Research on key technology of inspection robot for coal mine belt conveyor

In view of the key technical problems such as the adaptability of the inspection robot of the belt conveyor in the coal mine,the independent fast and safe charging,the intelligent recognition of the abnormal working condition of the belt conveyor based on the analysis of audio and video,this paper expounds the overall design of the inspection robot system of the belt conveyor in the coal mine,and designs a modular,two compartment mounted inspection robot body and a single track,roller and chain wheel hybrid drive inspection robot walking mechanism,which can adapt to the complex environment of underground belt transportation; the method of underground electric machine electric energy conversion charging is proposed,and the automatic charging docking mechanism based on drum shaped teeth is designed,which can realize the inspection robot′s independent fast and safe charging in coal mine and meet the requirements of long-distance inspection in coal mine; Based on the 1 / 3 octave frequency spectrum of sound pressure and the characteristic index of sound quality sharpness,a fault identification method of roller is proposed,In view of the problem that video quality is poor in the scene of multi dust,dense fog and low illuminance,which makes video recognition difficult,an adaptive image enhancement algorithm framework is proposed to enhance image quality. On this basis,based on the prior knowledge of target contour,a depth neural network model is constructed,to realize the video intelligent recognition of the characteristics of coal mine underground personnel,coal flow,foreign matters on the belt surface,damage on the belt surface and so on,so as to improve the intelligent level of inspection robot of belt conveyor. The prototype of inspection robot for belt conveyor and the audio and video samples of abnormal working conditions of belt conveyor are tested. The results show that:the minimum turning radius of inspection robot is 1 m,under the condition of 220 kg load and 0.4 m/s patrol inspection speed,it can run smoothly on the ramp with an angle of 20°,under the condition that the rated power of the motor at the charging station is 2.2 kW,the generator at the robot body end can stably output power of 800 W. the intelligent recognition method of belt conveyor′s abnormal working condition based on audio-video analysis is feasible. The breakthrough of the key technology of the inspection robot of the belt conveyor in the coal mine will accelerate the popularization and application of the inspection robot of the belt conveyor and effectively promote the construction of the intelligent mine.