CN104698973B - A kind of automatic centering system and centering method at parallel mine crushing station - Google Patents
A kind of automatic centering system and centering method at parallel mine crushing station Download PDFInfo
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- CN104698973B CN104698973B CN201510035540.8A CN201510035540A CN104698973B CN 104698973 B CN104698973 B CN 104698973B CN 201510035540 A CN201510035540 A CN 201510035540A CN 104698973 B CN104698973 B CN 104698973B
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- centering
- control unit
- disintegrating machine
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- audio
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 238000010183 spectrum analysis Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 8
- 230000005236 sound signal Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000004886 process control Methods 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37361—Measurements acoustic feedback, for speed, if speed very low hearing is better than seeing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45004—Mining
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Disintegrating Or Milling (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a kind of automatic centering system and centering method at parallel mine crushing station, in the system, audio sending module includes sound source parameter setting module, sound source sounding control unit, wireless data transmission module and sound-producing device, sound source parameter setting module occurs control unit with sound source and is connected, sound source occurs control unit and is connected with generating means, and sound source occurs control unit and 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, apparatus for receiving audio is 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, and centering control unit is connected with disintegrating machine centering drive system.The present invention is combined according to sound positioning principle, and with the intelligence system in the entire production line, and whole process control is reliable, and alignment is accurate, while substantially increases production efficiency.
Description
Technical field
The present invention relates to a kind of automatic centering system and centering method at parallel mine crushing station, belong to mine crushing machine
Field of intelligent control technology.
Background technology
Crushing Station is the necessary equipment in large outdoors colliery production, and when crushing is larger, single disintegrating machine is just not
Can meet it is broken require, therefore achieve the goal frequently with two disintegrating machines mode in parallel, parallel Crushing Station, production capacity
Greatly, relatively large material can be crushed, as it is large-scale it is thick, in broken disintegrating machine use, production efficiency is higher.
Crushing Station in parallel needs to move with the difference of mine site, is needed single disintegrating machine point when mobile first
Open and move, in then re-starting position pair in destination, two disintegrating machines after centering are centrally located at same vertical line
On, it is allowed to satisfaction and is connected in parallel demand.At present, and the mode of crusher centering is relied primarily on and manually moved, then with
Centering is carried out by means of measurement means and worker's experience, it is not only less efficient but also often Crushing Station precision in parallel is unable to meet demand,
Influence the work flow of the entire production line.
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.
Brief description of the drawings
Fig. 1 is the systematic schematic diagram of the present invention；
Fig. 2 is sound positioning schematic；
Fig. 3 is sound-producing device and installation site figure of the apparatus for receiving audio on disintegrating machine；
Fig. 4 is the parallel principle schematic of two-shipper；
Fig. 5 is that two-shipper parallel distance adjusts principle schematic；
Fig. 6 is two-shipper centering principle schematic；
Fig. 7 is two-shipper centering control flow chart.
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.
Claims (5)
1. a kind of automatic centering system at parallel mine crushing station, it is characterised in that including the audio on disintegrating machine I
Sending module, the audio receiving module on disintegrating machine II and disintegrating machine centering drive system, audio sending module bag
Include sound source parameter setting module, sound source sounding control unit, wireless data transmission module and sound-producing device, sound source parameter setting module with
Sound source sounding control unit is connected, and sound source sounding control unit is connected with sound-producing device, and sound source sounding control unit passes through wireless
Digital transmission module carries out data transmission；Audio receiving module include apparatus for receiving audio, spectral analysis unit, centering control unit and
Wireless data transmission module, apparatus for receiving audio are connected with spectral analysis unit, and spectral analysis unit is connected with centering control unit, right
Middle control unit is carried out data transmission by wireless data transmission module, and centering control unit is connected with disintegrating machine centering drive system；
Sound-producing device on disintegrating machine I has two, and the apparatus for receiving audio on disintegrating machine II has three.
2. the automatic centering system at parallel mine crushing station according to claim 1, it is characterised in that audio receives mould
Also there is the touch-screen being connected with centering control unit in block.
3. the automatic centering system at parallel mine crushing station according to claim 2, it is characterised in that sound source parameter is set
The parameter of cover half block setting includes frequency and decibel that sound-producing device sends sound source, and the spacing of disintegrating machine.
A kind of 4. automatic centering system at parallel mine crushing station using described in any claim in claims 1 to 33
Come the automatic centering method at parallel mine crushing station realized, it is characterised in that comprise the following steps：
A. determine two sound-producing devices in disintegrating machine I installation site and three apparatus for receiving audio according to sound positioning principle
In disintegrating machine II installation site；
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；
C. audio receiving module carries out spectrum analysis to the audio signal of reception, determines realities of the disintegrating machine II relative to disintegrating machine I
Border position；
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 adjustment.
5. the automatic centering method at parallel mine crushing station according to claim 4, it is characterised in that：Set in step b
After determining sound source parameter, the range areas size of center support system application is determined according to the sound source parameter of setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510035540.8A CN104698973B (en) | 2015-01-23 | 2015-01-23 | A kind of automatic centering system and centering method at parallel mine crushing station |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510035540.8A CN104698973B (en) | 2015-01-23 | 2015-01-23 | A kind of automatic centering system and centering method at parallel mine crushing station |
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| CN104698973A CN104698973A (en) | 2015-06-10 |
| CN104698973B true CN104698973B (en) | 2017-11-21 |
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| CN105251599B (en) * | 2015-09-22 | 2017-07-28 | 中国矿业大学 | A kind of automatic balancing method of parallel mine crushing machine discharging opening receiver |
| CN105251600B (en) * | 2015-09-22 | 2017-07-28 | 中国矿业大学 | A kind of automatic balancing arrangement of parallel mine crushing machine discharging opening receiver |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1672463A (en) * | 2002-07-31 | 2005-09-21 | 皇家飞利浦电子股份有限公司 | Audio processing system |
| CN102541080A (en) * | 2010-12-11 | 2012-07-04 | 骅威科技股份有限公司 | Mobile device with sound source positioning function |
| CN202383520U (en) * | 2011-12-22 | 2012-08-15 | 湖南城市学院 | Sound positioning navigation device |
| CN202886595U (en) * | 2012-11-13 | 2013-04-17 | 天津工业大学 | Voice positioning system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4419300B2 (en) * | 2000-09-08 | 2010-02-24 | ヤマハ株式会社 | Sound reproduction method and sound reproduction apparatus |
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2015
- 2015-01-23 CN CN201510035540.8A patent/CN104698973B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1672463A (en) * | 2002-07-31 | 2005-09-21 | 皇家飞利浦电子股份有限公司 | Audio processing system |
| CN102541080A (en) * | 2010-12-11 | 2012-07-04 | 骅威科技股份有限公司 | Mobile device with sound source positioning function |
| CN202383520U (en) * | 2011-12-22 | 2012-08-15 | 湖南城市学院 | Sound positioning navigation device |
| CN202886595U (en) * | 2012-11-13 | 2013-04-17 | 天津工业大学 | Voice positioning system |
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Address after: No. 1, Tongshan University Road, Xuzhou, Jiangsu Province, Jiangsu Co-patentee after: XUYI MINING MACHINERY AND MATERIAL RESEARCH & DEVELOPMENT CENTER CHINA University OF MINING & TECHNOLOGY Patentee after: CHINA University OF MINING AND TECHNOLOGY Address before: No. 1, University Road, Xuzhou, Jiangsu Province Co-patentee before: XUYI MINING MACHINERY AND MATERIAL RESEARCH & DEVELOPMENT CENTER CHINA University OF MINING & TECHNOLOGY Patentee before: CHINA University OF MINING AND TECHNOLOGY |
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