Design And Research On An Inspection Robot Control System For Belt Conveyor

As the most important transportation equipment in the coal mining industry,belt conveyors affect the production and safety of coal mines directly.Due to the long distance and harsh working conditions,belt conveyors are often accompanied by accidents.Therefore,real-time monitoring of working status is essential.Traditional manual inspection relies on people's working experience with the disadvantages of low efficiency,poor reliability and high labor cost.A belt conveyor inspection robot is designed to realize unmanned inspection.The thesis firstly analyzes the common faults of the belt conveyor to obtains the corresponding relationship between the faults and its state parameters,which can be used as the theoretical basis for the fault diagnosis of the inspection robot.At the same time,considering the on-site environment and inspection contents,the overall design of the inspection robot is proposed.By comparing the various driving schemes,the propulsion scheme of the robot using self-driving rack and pinion is proposed.Meanwhile,the mathematical model of the brush-less DC motor is studied as the theoretical basis of motor control.The force analysis of the torque required to drive the motor is analyzed,and the reliability is verified for selecting the motor.Then,combined with the functional requirements of the inspection robot,the implementation scheme of the hardware design of the control system is determined.The control system uses the industrial computer as the main controller of the lower computer,and the EPOS controller as the motor driver;the data acquisition system includes the temperature,image,sound and positioning information modules,and the specific implementation methods of each module are introduced in detail;based on the UDP protocol,the wireless communication network between the upper and lower computers is constructed;The battery energy system selects a low-temperature lithium battery,and a battery heating system is designed to solve the problem of charging the battery in a low temperature environment.Besides,the development of the lower machine motion control software and the host computer user interface are completed.The lower computer software is based on C++ with Visual Studio 2012 as the development environment,which realizes motor control and motion parameter feedback.The user interface of the host computer is based on Qt development software.Its functions include real-time status monitoring,robot motion control and data query.Through the data transmission of the upper and lower position machines,the remote monitoring of the inspection robot is realized.Finally,the feasibility of the design is verified by the prototype experiment and the actual application.Some functions are optimized according to the experimental feedback.The field test shows that the inspection robot can monitor the running state of the belt conveyor in real time,which can meet the design requirements.