Belt conveyor underspeed slip detection method, device, equipment and storage medium

Abstract

The application provides a belt conveyor under-speed slip detection method, device, equipment and storage medium, and relates to the technical field of slip detection. The method comprises the following steps: when the number of belt drive motors of the belt conveyor is less than a set threshold, under-speed slip detection is performed according to the rotating speeds of the driving drums and the lower redirection drums installed on the belt conveyor; when all the belt drive motors are started and the running time is greater than a preset time, a first under-speed slip flag is determined based on the rotating speed of the driving drum and the rotating speed of the lower redirection drum; a second under-speed slip flag is determined based on the pulse period of the sensor corresponding to the redirection material throwing drum installed on the belt conveyor, and the under-speed slip result of the belt conveyor is determined in combination with the environmental humidity parameter and the vibration intensity parameter of the belt conveyor. When the under-speed slip detection of the belt conveyor is performed, the environmental factors and the working condition factors are considered, and the accuracy of the under-speed slip result is improved.

Description

Technical Field

[0001] This invention relates to the field of slippage detection technology, and in particular to a method, apparatus, equipment and storage medium for detecting underspeed slippage of a belt conveyor. Background Technology

[0002] In the transportation of large dry bulk cargo ports, the unloading and stockpiling of materials such as coal and ore mainly involves unloading materials from unloading equipment onto downstream belt conveyors, which then transfer the materials to stockpiling equipment for final storage. Retrieval and loading operations involve retrieving stockpiled materials from retrieving equipment onto downstream belt conveyors, which then transfer the materials to loading equipment for loading onto ships or trucks. In this operational process, belt conveyors are the primary transmission equipment connecting various devices to complete long-distance material transfer; their operational stability, safety, and efficiency all significantly impact the overall efficiency of the operational process.

[0003] During operation, belt conveyors may experience underspeed slippage due to factors such as severe wear of the roller coating, wetness or slipperiness at the belt-roller contact surface, or excessively loose belt tension. When the belt is underspeed slippage, it cannot operate normally. If the belt is rotating too slowly or not at all while the rollers are rotating normally, and the underspeed slippage detection system cannot accurately detect it, prolonged friction between the belt and rollers can cause localized heating of the rollers. When this heat reaches the belt's ignition point, the belt can ignite, posing a fire hazard. If not controlled effectively in time, this fire can escalate into a major fire, causing widespread damage to the belt and surrounding equipment, and resulting in injuries or fatalities among workers and maintenance personnel.

[0004] Existing methods for detecting underspeed slippage on belt conveyors primarily involve measuring the single-roller threshold or the speed ratio of the double-roller belt. However, both of these methods are affected by the belt's operating stage and environment, leading to insufficient reliability of the detection results. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and storage medium for detecting underspeed slippage in belt conveyors, to solve the problem that existing methods for detecting underspeed slippage in belt conveyors are affected by the belt running stage and the operating environment, resulting in insufficient reliability of the detection results.

[0006] In a first aspect, embodiments of the present invention provide a method for detecting underspeed slippage in a belt conveyor, comprising: When the number of starts of the belt drive motor of the belt conveyor is less than the set threshold, underspeed slippage detection is performed based on the rotational speed of the drive drum and the lower redirecting drum installed on the belt conveyor to obtain the underspeed slippage result of the belt conveyor. When all belt drive motors of the belt conveyor are started and the running time exceeds the preset time, the first underspeed slippage indicator of the belt conveyor is determined based on the speed of the drive drum and the speed of the lower redirecting drum. The second underspeed slippage indicator of the belt conveyor is determined based on the pulse period of the sensor corresponding to the redirecting and throwing roller installed on the belt conveyor. The underspeed slippage result of the belt conveyor is determined based on the first underspeed slippage indicator, the second underspeed slippage indicator, the ambient humidity parameters and vibration intensity parameters of the belt conveyor.

[0007] Secondly, embodiments of the present invention provide a belt conveyor underspeed and slippage detection device, comprising: The detection module is used to detect underspeed slippage based on the rotational speed of the drive roller and the lower redirecting roller installed on the belt conveyor when the number of starts of the belt drive motor of the belt conveyor is less than a set threshold, and to obtain the underspeed slippage result of the belt conveyor. The determination module is used to determine the first underspeed slippage indicator of the belt conveyor based on the speed of the drive drum and the speed of the lower redirecting drum after all the belt drive motors of the belt conveyor have started and the running time has exceeded the preset time. The determination module is also used to determine the second underspeed slippage indicator of the belt conveyor based on the pulse period of the sensor corresponding to the redirecting throwing roller installed on the belt conveyor. The detection module is also used to determine the underspeed slippage result of the belt conveyor based on the first underspeed slippage indicator, the second underspeed slippage indicator, the ambient humidity parameters and vibration intensity parameters of the belt conveyor.

[0008] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect or any possible implementation thereof.

[0009] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect or any possible implementation thereof.

[0010] In this embodiment of the invention, underspeed slippage detection is performed based on the rotational speeds of the drive roller and the lower redirecting roller installed on the belt conveyor during the startup phase. This effectively resists speed fluctuations and signal interference during startup, ensuring detection stability during the startup phase. After entering the high-speed stable operation phase, two independent underspeed slippage indicators are generated based on the rotational speed ratio of the drive roller and the lower redirecting roller and the pulse period of the redirecting discharge roller, respectively. These indicators are then combined with environmental humidity parameters and vibration intensity parameters to determine the underspeed slippage result. Thus, when performing underspeed slippage detection on the belt conveyor, environmental and operating conditions are taken into account, improving the accuracy of the underspeed slippage result. This significantly reduces the false alarm rate while maintaining detection sensitivity, achieving accurate and reliable underspeed slippage detection of the belt conveyor throughout the entire process from startup to high-speed operation. Attached Figure Description

[0011] Figure 1a This is a schematic diagram of the belt conveyor used in the belt conveyor underspeed and slippage detection method provided in this embodiment of the invention; Figure 1b This is a schematic diagram of the installation position of the sensor used to detect the rotational speed of the drum in the belt conveyor, which is part of the belt conveyor underspeed and slippage detection method provided in this embodiment of the invention. Figure 2 This is a flowchart illustrating the implementation of the belt conveyor underspeed and slippage detection method provided in this embodiment of the invention. Figure 3 This is a flowchart illustrating the implementation of step S240 in the belt conveyor underspeed and slippage detection method provided in this embodiment of the invention. Figure 4 This is a schematic diagram of the underspeed and slippage detection device for belt conveyors provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0012] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0013] Figure 1a This is a schematic diagram of a belt conveyor provided in an embodiment of the present invention. Figure 1b This is a schematic diagram showing the installation location of a sensor used to detect the rotational speed of a roller in a belt conveyor. Figure 1a and Figure 1bAs shown, the belt conveyor belt 12 operates under the drive of the drive roller 2, and the lower redirecting roller 5 and the redirecting throwing roller 9, as driven rollers, rotate with the belt. A drive roller detection sensor 1 is fixed to the outside of the end cover of the drive roller 2 via a mounting bracket. Drive roller detection target blocks 3 are symmetrically installed on the inner side of the outer ring of the end cover of the drive roller 2. The detection position of the drive roller detection sensor 1 corresponds perpendicularly to the rotation trajectory of the drive roller detection target blocks 3. When the drive roller 2 rotates, the drive roller detection target blocks 3 rotate with the roller. The drive roller detection sensor 1 performs cyclic detection on the drive roller detection target blocks 3 to collect pulse signals.

[0014] A lower redirecting roller detection sensor 4 is fixed to the outer side of the end cover of the lower redirecting roller 5 via a mounting bracket. A lower redirecting roller detection target block 6 is symmetrically installed on the inner side of the outer ring of the end cover of the lower redirecting roller 5. The detection position of the lower redirecting roller detection sensor 4 corresponds perpendicularly to the rotation trajectory of the lower redirecting roller detection target block 6. When the lower redirecting roller 5 rotates, the lower redirecting roller detection target block 6 rotates with the roller. The lower redirecting roller detection sensor 4 performs cyclic detection on the lower redirecting roller detection target block 6 to collect pulse signals. Both the drive roller detection sensor 1 and the lower redirecting roller detection sensor 4 are connected to the detection programmable logic controller (PLC) in the control box 7 via wiring. The PLC calculates the rotational speed of the drive roller 2 and the rotational speed of the lower redirecting roller 5 based on the pulse signals collected by the two sensors, and feeds the judgment results back to the main control system PLC.

[0015] A redirecting material throwing roller detection sensor 8 is fixed to the outer side of the end cover of the redirecting material throwing roller 9 by a mounting bracket. A redirecting material throwing roller detection target block 10 is symmetrically installed on the inner side of the outer ring of the end cover of the redirecting material throwing roller 9. The detection position of the redirecting material throwing roller detection sensor 8 is perpendicular to the rotation trajectory of the redirecting material throwing roller detection target block 10. When the redirecting material throwing roller 9 rotates, the redirecting material throwing roller detection target block 10 rotates with the roller. The redirecting material throwing roller detection sensor 8 performs cyclic detection on the redirecting material throwing roller detection target block 10 to collect pulse signals. The redirecting material throwing roller detection sensor 8 is connected to the speed monitor in the control box 11 through a line. The speed monitor calculates the pulse period based on the collected pulse signals and feeds back the judgment result to the programmable logic controller of the main control system of the equipment.

[0016] The main control system programmable logic controller (PLC) receives two feedback signals: one from the detection PLC in control box 7 and the other from the speed monitor in control box 11. Figure 1 also shows the complete signal flow of the sensor pulse signal from acquisition to feedback to the main control system PLC, demonstrating the signal acquisition and transmission process of the dual detection link under the multi-sensor collaborative layout.

[0017] See Figure 2The document illustrates a flowchart of the implementation of the belt conveyor underspeed and slippage detection method provided in an embodiment of the present invention, which is described in detail below: Step S210: When the number of starts of the belt drive motor of the belt conveyor is less than the set threshold, underspeed slippage detection is performed based on the rotational speed of the drive roller and the lower redirecting roller installed on the belt conveyor to obtain the underspeed slippage result of the belt conveyor.

[0018] In some embodiments, belt conveyors are core equipment for long-distance bulk material transportation. During operation, due to factors such as wear of the roller coating, slippery contact surfaces, or insufficient tension, underspeed slippage between the belt and rollers can easily occur. Underspeed slippage refers to a state where the actual belt speed is lower than the roller linear speed. In this state, the belt cannot transport materials normally, and the continuous frictional heat may cause serious safety accidents such as fires. Therefore, accurate detection of underspeed slippage is necessary at all stages of belt conveyor startup and operation.

[0019] It should be noted that the start-up process of a belt conveyor is not instantaneous, but rather involves multiple belt drive motors starting sequentially to gradually accelerate the belt to its rated speed. In the initial startup phase, the belt speed is low, and the friction between the belt and the rollers is still building up. If a conventional speed threshold comparison method is used for slippage detection at this time, false alarms may be triggered due to speed fluctuations. Therefore, this application prioritizes a detection method based on synchronous dual-roller speed verification during the startup phase to resist signal fluctuations and speed changes during startup, ensuring the stability of the detection.

[0020] In some embodiments, a threshold is set to divide the operation phases of the belt conveyor. This threshold can be set according to the total number of drive motors of the belt conveyor. For example, if the belt conveyor is equipped with four drive motors, the threshold can be set to four. That is, when the number of motors started is less than four, it indicates that the belt conveyor is still in the start-up acceleration phase, and at this time, only the dual-drum speed synchronization detection module is activated for underspeed slippage detection. Alternatively, if the belt conveyor is equipped with two drive motors, the threshold can be set to two. That is, when the number of motors started is less than two, the belt conveyor is in the start-up acceleration phase, and only the dual-drum speed synchronization detection module is activated. It is understood that the specific value of the threshold can be flexibly configured according to the total number of drive motors of the belt conveyor and the actual working conditions. This embodiment does not impose a specific limitation on this.

[0021] In one possible implementation, step S210 is specifically processed as follows: the ratio of the rotational speed of the drive drum and the rotational speed of the lower redirecting drum installed on the belt conveyor is determined as the actual speed ratio of the belt conveyor; when the difference between the actual speed ratio and the reference speed ratio is greater than the speed ratio tolerance threshold, the underspeed slippage result of the belt conveyor is determined as underspeed slippage.

[0022] In some embodiments, the drive roller is the active roller in the belt conveyor, driven by a drive motor, and its rotation provides the driving force for the belt's operation. The lower redirecting roller is a driven roller located at the bottom of the belt conveyor, used to change the belt's running direction and tension the belt; it rotates with the belt's movement during normal belt operation. Ideally, under the condition that the belt does not experience underspeed slippage, the linear velocities of the drive roller and the lower redirecting roller should be equal; that is, the speed of the drive roller multiplied by its radius equals the speed of the lower redirecting roller multiplied by its radius. From this, the reference speed ratio can be calculated.

[0023] When calculating the reference speed ratio, a physical model of the dual-drum speed synchronization detection module needs to be established, and the input parameters need to be defined. When the drive drum radius is... (Unit: m), the radius of the lower redirecting roller is... (Unit: meters), the actual rotational speed of the drive drum is (Unit: rpm), the actual rotational speed of the lower redirecting roller is... (Unit: rpm). Under ideal conditions, i.e., when the belt conveyor belt has no underspeed slippage, the theoretical belt speed, i.e., the linear speed of the belt, should satisfy: After simplification, the reference speed ratio can be obtained as: Since the radii of the drive roller and the lower redirecting roller are fixed and known parameters after the equipment is installed, the reference speed ratio can be calculated in advance.

[0024] It should be noted that the rotational speed of the drive roller can be obtained using a drive roller detection sensor mounted on the outside of the drive roller end cover, and the rotational speed of the lower redirecting roller can be obtained using a drive roller detection sensor mounted on the outside of the lower redirecting roller end cover. The detection sensors need to be used in conjunction with detection targets mounted on the inner side of the outer ring of the roller end cover. The detection targets are symmetrically mounted on the circumference of the roller end cover, and their rotational trajectory corresponds perpendicularly to the sensor's detection position. When the roller rotates, the detection targets rotate with the roller, and the sensor cyclically detects the detection targets. Each time a detection target passes the sensor, the sensor outputs a pulse signal. By counting the pulse signals per unit time, the actual rotational speed of the roller can be calculated. When multiple detection targets are installed on each roller, multiple pulse signals are generated per revolution of the roller, which helps to improve the resolution and response speed of the rotational speed detection.

[0025] After obtaining the actual speeds of the drive roller and the lower redirecting roller, divide them to obtain the actual speed ratio. The actual speed ratio reflects the proportional relationship between the speeds of the drive roller and the lower redirecting roller at the current moment. Under normal belt operation, the actual speed ratio should be basically consistent with the reference speed ratio. When the belt experiences underspeed slippage, the drive roller continues to rotate under the drive motor, while the lower redirecting roller's rotational speed decreases due to belt slippage. At this time, the actual speed ratio will deviate from the reference speed ratio. Analysis of the dynamic relationship between the belt and roller in an underspeed slippage state of a belt conveyor shows that when underspeed slippage occurs, the friction between the drive roller and the belt is insufficient, and the actual belt speed will be less than the linear speed of the drive roller. According to Euler's formula and the power conservation principle, the actual belt speed decreases when underspeed slippage occurs. Euler's formula is: in, For the tight side tension on the drive side, For the slack side tension on the redirection side, The coefficient of friction, To drive the roller wrap angle.

[0026] The power conservation relationship is: in, For driving torque, To drive the angular velocity of the drum, The instantaneous power generated to drive the drum, This represents the actual belt speed.

[0027] at this time, Ideally, the actual belt speed of the lower redirecting roller should be equal to the theoretical belt speed, i.e. From this, we can deduce This means the actual speed ratio is greater than the reference speed ratio. Therefore, when the difference between the actual speed ratio and the reference speed ratio exceeds the speed ratio tolerance threshold, it can be determined that the belt is underspeeding and slipping.

[0028] When determining the speed ratio tolerance threshold, it is necessary to calculate the offset of the speed ratio between the drive roller and the lower redirecting roller in the belt conveyor. This allows us to derive the speed ratio tolerance threshold under different operating conditions. Specifically, the speed ratio tolerance threshold... The calculation method is as follows: The adjustment is dynamically based on ambient humidity and the coefficient of friction of the roller. in, For safety reasons, This is the humidity compensation function. The coefficient of friction can be set based on the degree to which environmental humidity affects it, and can be obtained from actual measurements. Real-time calibration via roller surface temperature sensor, humidity compensation function. Then it satisfies: In situations with high ambient humidity, the speed ratio tolerance threshold should be appropriately increased to prevent normal speed ratio fluctuations caused by a decrease in the friction coefficient from being misjudged as underspeed slippage. By incorporating the tolerance threshold into the comparison between the actual speed ratio and the reference speed ratio, the critical speed ratio can be obtained. When the actual speed ratio is greater than At that time, it was determined that the belt was underspeeding and slipping.

[0029] During the acquisition of sensor signals, dynamic filtering can be applied to effectively improve their accuracy. For example, a sliding window filtering method can be used, with the following output: in, For a moment The filtered output value, The size of the moving average window. For the first in the original data sequence Each value. Through filtering, high-frequency noise and random fluctuations in the sensor signal can be effectively suppressed, improving the stability and accuracy of speed measurement.

[0030] During the startup phase of a belt conveyor, the actual speed ratio of the dual rollers is compared with the reference speed ratio to determine whether underspeed slippage has occurred. This detection method based on speed ratio verification does not rely on absolute speed values ​​and can effectively resist interference caused by belt speed fluctuations during startup, thereby achieving stable and reliable underspeed slippage detection during the startup phase.

[0031] Step S220: When all belt drive motors of the belt conveyor are started and the running time is longer than the preset time, the first underspeed slippage indicator of the belt conveyor is determined based on the rotational speed of the drive drum and the rotational speed of the lower redirecting drum.

[0032] In some embodiments, when all belt drive motors of the belt conveyor have started and the running time exceeds a preset time, it indicates that the belt conveyor has left the start-up acceleration stage and entered the high-speed stable operation stage. In the high-speed operation stage, the belt speed has approached or reached the rated speed. At this time, the speed ratio detection result of the dual rollers of the drive roller and the lower redirecting roller can be used as the first underspeed slippage indicator.

[0033] It should be noted that the preset time is used to ensure that the belt conveyor has fully entered a stable operating state. This preset time can be set according to the actual starting characteristics of the belt conveyor. For example, the preset time can be set to 5 seconds, meaning that the belt conveyor is considered to have entered a stable operating stage 5 seconds after the last drive motor starts. It is understood that the specific value of the preset time can be adjusted according to factors such as the motor starting sequence, belt length, and load conditions of the belt conveyor; this embodiment does not impose specific limitations on this.

[0034] In one possible implementation, step S220 is specifically processed as follows: the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is compared with a first preset rotational speed ratio; if the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is less than or equal to the first preset rotational speed ratio, the first underspeed slippage flag of the belt conveyor is set to 0; if the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is greater than the first preset rotational speed ratio, the first underspeed slippage flag of the belt conveyor is set to 1.

[0035] In some embodiments, the first preset speed ratio is used as a criterion for determining whether the dual-drum speed ratio exceeds the limit. The first preset speed ratio is equal to the critical speed ratio. The first preset speed ratio is the sum of the reference speed ratio and the speed ratio tolerance threshold. When the actual speed ratio is greater than the first preset speed ratio, it indicates that the speed ratio deviation between the drive roller and the lower redirecting roller has exceeded the normal fluctuation range. In this case, the first underspeed slippage flag is set to 1, indicating that underspeed slippage has occurred based on the dual-roller speed ratio detection of the drive roller and the lower redirecting roller. When the actual speed ratio is less than or equal to the first preset speed ratio, it indicates that the dual-roller speed ratio is within the normal range. In this case, the first underspeed slippage flag is set to 0, indicating that no underspeed slippage has been detected based on the dual-roller speed ratio detection. When determining the first underspeed slippage flag, the duration of the ratio of the drive roller speed to the lower redirecting roller speed can also be considered. If the duration does not exceed... This indicates that underspeed slippage may not have actually occurred at this time, but rather that the ratio of the drive roller's speed to the lower redirecting roller's speed exceeds the first preset speed ratio due to instantaneous fluctuations. Therefore, the first underspeed slippage indicator... The expression can be: in, This is a duration threshold used to prevent flag flipping due to momentary fluctuations.

[0036] It should be noted that the first underspeed slippage flag is a binary intermediate decision variable. Its function is to convert the continuous detection result of the ratio of the drive roller's speed to the lower redirecting roller's speed into a discrete signal that can be directly used by subsequent collaborative logic. By converting the detection result of the speed ratio of the drive roller and the lower redirecting roller into a 0 or 1 flag, the detection results of different rollers can be weighted and fused under the same decision framework, laying the foundation for subsequent collaborative judgment of the underspeed slippage result of the belt conveyor.

[0037] Step S230: Based on the pulse period of the sensor corresponding to the redirecting discharge roller installed on the belt conveyor, determine the second underspeed slippage indicator of the belt conveyor.

[0038] In some embodiments, the redirecting discharge roller is another type of driven roller in a belt conveyor, functioning similarly to the lower redirecting roller, but its installation position and role in the belt conveyor may differ. Under normal belt operation, the redirecting discharge roller rotates with the belt, and its rotational speed has a definite correspondence with the belt speed. Therefore, by detecting the rotational speed of the redirecting discharge roller, the actual operating speed of the belt can be indirectly reflected.

[0039] In practical implementation, the sensor corresponding to the redirecting and throwing roller can be a speed detection sensor installed on the outside of the roller end cover. This sensor works in conjunction with a detection target block installed on the inner side of the outer ring of the roller end cover. The detection target block is symmetrically installed on the circumference of the roller end cover, and its rotation trajectory corresponds perpendicularly to the sensor's detection position. When the roller rotates, the detection target block rotates with the roller, and the sensor cyclically detects the detection target block, outputting periodic pulse signals. The pulse period refers to the time interval between two adjacent pulses, and this period is directly related to the roller's speed: the higher the roller speed, the larger the angle rotated per unit time, the higher the frequency of the detection target block passing through the sensor, and the shorter the pulse period; the lower the roller speed, the longer the pulse period. By measuring the pulse period, the current speed of the roller can be calculated, and thus the actual speed of the belt can be obtained.

[0040] It should be noted that, unlike the speed detection methods for the drive roller and the lower redirecting roller mentioned above, the detection signal of the redirecting and throwing roller is processed as an independent detection source. By comparing the pulse period with a preset period threshold, it is possible to directly determine whether the belt is experiencing underspeed slippage, without relying on speed ratio calculations with other rollers. This single-roller threshold detection method has the advantages of fast response and simple implementation during high-speed stable operation.

[0041] In one possible implementation, step S230 is specifically processed as follows: the pulse period of the sensor corresponding to the redirecting throwing roller is compared with the period threshold; if the pulse period is less than or equal to the period threshold, the second underspeed slippage flag of the belt conveyor is set to 0; if the pulse period is greater than the period threshold, the second underspeed slippage flag of the belt conveyor is set to 1.

[0042] In some embodiments, a cycle threshold is used as a criterion for determining whether the redirecting throwing roller has experienced underspeed slippage. When determining the cycle threshold, the system architecture and parameters are first defined. The radius of the redirecting throwing roller is defined as... (Unit: m), the number of pulses generated per revolution of the slip detection limit switch is: (The number of detection target blocks installed on each roller in the system is...) The built-in lower threshold of the speed monitor is (Unit: rpm), the pulse period of the time interval between adjacent pulses is... (Unit: seconds).

[0043] Rated speed of the redirecting discharge roller These are known equipment parameters, and there is a definite conversion relationship between them and the rated belt speed and roller radius of the belt conveyor. Under ideal conditions, when there is no underspeed slippage between the redirecting discharge roller and the belt, the linear velocity of the redirecting discharge roller is equal to the belt speed; that is, the rotational speed of the redirecting discharge roller can be calculated by dividing the belt speed by the roller circumference. The sensor corresponding to the redirecting discharge roller is a limit sensor, and the limit sensor outputs a limit signal per revolution. One pulse, the measured pulse period is [number] pulses. The rotational speed is then calculated as follows: Under ideal conditions, the relationship between the actual belt speed and the drum speed is as follows: The relationship between the theoretical belt speed and the drum speed is as follows: Furthermore, when setting the speed threshold, considering the engineering safety margin, it can be set to 85% of the theoretical value based on the actual site conditions and data acquisition results, that is: Therefore, it can be deduced that, considering the safety margin, the period threshold is: When the actual measured pulse period Greater than the period threshold If the belt speed is below normal, it indicates that the rotational speed of the redirecting discharge roller is lower than normal, meaning the belt speed is also lower than normal. In this case, it is determined that the belt is experiencing underspeed slippage. The conditions for belt underspeed slippage are: or: That is, when the pulse period is greater than the period threshold, or the speed calculated based on the pulse period is lower than the speed threshold, it is determined that underspeed slippage has occurred, and the second underspeed slippage flag is activated. To avoid the flag flipping due to instantaneous fluctuations, the duration can be considered when determining the second underspeed slippage flag. The calculation formula for the second underspeed slippage flag is determined as follows: in, This is a duration threshold used to prevent flag flipping due to instantaneous fluctuations. When the pulse period is less than or equal to the period threshold, it indicates that the rotational speed of the redirecting discharge roller is normal. At this time, the second underspeed slippage flag is set to 0, indicating that no underspeed slippage was detected based on the single roller threshold detection.

[0044] It should be noted that the second underspeed slippage flag is a binary intermediate decision variable that converts the detection result of the pulse period-based redirection and throwing mechanism into a discrete signal that can be directly used by subsequent collaborative logic. Both the second and first underspeed slippage flags indicate whether underspeed slippage of the belt has been detected, but their detection principles and applicable operating conditions differ. The first underspeed slippage flag determines slippage by comparing the relative rotational speeds of the two rollers. It has strong anti-interference capabilities and is not easily affected by belt load fluctuations. However, under conditions with high humidity or large variations in the friction coefficient, the reference speed ratio may drift due to changes in the friction coefficient, thus affecting detection accuracy. The second underspeed slippage flag determines slippage by comparing the actual rotational speed of the redirection and throwing roller with its rated speed. It is simple to implement and has a fast response. However, in environments with high vibration, the sensor pulse signal may be interfered with by mechanical vibration, leading to deviations in pulse period measurement and affecting detection reliability. The advantages and limitations of the two detection methods complement each other, and this difference provides a basis for information complementarity in subsequent collaborative integration.

[0045] Step S240: Determine the underspeed slippage result of the belt conveyor based on the first underspeed slippage indicator, the second underspeed slippage indicator, the ambient humidity parameters and vibration intensity parameters of the belt conveyor.

[0046] In some embodiments, after obtaining the first underspeed slippage indicator and the second underspeed slippage indicator, it is not simply determined that underspeed slippage has occurred by setting either indicator to 1. Instead, the detection results of the two indicators and the current environmental conditions are comprehensively considered, and the final underspeed slippage result is obtained through weighted fusion. This collaborative decision-making method can fully utilize the complementary advantages of the two detection methods and overcome the limitations that a single detection method may have under specific operating conditions, thereby improving the overall accuracy and reliability of underspeed slippage detection.

[0047] The environmental humidity parameter refers to the relative humidity of the environment in which the belt conveyor operates. This parameter affects the coefficient of friction between the belt and the drum. In high-humidity environments, the coefficient of friction between the belt and the drum contact surface decreases, making the belt more prone to underspeed slippage. Simultaneously, the first preset speed ratio used to determine the first underspeed slippage indicator also needs to be adjusted accordingly. Therefore, in high-humidity environments, the reliability of the first underspeed slippage indicator is relatively reduced, and its decision weight needs to be appropriately lowered. The vibration intensity parameter refers to the amplitude of mechanical vibration generated during the operation of the belt conveyor. This parameter affects the signal quality of the sensors. In high-vibration environments, sensors installed on the outside of the drum end caps may be subject to vibration interference, causing pulse signals to jitter or distort, thus affecting the reliability of the second underspeed slippage indicator. Therefore, in high-vibration environments, the decision weight of the second underspeed slippage indicator needs to be appropriately lowered.

[0048] See Figure 3 The specific processing method of step S240 above includes steps S2401-S2403, the details of which are as follows: Step S2401: Input the ambient humidity parameter and vibration intensity parameter into the preset weight calculation formula to calculate the first weight corresponding to the first underspeed slippage flag.

[0049] Step S2402: The difference between 1 and the first weight is determined as the second weight of the second underspeed slippage flag.

[0050] In some embodiments, the first weight and the second weight are dynamically assigned, and their values ​​are automatically adjusted according to changes in environmental conditions. The first weight... The weight of the first underspeed and skidding indicator in the final decision-making process corresponds to the weight of the second indicator. This corresponds to the weighting of the second underspeed / slippage indicator in the final decision. Since the sum of the first and second weights is 1, therefore... .

[0051] Based on the current environmental conditions, higher weights are assigned to the more reliable underspeed slippage indicators under these conditions. Specifically, the higher the ambient humidity parameter, the lower the first weight and the higher the second weight, because in high humidity environments, the ratio of the drive roller speed to the lower redirecting roller speed is more significantly affected by changes in the coefficient of friction, while the detection results of the redirecting and throwing roller are relatively less affected. Similarly, the higher the vibration intensity parameter, the lower the second weight and the higher the first weight, because in environments with strong vibration, the pulse period measurement of the redirecting and throwing roller is easily interfered with, while the ratio of the drive roller speed to the lower redirecting roller speed has a relatively stronger resistance to vibration interference. First weight... Second weight The calculation formula can be: in, Relative humidity, Humidity sensitivity coefficient This is the humidity offset coefficient. This is the vibration influence coefficient. The vibration intensity.

[0052] It should be noted that weight allocation can also be replaced by other methods such as fuzzy control tables to calculate the function. The fuzzy control table is shown in Table 1. This embodiment does not make specific limitations on this.

[0053] Table 1. Fuzzy Control Table for First and Second Weights Step S2403: Based on the first weight, the second weight, the first underspeed slippage flag, and the second underspeed slippage flag, determine the underspeed slippage result of the belt conveyor.

[0054] In some embodiments, after obtaining the first weight and the second weight, it is necessary to combine the first underspeed slippage indicator and the second underspeed slippage indicator to jointly determine the underspeed slippage result of the belt conveyor, so that the final determined underspeed slippage result can simultaneously combine factors such as the ratio of the rotational speed of the drive drum to the rotational speed of the lower redirecting drum and the pulse period of the redirecting throwing drum, thereby improving the accuracy of underspeed slippage result detection.

[0055] In one possible implementation, step S2403 is specifically processed as follows: based on the first weight and the second weight, the first underspeed slippage flag and the second underspeed slippage flag are weighted and summed to obtain a decision value; if the decision value is greater than or equal to the preset decision threshold, the underspeed slippage result of the belt conveyor is determined to be underspeed slippage; if the decision value is less than the preset decision threshold, the underspeed slippage result of the belt conveyor is determined to be no underspeed slippage.

[0056] In some embodiments, the decision value is based on a weighted fusion of two underspeed skidding indicators. The decision function of the cooperative detection system is: in, The decision value is set at a preset decision threshold of 0.5. When the decision value is greater than or equal to the preset threshold of 0.5, the underspeed slippage result of the belt conveyor is determined to have occurred; when the weighted decision value is less than 0.5, the underspeed slippage result is determined to have not occurred. This decision value actually reflects the detection results of the ratio of the drive drum speed to the lower redirecting drum speed and the pulse period of the redirecting discharge drum. A higher decision value indicates that the detection method that best fits the current operating conditions has determined that underspeed slippage has occurred; a lower decision value indicates that the detection method supporting underspeed slippage determination has low reliability under the current operating conditions.

[0057] It should be noted that the specific value of the preset decision threshold can be set according to the actual working conditions and detection requirements. Typically, the preset decision threshold is set to 0.5, meaning that the system only outputs a slippage alarm when at least one of the two detection modules determines underspeed slippage with a higher weight. This setting effectively reduces the false alarm rate. For example, when high ambient humidity causes a false alarm in the detection method of the ratio of the drive roller's speed to the lower redirecting roller's speed, the first weight is automatically lowered in high humidity environments, weakening the impact of this false alarm signal on the final decision and thus avoiding alarms triggered by false alarms. Similarly, when strong vibration causes a false alarm in the detection of the pulse cycle of the redirecting and throwing roller, the impact of this false alarm signal on the final decision is also suppressed because the second weight is automatically lowered. In this case, the failure rate of the detection method of setting the ratio of the drive roller's speed to the lower redirecting roller's speed is [not specified]. The false negative rate of the pulse cycle detection method for the redirecting throwing roller is [missing information]. When two detection methods are used in a coordinated manner, a false alarm only occurs when both methods fail to detect the fault. Therefore, the false alarm rate of coordinated detection is much lower than that of any single detection method, and the false alarm rate of the detection results also decreases significantly. (False alarm rate of coordinated detection) for: Through a weighted fusion-based collaborative decision-making approach, the two detection methods achieve information complementarity and mutual verification under different operating conditions. When the detection results of the two methods are consistent, whether both are judged as slippage or both as normal, the final decision supports this consistent result. When the detection results of the two methods are inconsistent, the system will determine which detection method is more reliable based on the current environmental conditions, giving the more reliable detection method a higher weight, thereby minimizing the false alarm rate while ensuring detection sensitivity. This collaborative decision-making mechanism significantly improves the adaptability and accuracy of belt conveyor underspeed slippage detection under all operating conditions.

[0058] In some embodiments, the specific processing method of step S240 further includes: when the ratio of the rotational speed of the drive drum to the rotational speed of the lower redirecting drum is greater than the second preset rotational speed ratio, the first underspeed slippage flag is determined as severe underspeed slippage; when the pulse period of the sensor corresponding to the redirecting throwing drum is greater than a preset multiple of the period threshold, the second underspeed slippage flag is determined as severe underspeed slippage; when either the first underspeed slippage flag or the second underspeed slippage flag indicates severe underspeed slippage, the underspeed slippage result of the belt conveyor is determined as underspeed slippage.

[0059] In some embodiments, the second preset speed ratio is a higher speed ratio threshold than the first preset speed ratio, used to identify extremely severe underspeed slippage. When the actual speed ratio exceeds the second preset speed ratio, it indicates that the speed ratio deviation between the drive roller and the lower redirecting roller has far exceeded the normal range, and the belt may be close to stopping or completely slipping. For example, the second preset speed ratio can be set to... That is, when When the speed ratio between the drive roller and the lower redirecting roller is severely abnormal, an alarm must be triggered immediately, and conventional weighted fusion judgment should not be performed. Similarly, when the pulse period exceeds a preset multiple of the period threshold, it indicates that the speed of the redirecting and throwing roller has dropped significantly, the pulse signal has become extremely sparse, and the belt may be close to stopping. In this case, an alarm must be triggered immediately. The preset multiple can be three times, i.e. In such cases, an alarm needs to be triggered immediately.

[0060] The detection logic for severe underspeed slippage differs from that of conventional underspeed slippage: In determining severe underspeed slippage, a weighted fusion decision process is not required. Instead, as long as any detection module triggers the severe underspeed slippage condition, the system directly determines that underspeed slippage has occurred. In this case, the decision function is: This decision function setting ensures that the system can respond as quickly as possible in emergency situations where severe belt slippage could lead to a safety accident, avoiding delays in alarm timing due to delays in collaborative decision-making or smooth transitions in weights.

[0061] In addition, a pulse loss protection mechanism can be set up. When the sensor corresponding to the redirecting and throwing roller fails to detect a valid pulse signal for a continuous period of time, i.e., the duration of the pulse loss exceeds a preset protection threshold, it indicates that the redirecting and throwing roller may have stopped rotating, or that the sensor corresponding to the redirecting and throwing roller has malfunctioned. In this case, it is also judged as severe underspeed slippage of the belt or equipment failure, and an alarm needs to be triggered immediately. This pulse loss protection mechanism further enhances the safety of the system under extreme conditions.

[0062] By setting independent judgment conditions for severe underspeed slippage and a pulse loss protection mechanism, it is possible to ensure detection accuracy and low false alarm rate under normal operating conditions, while taking into account the needs for rapid response and fault safety under extreme operating conditions. It achieves full-range coverage and graded response from normal state to slight slippage to severe slippage, further improving the safety of belt conveyor operation.

[0063] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0064] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0065] Figure 4 A schematic diagram of the underspeed and slippage detection device for belt conveyors provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below: like Figure 4 As shown, the underspeed and slippage detection device 4 for belt conveyors includes: The detection module 41 is used to detect underspeed slippage based on the rotational speed of the drive roller and the lower redirecting roller installed on the belt conveyor when the number of starts of the belt drive motor of the belt conveyor is less than a set threshold, and to obtain the underspeed slippage result of the belt conveyor. The determination module 42 is used to determine the first underspeed slippage indicator of the belt conveyor based on the rotational speed of the drive drum and the rotational speed of the lower redirecting drum after all the belt drive motors of the belt conveyor have started and the running time is greater than a preset time. The determining module 42 is also used to determine the second underspeed slippage indicator of the belt conveyor based on the pulse period of the sensor corresponding to the redirecting throwing roller installed on the belt conveyor. The detection module 41 is also used to determine the underspeed slippage result of the belt conveyor based on the first underspeed slippage indicator, the second underspeed slippage indicator, the ambient humidity parameter and vibration intensity parameter of the belt conveyor.

[0066] In one possible implementation, the detection module 41 is specifically used to: determine the ratio of the rotational speed of the drive roller installed on the belt conveyor to the rotational speed of the lower redirecting roller as the actual speed ratio of the belt conveyor; when the difference between the actual speed ratio and the reference speed ratio is greater than the speed ratio tolerance threshold, determine the underspeed slippage result of the belt conveyor as underspeed slippage.

[0067] In one possible implementation, the determining module 42 is specifically configured to: compare the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller with a first preset rotational speed ratio; if the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is less than or equal to the first preset rotational speed ratio, then determine the first underspeed slippage flag of the belt conveyor as 0; if the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is greater than the first preset rotational speed ratio, then determine the first underspeed slippage flag of the belt conveyor as 1.

[0068] In one possible implementation, the determining module 42 is further configured to: compare the pulse period of the sensor corresponding to the redirecting throwing roller with a period threshold; if the pulse period is less than or equal to the period threshold, then determine the second underspeed slippage flag of the belt conveyor as 0; if the pulse period is greater than the period threshold, then determine the second underspeed slippage flag of the belt conveyor as 1.

[0069] In one possible implementation, the detection module 41 is further configured to: input the ambient humidity parameter and vibration intensity parameter into a preset weight calculation formula to calculate the first weight corresponding to the first underspeed slippage indicator; determine the difference between 1 and the first weight as the second weight of the second underspeed slippage indicator; and determine the underspeed slippage result of the belt conveyor based on the first weight, the second weight, the first underspeed slippage indicator and the second underspeed slippage indicator.

[0070] In one possible implementation, the detection module 41 is further configured to: perform a weighted summation calculation on the first underspeed slip flag and the second underspeed slip flag based on the first weight and the second weight to obtain a decision value; if the decision value is greater than or equal to a preset decision threshold, then determine that the underspeed slip result of the belt conveyor has occurred; if the decision value is less than the preset decision threshold, then determine that the underspeed slip result of the belt conveyor has not occurred.

[0071] In one possible implementation, the detection module 41 is further configured to: determine the first underspeed slippage flag as severe underspeed slippage when the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is greater than a second preset rotational speed ratio; determine the second underspeed slippage flag as severe underspeed slippage when the pulse period of the sensor corresponding to the redirecting throwing roller is greater than a preset multiple of the period threshold; and determine the underspeed slippage result of the belt conveyor as underspeed slippage when either the first underspeed slippage flag or the second underspeed slippage flag indicates severe underspeed slippage.

[0072] Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. For example... Figure 5 As shown, the electronic device 5 of this embodiment includes a processor 50 and a memory 51. The memory 51 stores a computer program 52. When the processor 50 executes the computer program 52, it implements the steps in the various method embodiments described above. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the various device embodiments described above.

[0073] For example, computer program 52 may be divided into one or more modules / units, which are stored in memory 51 and executed by processor 50 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 52 in electronic device 5.

[0074] Electronic device 5 may include, but is not limited to, processor 50 and memory 51. Those skilled in the art will understand that... Figure 5 This is merely an example of electronic device 5 and does not constitute a limitation on electronic device 5. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device 5 may also include input / output devices, network access devices, buses, etc.

[0075] The processor 50 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0076] The memory 51 can be an internal storage unit of the electronic device 5, such as a hard disk or RAM. The memory 51 can also be an external storage device of the electronic device 5, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 51 can include both internal and external storage units of the electronic device 5. The memory 51 is used to store the computer program 52 and other programs and data required by the electronic device 5. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0077] For the sake of simplicity and clarity, only the above-described functional modules / units are used as examples. In practical applications, the functions described above can be assigned to different functional modules / units as needed. These modules / units can be implemented in hardware, software, or a combination of both.

[0078] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0079] This invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0080] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0081] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Unless otherwise specified or in conflict with logic, the terminology and / or descriptions between different embodiments are consistent and can be referenced interchangeably. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0082] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for detecting underspeed slippage in a belt conveyor, characterized in that, include: When the number of starts of the belt drive motor of the belt conveyor is less than a set threshold, underspeed slippage detection is performed based on the rotational speed of the drive drum and the lower redirecting drum installed on the belt conveyor to obtain the underspeed slippage result of the belt conveyor. When all the belt drive motors of the belt conveyor are started and the running time is longer than the preset time, the first underspeed slippage indicator of the belt conveyor is determined based on the rotational speed of the drive drum and the rotational speed of the lower redirecting drum. Based on the pulse period of the sensor corresponding to the redirecting and throwing roller installed on the belt conveyor, the second underspeed slippage indicator of the belt conveyor is determined. The underspeed slippage result of the belt conveyor is determined based on the first underspeed slippage indicator, the second underspeed slippage indicator, the ambient humidity parameters and vibration intensity parameters of the belt conveyor.

2. The method for detecting underspeed slippage of a belt conveyor according to claim 1, characterized in that, The step of detecting underspeed slippage based on the rotational speeds of the drive drum and the lower redirecting drum installed on the belt conveyor, and obtaining the underspeed slippage result of the belt conveyor, includes: The ratio of the rotational speed of the drive drum installed on the belt conveyor to the rotational speed of the lower redirecting drum is determined as the actual rotational speed ratio of the belt conveyor. When the difference between the actual speed ratio and the reference speed ratio is greater than the speed ratio tolerance threshold, the underspeed slippage result of the belt conveyor is determined to be underspeed slippage.

3. The method for detecting underspeed slippage of a belt conveyor according to claim 2, characterized in that, Determining the first underspeed slippage indicator of the belt conveyor based on the rotational speed of the drive roller and the rotational speed of the lower redirecting roller includes: The ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is compared with a first preset rotational speed ratio; If the ratio of the rotational speed of the drive drum to the rotational speed of the lower redirecting drum is less than or equal to the first preset rotational speed ratio, then the first underspeed slippage flag of the belt conveyor is set to 0. If the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is greater than the first preset rotational speed ratio, then the first underspeed slippage flag of the belt conveyor is set to 1.

4. The method for detecting underspeed slippage of a belt conveyor according to claim 3, characterized in that, The determination of the second underspeed slippage indicator of the belt conveyor based on the pulse period of the sensor corresponding to the redirecting discharge roller installed on the belt conveyor includes: The pulse period of the sensor corresponding to the redirecting discharge roller is compared with the period threshold. If the pulse period is less than or equal to the period threshold, then the second underspeed slippage flag of the belt conveyor is set to 0; If the pulse period is greater than the period threshold, then the second underspeed slippage flag of the belt conveyor is set to 1.

5. The method for detecting underspeed slippage of a belt conveyor according to claim 4, characterized in that, The step of determining the underspeed slippage result of the belt conveyor based on the first underspeed slippage indicator, the second underspeed slippage indicator, the environmental humidity parameters and vibration intensity parameters of the belt conveyor includes: The environmental humidity parameter and vibration intensity parameter are input into a preset weight calculation formula to calculate the first weight corresponding to the first underspeed slippage flag. The difference between 1 and the first weight is determined as the second weight of the second underspeed slippage flag; Based on the first weight, the second weight, the first underspeed slippage indicator, and the second underspeed slippage indicator, the underspeed slippage result of the belt conveyor is determined.

6. The method for detecting underspeed slippage of a belt conveyor according to claim 5, characterized in that, The determination of the underspeed slippage result of the belt conveyor based on the first weight, the second weight, the first underspeed slippage indicator, and the second underspeed slippage indicator includes: Based on the first weight and the second weight, the first underspeed slippage flag and the second underspeed slippage flag are weighted and summed to obtain the decision value; If the decision value is greater than or equal to the preset decision threshold, the underspeed slippage result of the belt conveyor is determined to be underspeed slippage. If the decision value is less than the preset decision threshold, the underspeed slippage result of the belt conveyor is determined to be that no underspeed slippage has occurred.

7. The method for detecting underspeed slippage of a belt conveyor according to claim 6, characterized in that, The method further includes: When the ratio of the rotational speed of the drive roller to the rotational speed of the lower redirecting roller is greater than the second preset rotational speed ratio, the first underspeed slippage flag is determined to be a severe underspeed slippage. When the pulse period of the sensor corresponding to the redirecting and throwing roller is greater than a preset multiple of the period threshold, the second underspeed slippage flag is determined to be a serious underspeed slippage. When the first underspeed slippage indicator or the second underspeed slippage indicator indicates severe underspeed slippage, the underspeed slippage result of the belt conveyor is determined to be underspeed slippage.

8. A device for detecting underspeed and slippage of a belt conveyor, characterized in that, include: The detection module is used to detect underspeed slippage based on the rotational speed of the drive roller and the lower redirecting roller installed on the belt conveyor when the number of starts of the belt drive motor of the belt conveyor is less than a set threshold, and to obtain the underspeed slippage result of the belt conveyor. The determination module is used to determine the first underspeed slippage indicator of the belt conveyor based on the rotational speed of the drive drum and the rotational speed of the lower redirecting drum after all the belt drive motors of the belt conveyor have started and the running time has exceeded a preset time. The determining module is further configured to determine the second underspeed slippage indicator of the belt conveyor based on the pulse period of the sensor corresponding to the redirecting throwing roller installed on the belt conveyor. The detection module is also used to determine the underspeed slippage result of the belt conveyor based on the first underspeed slippage indicator, the second underspeed slippage indicator, the ambient humidity parameter and vibration intensity parameter of the belt conveyor.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 7.

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