The content of the invention
For problems of the prior art, the present invention provides a kind of automatic centering system at parallel mine crushing station
And centering method, two-shipper centering can be automatically controlled, alignment is accurate, while greatly improves operating efficiency.
To achieve these goals, a kind of automatic centering system at parallel mine crushing station, including installed in disintegrating machine I
On audio sending module, the audio receiving module on disintegrating machine II and disintegrating machine centering drive system, audio hair
Send module to include sound source parameter setting module, sound source sounding control unit, wireless data transmission module and sound-producing device, sound source parameter to set
Cover half block is connected with sound source sounding control unit, and sound source sounding control unit is connected with sound-producing device, sound source sounding control unit
Carried out data transmission by wireless data transmission module;Audio receiving module includes apparatus for receiving audio, spectral analysis unit, centering control
Unit and wireless data transmission module processed, apparatus for receiving audio are connected with spectral analysis unit, and spectral analysis unit and centering control are single
Member is connected, and centering control unit is carried out data transmission by wireless data transmission module, and centering control unit drives with disintegrating machine centering
System is connected.
Sound-producing device on disintegrating machine I has two, and the apparatus for receiving audio on disintegrating machine II has three.
Also there is the touch-screen being connected with centering control unit in audio receiving module.
The parameter of sound source parameter setting module setting includes frequency and decibel that sound-producing device sends sound source, and disintegrating machine
Spacing.
A kind of automatic centering method at parallel mine crushing station, comprises the following steps:
A. determine that two sound-producing devices receive in disintegrating machine I installation site and three audios according to sound positioning principle
Installation site of the device in disintegrating machine II;
B. sound source parameter is set in audio sending module, the frequency for the frequency that pronounces should substantially distinguish over the frequency of ambient noise
Rate;
C. audio receiving module carries out spectrum analysis to the audio signal of reception, determines disintegrating machine II relative to disintegrating machine I
Physical location;
D. the parallel adjustment of two-shipper is carried out according to program set in advance, centering control unit control disintegrating machine drive system;
E. after two-shipper is parallel, centering control unit control disintegrating machine drive system carries out two-shipper parallel distance adjustment;
F. after the completion of the adjustment of two-shipper parallel distance, centering control unit control disintegrating machine drive system carries out two-shipper centering tune
It is whole.
After setting sound source parameter in step b, determine that the range areas that center support system is applied is big according to the sound source parameter of setting
It is small.
The present invention is combined according to sound positioning principle, and with the intelligence system in the entire production line, is determined according to audio
Relative position between two disintegrating machines, so as to automatically control two-shipper centering, whole process control is reliable, and alignment is accurate, simultaneously
Production efficiency is substantially increased, saves labour.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of automatic centering system at parallel mine crushing station, including the sound on disintegrating machine I
Frequency sending module, the audio receiving module on disintegrating machine II and disintegrating machine centering drive system, audio sending module
Including sound source parameter setting module, sound source sounding control unit, wireless data transmission module and sound-producing device, sound source parameter setting module
It is connected with sound source sounding control unit, sound source sounding control unit is connected with sound-producing device, and sound source sounding control unit passes through nothing
Line number transmission module carries out data transmission;Audio receiving module includesApparatus for receiving audio, spectral analysis unit, centering control unit
And wireless data transmission module, apparatus for receiving audio are connected with spectral analysis unit, spectral analysis unit is connected with centering control unit,
Centering control unit is carried out data transmission by wireless data transmission module, centering control unit and disintegrating machine centering drive system phase
Even.
Sound-producing device on disintegrating machine I has two, and the apparatus for receiving audio on disintegrating machine II has three.
Also there is the touch-screen being connected with centering control unit in audio receiving module.
The parameter of sound source parameter setting module setting includes frequency and decibel that sound-producing device sends sound source, and disintegrating machine
Spacing.
Sound source sounding control unit is used for the sounding for controlling sound-producing device;Sound-producing device 1 and sound-producing device 2, which can be sent, to be set
Determine the sound wave of frequency and decibel, and the acoustic wave parameter that sound-producing device is sent can be changed by changing setup parameter;Without line number
The data exchange that transmission module is used between audio transmitting terminal and audio receiving terminal.
Apparatus for receiving audio is used to gather the sound wave that sound-producing device is sent, and apparatus for receiving audio is drawn by spectral analysis unit
1st, at apparatus for receiving audio 2 and apparatus for receiving audio 3 audio signal parameters;Centering control unit is to the audio that is gathered
Signal is analyzed and handled, and sends action command to disintegrating machine centering drive system;Touch-screen can carry out shape to system
State is monitored and controlled.
Centering flow is as shown in fig. 7, control unit sets sound source parameter and inputted by wireless module to sound-producing device, hair
Then acoustic device sounding carries out sound signal processing and carries out two-shipper successively by sound positioning principle to put down to apparatus for receiving audio
Row judges that control, two-shipper parallel distance adjustment control and two-shipper centering judge control, until completing whole centering process.
A kind of automatic centering method at parallel mine crushing station, comprises the following steps:A. it is true according to sound positioning principle
Fixed two sound-producing devices disintegrating machine I installation site and three apparatus for receiving audio disintegrating machine II installation site;
Sound positioning principle is as shown in Fig. 2 planar have two sounding point A and B, A to send akHz, xdB sphere sound
Ripple, B send bkHz, ydB spherical sound wave, as sound wave can gradually decay to external diffusion, loudness.For example, sent in figure at A
The outside diffusive attenuation of sound wave is x1DB, x2DB, two circles are formed, the outside diffusive attenuation of sound wave sent at B is y1DB, form one
Individual circle, then three circles intersect at C, 2 points of D, C points position can be with coordinate (x2,y1) represent, D points position can use coordinate
(x1,y1) represent, then all points have unique coordinate in plane.
For spherical wave, its acoustic pressure virtual value is represented by:
P (t) is instantaneous sound pressure level in formula, for pure tone
The wave equation of spherical wave:
P (r, t)=pmax cos(ωt-kr)
A be r=0 place vibration amplitude, the A=ω ρ of point sound source0Q/4 π, Q are point sound source intensity amplitude unit W/m2, ρ0For
Atmospheric density units/kg/m, ω is angular frequency, then
Sound pressure level defines:
In formula:Reference acoustic pressure p0=2 × 10-5Pa, then
The distance between 2 points of AC l can be obtained by (1), (2) formulaACFor:
It can similarly obtain:
The installation site of sound-producing device and apparatus for receiving audio on disintegrating machine is as shown in figure 3, two sound-producing devices are installed
Represented on disintegrating machine 1 with A, B, three apparatus for receiving audio are arranged on disintegrating machine 2, are represented respectively with C, D, E, and lAB=
lCE=2lCD=2lDE.According to tut positioning principle can obtain 3 points of C, D, E coordinate and 3 points respectively with 2 points of A, B
Distance.
B. sound source parameter is set in audio sending module, the frequency for the frequency that pronounces should substantially distinguish over the frequency of ambient noise
Rate;To reduce interference caused by ambient noise.
C. audio receiving module carries out spectrum analysis to the audio signal of reception, determines disintegrating machine II relative to disintegrating machine I
Physical location;The physical location of disintegrating machine 1 is represented with AB, CDE represents the physical location of disintegrating machine 2;
D. the parallel adjustment of two-shipper is carried out according to program set in advance, centering control unit control disintegrating machine drive system;
As shown in figure 4, the relative position of broken machine 1 and disintegrating machine 2 is any, the physical location of disintegrating machine 1, CDE are represented with AB
The physical location of disintegrating machine 2 is represented, CD ' E ' are the position for needing to reach after disintegrating machine 2 adjusts.
Can be in the hope of l by tut positioning principleAC、lCBAnd lAD, and lABAnd lCD’, it is known that then
Similarly
And γ=α, then ∠ ACE '=alpha+beta
Due to lAC, lCD’, it is known that then
Compare lADWith lAD’Length, work as lAD>lAD’When, disintegrating machine 2 turns clockwise around C points;Work as lAD<lAD’When, disintegrating machine 2
Around C point rotate counterclockwises, l can be similarly tried to achieveAE, lAE’Length, work as lAE>lAE’When, disintegrating machine 2 turns clockwise around C points;When
lAE<lAE’When, disintegrating machine 2 makes two-shipper parallel around C point rotate counterclockwises.Using D, 2 points of E to carry out simultaneously, two-shipper is parallel to be carried
The stability and precision of high system.
E. after two-shipper is parallel, centering control unit control disintegrating machine drive system carries out two-shipper parallel distance adjustment;
As shown in figure 5, CDE represents the physical location of disintegrating machine 2, C ' D ' E ' represent the position of disintegrating machine 2 after distance adjustment, l1
For actual two-shipper spacing, l2For required spacing.
Can be in the hope of l by tut positioning principleAC、lCB, and lAB, it is known that then
Because
So
Compare l1With l2, work as l1<l2When, disintegrating machine 2 translates to the direction away from disintegrating machine 1;Work as l1>l2When, disintegrating machine 2 to
Translated close to the direction of disintegrating machine 1, until reaching specified location.
F. after the completion of the adjustment of two-shipper parallel distance, centering control unit control disintegrating machine drive system carries out two-shipper centering tune
It is whole.
As shown in fig. 6, CDE represents the physical location of disintegrating machine 2, C ' D ' E ' represent the position after centering, lAC’=l2.By upper
Stating sound positioning principle can be in the hope of lAC, lAD, lBD。
Work as lAC>l2And lAD<lBDWhen, disintegrating machine 2 translates downwards;Work as lAC>l2And lAD>lBDWhen, disintegrating machine 2 is put down upward
Move, until lAC=l2, lAD=lBDComplete centering process.
After setting sound source parameter in step b, determine that the range areas that center support system is applied is big according to the sound source parameter of setting
It is small.
For different environment, air has absorption to acoustic energy, and in 20 DEG C of temperature, air of the acoustic energy per 100m is inhaled
Receiving attenuation is:
In formula:AaFor every 100m air attenuation by absorption amount, dB/100m;F is sound frequency, unit Hz;R for propagate away from
From unit m;Φ is relative humidity.
Then the orientation range r of system is determined by following formula:
Then
Then orientation range
In formula, ρ0It is strength of sound source unit W/m for atmospheric density units/kg/m, Q2, P∈For acoustic pressure virtual value unit Pa.
The present invention judges the relative position between two disintegrating machines according to sound positioning principle, automatically controls two disintegrating machines
Between realize parallel, parallel distance, the whole flow process of centering, method is simple, and control is reliable, substantially increases production efficiency.