| Belt conveyor is the most important conveying equipment in coal mine.The running state of conveyor has a significant impact on the safety production of conveyor and mine,and the fire hazard caused by roller jam fault is more serious.For this reason,each conveyor is equipped with fixed inspection staff to detect the running state of the conveyor at fixed time and point every day.However,the mine operation environment is harsh and complex,and the inspection effect is poor due to the staff's round the clock inspection.Therefore,the research and design of belt conveyor inspection robot,instead of the conveyor inspection staff to complete the inspection work,is of great significance to improve the inspection quality and ensure the normal operation and safety production of the conveyor.In order to detect the running state of rollers along the conveyor,a conveyor inspection robot is designed.Based on the analysis of the working environment of the conveyor and the work content of the inspection personnel,the design requirements of the inspection robot are summarized,And the design scheme of inspection robot system and structure is proposed The walking system,communication system,information acquisition system,power supply system and upper computer processing system of the inspection robot are analyzed and studied.In order to ensure that the inspection robot can accurately detect the running state of rollers,a detection method based on infrared image processing technology is proposed.Firstly,the working process of the conveyor is described.Based on the principle of friction thermodynamics,the mathematical model of roller-conveyor belt friction heat generation is established,and the temperature field generated by friction heat generation of roller-conveyor belt is simulated by ANSYS.Secondly,the infrared thermal imager is used to collect the video images of the roller under normal and jamming fault conditions,and its performance characteristics are analyzed by combining theory and simulation.Finally,based on the principle of infrared thermal imaging temperature measurement,the characteristics of infrared image are analyzed,and the infrared image processing technology is applied to gray image,filtering denoising and image enhancement.The Ostu threshold segmentation algorithm and morphological improvement method are applied to extract the area of the stuck roller in the image,and the gray gravity center method is used to calibrate the position of the fault roller in the image.In order to verify whether each system of the inspection robot meets the design requirements,the walking track is built according to the design method and the experimental prototype of the inspection robot is processed.The experimental platform is built on the basis ofthe existing experimental equipment of belt conveyor,and the functions of each system of the robot are tested in the laboratory.The experimental results show that the inspection robot designed in this paper basically meets the functional requirements. |
PDF Full Text Request