Yahui Zhang, Linxuan Wang, Siyan Li, Aimin Li, Haopeng Li, and Hongliang Zhang
Belt conveyor, check the robot, extremely cold environment,structural design, control system design
Belt conveyors have been widely used in coal transportation, but the problems caused by the movement of belt conveyors threaten the production efficiency of coal mines, and also threaten the safety of workers. In order to realise the real-time detection of belt conveyor in a cold environment, a new belt conveyor detection robot in open- pit mine is designed. In the special environment of extremely low temperature, the driving motor parameters and automatic charging structure have higher requirements. The mathematical model of brushless motor is established, and the double closed-loop PID controller is designed to control the motor. The battery thermal management system and robot autonomous charging system are designed, and the heating strategy based on temperature grading and the charging docking detection strategy are designed to improve the battery endurance and charging safety. Through prototype experiment and field test, it is verified that the robot can operate reliably in a cold environment and basically meet the inspection requirements of the belt conveyor in an open-pit mine.
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