Method of Defining Diagnostic Features to Monitor the Condition of the Belt Conveyor Gearbox with the Use of the Legged Inspection Robot

  • Pawel StefaniakEmail author
  • Sergii Anufriiev
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 1178)


This paper presents the results of constructing the inspection robot serving as a tool to define the conditions of technical infrastructure in deep mine. The project has been conducted as the part of the European “THING - subTerranean Haptic INvestiGator” project. The challenge of managing the dispersed deep mine machine park in the conveyor transport network has been discussed in the paper. One of the functions of the inspection is to evaluate the technical condition of the conveyor gearbox. Thus, the haptic robot leg has been designed to perform non-invasive vibration measurements on the gearbox housing. The inspection robot has been designed to consequently perform the necessary monitoring processes currently performed by human, which proves to be troublesome in the mining industry worldwide. The aim of the paper is to suggest the complete method of collecting field measurements and defining diagnostic features based on time-frequency analysis. Such an approach would facilitate full mobility and automatization of defining diagnostic features process with the robot, what is crucial in the harsh mining conditions.


Inspection robot Deep mine Belt conveyor Gearbox Condition monitoring 



This work is a part of the project which has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 780883.


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.KGHM Cuprum Research and Development CentreWrocławPoland

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