve (204) is installed on the bottom right side of the hydraulic controller, and a counterweight (203) is placed on the lifting rod (2); the first-stage cleaner (3) is installed on the top front side of the main frame (1), and the first-stage cleaner (3) is composed of a linkage shaft (31), a connecting frame (32) and a first-stage scraper (33). The linkage shaft (31) is fixedly connected to the connecting ring of the linkage rod (801) by a screw. The connecting frame (32) is installed on the linkage shaft (31), and the first-stage scraper (33) is installed on the connecting frame (32). A mounting bracket (6) is installed on the outside of the linkage shaft (31); the mounting bracket ( 6) has an internal fastener for the detection probe mounting rod (601). The mounting bracket (6) has two additional sets of fixed upright plates (701) installed on the rear side of the collection box (7). The two sets of mounting brackets (6) on the front side are located below the belt (103) and behind the first-stage cleaner (3), and the two sets of mounting brackets (6) on the rear side are located below the belt (103) and behind the second-stage cleaner (4). The second-stage cleaner (4) includes a mounting shaft (41) and a second-stage scraper (43). The mounting shaft (41) is fixedly connected between the two fixed brackets (101), and the second-stage scraper (43) is installed on the mounting shaft (41). (4) Located on the rear side of the first-stage sweeper (3); the second-stage lifting controller (5) is fixedly connected to the outside of the fixed bracket (101). The second-stage lifting controller (5) consists of a guide plate (51), a mounting frame (52) and a lifter (53). The guide plate (51) is fixedly welded to the outside of the fixed bracket (101). The mounting frame (52) is connected between the upper and lower guide plates (51). The lifter (53) is installed on the mounting frame (52). The hydraulic telescopic rod (8) is installed on the transverse slide plate (1011) by angle steel. The bottom of the hydraulic telescopic rod (8) is rotatably connected to the linkage rod (801) by a rotating shaft.

2. The fully automated belt cleaning and detection device as described in claim 1, characterized in that: The transverse slide plate (1011) has a transverse slide groove inside, and the transverse slide plate (1011) is connected to the fixed bracket (101) by bolt assembly.

3. The fully automated belt cleaning and detection device as described in claim 1, characterized in that: The drive roller (102) is rotatably connected to the fixed bracket (101) via bearings.

4. The fully automated belt cleaning and detection device as described in claim 2, characterized in that: The bottom of the connecting valve (204) is connected to a hydraulic line (2041), which is connected to two secondary lifting controllers (5) and two hydraulic telescopic rods (8). An electric control unit (201) is installed on the top surface of the lifting rod (2). The electric control unit (201) is electrically connected to an external hardware control device. An electric telescopic rod is installed on the top of the electric control unit (201). The moving end of the electric telescopic rod has a through hole, and the hydraulic rod (202) is snapped into the inside of the through hole.

5. The fully automated belt cleaning and detection device as described in claim 1, characterized in that: The connecting frame (32) is snapped onto a rectangular plate fixedly welded to the top surface of the linkage shaft (31). The connecting frame (32) has an irregularly shaped plate on its exterior. The first scraper (33) has an irregularly shaped groove inside that matches the connecting frame (32). The irregularly shaped plate is snapped into the irregularly shaped groove. The connecting frame (32) and the first scraper (33) are fastened together by bolts.

6. The fully automated belt cleaning and detection device as described in claim 5, characterized in that: The mounting shaft (41) is fixedly connected to the connecting shaft (4101) inside. Both ends of the connecting shaft (4101) are clamped on the lifting device (53). A rectangular plate is fixedly welded to the top surface of the mounting shaft (41). A connecting frame two (42) is clamped to the outside of the rectangular plate. A special-shaped clamping plate is provided on the outside of the connecting frame two (42). Two scrapers (43) are clamped to the outside of the connecting frame two (42). A special-shaped groove is opened inside the two scrapers (43). The connecting frame two (42) and its external special-shaped clamping plate are clamped inside the special-shaped groove. The two scrapers (43) and the connecting frame two (42) are fastened together by bolts.

7. The fully automated belt cleaning and detection device as described in claim 1, characterized in that: The guide plate (51) has a longitudinal groove inside, and the upper and lower sides of the mounting bracket (52) are connected to the guide plate (51) by bolts inside the longitudinal groove.

8. The fully automated belt cleaning and detection device as described in claim 1, characterized in that: The bottom of the mounting bracket (6) is provided with an arc plate and is fixedly connected to the mounting bracket (6) by bolts. The top of the mounting bracket (6) is provided with an open notch, and the top of the notch is provided with a rectangular plate for connection. The detection probe mounting rod (601) is equipped with a visual acquisition module and an image preprocessing module. The inside of the detection probe mounting rod (601) is equipped with a data transmission unit. The detection probe mounting rod (601) on the mounting bracket (6) installed on the rear side of the second cleaner (4) is equipped with a 3D contour scanning module and an ambient light compensation module.

9. The fully automated belt cleaning and detection device as described in claim 1, characterized in that: The top of the front panel of the collection box (7) is fitted with a rotating shaft (703), and the two sides of the rotating shaft (703) are fixedly connected with rollers (7031). The rollers (7031) are fitted onto the top of the collection box (7). The rotating shaft (703) is fixedly connected with a mounting shaft (7032). The mounting shaft (7032) has a through hole inside, and a rotating plate (702) is fixedly inserted into the through hole.

10. The method of using a fully automated belt cleaning and detection device as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The operator selects the belt (103) specification, the type of material to be conveyed, and sets the target cleanliness parameters and belt running speed on the touch screen; S2, the first-stage sweeper (3) drives the first-stage scraper (33) to contact the surface of the belt (103) with initial pressure to perform the first-stage sweeping; S3. The industrial camera collects images of the belt (103) surface after the first cleaning. The images are preprocessed by the image preprocessing module. Based on the QR code label on the belt (103) surface, the images are stitched together to form a complete panoramic view of the belt surface. S4. Use the YOLOv5 model for target detection, output the bounding box of each residue, calculate the area of ​​a single residue and the proportion of the total area, classify the residue type by color and shape features, generate the first detection report and transmit the data to the external hardware control terminal. S5. The computer and programmable logic controller invoke the decision model based on the first detection report: If the residual area accounts for more than 1% of the total area: it is judged as heavily polluted, and the maximum cleaning intensity is activated. If 0.5% < residual area percentage ≤ 1%: moderate pollution, pressure 300N, rotation speed 1200r / min; If 0.1% < residual area percentage ≤ 0.5%: light contamination, pressure 200N, rotation speed 1000r / min; If the residual area percentage is ≤0.1%: slight contamination, pressure 150N, rotation speed 800r / min; S6, output control commands to the electric telescopic rod, hydraulic telescopic rod (8) and connecting valve (204), and simultaneously adjust the contact pressure between the second scraper (43) and the belt (103); S7. The industrial camera and laser line scanner work synchronously to collect surface data of the belt (103) after the second cleaning. The image recognition algorithm repeats the analysis process of step S4, compares the detection results with the target cleanliness parameters until they are consistent with the preset parameters, and completes the cleaning and automatic control.

Images