CN111747062B - Coal flow detection method based on surface laser radar - Google Patents

Coal flow detection method based on surface laser radar Download PDF

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CN111747062B
CN111747062B CN201910825365.0A CN201910825365A CN111747062B CN 111747062 B CN111747062 B CN 111747062B CN 201910825365 A CN201910825365 A CN 201910825365A CN 111747062 B CN111747062 B CN 111747062B
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belt
coal
laser
laser beam
formula
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CN111747062A (en
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连振中
金勇�
王亚东
张永新
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Nanjing North Road Intelligent Control Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

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Abstract

The invention discloses a coal flow detection method for accurately analyzing the coal carrying amount on a belt conveyor, which applies a laser radar ranging technology to the field of coal mine automation. The problem of traditional fortune coal belt control intelligence weigh in transmission process and adjust the error big, the construction installation is complicated, fragile is overcome, has realized direct detection coal volume on the conveyer belt, has improved the automatic level of colliery trade.

Description

Coal flow detection method based on surface laser radar
Technical Field
The utility model relates to a colliery automation, specifically speaking involve a coal flow detection method that is used for accurate analysis belt conveyor to carry coal volume.
Background
In the coal industry, a belt conveyor has become a main device for producing and transporting raw coal, and the transportation system plays a role in transporting the raw coal on an underground mining face to a ground coal storage bin, but due to the imbalance of coal mining, the coal mine transportation capacity of the conveyor cannot be kept stable, so that the belt conveyor is often in a non-optimal running state of a large tractor, and a large amount of electric energy is consumed. Therefore, optimizing the rotating speed of the belt conveyor according to the coal quantity is an urgent problem to be solved, and the key and the premise for solving the problem are to realize the detection of the coal quantity of the belt conveyor.
The laser radar is well known in the mineral industry by an accurate mapping technology, and along with the automation process in the fields of science and technology and mineral industry subdivision, the laser radar is more widely applied to the aspects of mineral aggregate measurement, mineral aggregate transportation and the like.
Disclosure of Invention
The invention provides a coal flow detection method based on a surface laser radar, which applies a laser radar ranging technology to the field of coal mine automation, can accurately measure the coal carrying capacity on a belt conveyor, overcomes the problems of large error, complex construction and installation and easy damage of the traditional coal conveying belt control intelligence during the weighing adjustment in the transmission process, and realizes the direct detection of the coal quantity on the conveying belt.
In order to achieve the above object, the technical solution of the present invention is as follows:
a coal flow detection method based on a surface laser radar comprises the following steps:
s1: the laser radar is positioned at the center of the belt conveyor, 176 laser beams are emitted by the laser radar cylindrical mirror at an angle interval of 0.5 degree, the 176 laser beams are distributed in a fan shape, and a main controller of the laser radar sequentially emits 176 laser beams at an interval of 200ms to obtain an actual distance;
s2: judging the belt width W of the belt conveyor: comparing the first laser beam with the second laser beam, comparing the 176 th laser beam with the 175 th laser beam, comparing the second laser beam with the third laser beam, comparing the 175 th laser beam with the 174 th laser beam …, and sequentially comparing the light beams to the middle light beam, wherein if the measured distance between the light beams is large, the measured distance mutation area of the light beams is the belt width W of the belt conveyor after repeatedly measuring N times;
s3: measuring the coal thickness corresponding to 176 laser beams during idle running of the belt
Figure 723030DEST_PATH_IMAGE001
: when the belt is in idle running, intercepting the actual distance measured by the laser beam N within the effective range of the belt width, and obtaining the coal thickness height corresponding to each laser beam when the belt is in idle running according to the trigonometric function relation
Figure 685170DEST_PATH_IMAGE002
The concrete formula is as follows:
Figure 251280DEST_PATH_IMAGE003
(formula 1) wherein,
Figure 615266DEST_PATH_IMAGE004
the actual distance corresponding to the N laser beams in the width of the belt when the belt idles,
Figure 225107DEST_PATH_IMAGE005
the included angle value between the first beam of laser light and the vertical direction is shown;
s4: the average coal thickness height of the belt in idle running can be obtained from the formula 2
Figure 612226DEST_PATH_IMAGE006
：
Figure 44345DEST_PATH_IMAGE007
(formula 2)
S5: according to the step S3, the height H corresponding to each laser beam when the belt carries coal can be obtaineds:
Figure 934940DEST_PATH_IMAGE008
(formula 3) in which
Figure 731995DEST_PATH_IMAGE009
The actual distance corresponding to the N laser beams in the width of the belt when the belt carries coal,
Figure 403148DEST_PATH_IMAGE005
the included angle value between the first beam of laser light and the vertical direction is respectively;
s6: the average coal thickness height of the belt carrying the coal can be obtained according to the step S4
Figure 763591DEST_PATH_IMAGE010
The formula is as follows:
Figure 836589DEST_PATH_IMAGE011
(formula 4)
S7: according to belt idle timeAverage coal thickness
Figure 804545DEST_PATH_IMAGE012
Average coal thickness measured when coal is carried on the belt
Figure 962994DEST_PATH_IMAGE013
The current actual coal thickness can be obtained
Figure 674598DEST_PATH_IMAGE014
The calculation formula is as follows:
Figure 602103DEST_PATH_IMAGE015
(formula 5)
S8: obtained according to step 7
Figure 740960DEST_PATH_IMAGE014
The current actual coal flow Q can be obtained by calculation according to the formula 6,
Figure 386705DEST_PATH_IMAGE016
(equation 6), wherein
Figure 698738DEST_PATH_IMAGE017
The belt conveying speed is measured by a speed sensor arranged on the belt; w is the belt width;
the further scheme is as follows: LS02B with laser radar model Shenzhen radium spirit
The invention has the beneficial effects that:
according to the coal flow detection method based on the surface laser radar, the laser radar ranging technology is creatively applied to coal quantity detection, the metering precision is improved, the method can be applied to detection of coal mines of actual coal mine belt conveyors, and effective coal quantity real-time information is provided for optimal control of the belt conveyors.
Drawings
FIG. 1 shows a transportation monitoring device used in a coal flow detection method based on a surface laser radar.
FIG. 2 is a schematic diagram of a laser beam emitted by a laser radar based on a surface laser radar coal flow detection method.
FIG. 3 is a schematic diagram of a coal thickness calculation trigonometric relationship in a coal flow detection method based on a surface laser radar.
FIG. 4 is a flow chart of a coal flow detection method based on a surface laser radar.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the following description of the embodiments and the accompanying drawings.
As shown in figure 1: an intelligent depth detector used in a coal flow detection method based on a surface laser radar is characterized in that the depth detector is arranged at the central position of a belt conveyor through an L-shaped frame,
s1: as shown in fig. 2: 176 laser beams are emitted by the laser radar cylindrical mirror at an angle interval of 0.5 degree, the 176 laser beams are distributed in a fan shape, and a main controller of the laser radar sequentially emits 176 laser beams at an interval of 200ms to obtain an actual distance d;
s2: judging the belt width of the belt conveyor: comparing the first laser beam with the second laser beam, comparing the 176 th laser beam with the 175 th laser beam, comparing the second laser beam with the third laser beam, comparing the 175 th laser beam with the 174 th laser beam …, and sequentially comparing the light beams to the middle light beam, wherein if the measured distance between the light beams is large, the measured distance mutation area of the light beams is the belt width W of the belt conveyor after repeatedly measuring N times;
s3: as shown in fig. 3: measuring the coal thickness corresponding to 176 laser beams during idle running of the belt
Figure 808645DEST_PATH_IMAGE001
: when the belt is in idle running, intercepting the actual distance measured by the laser beam N within the effective range of the belt width, and obtaining the coal thickness height corresponding to each laser beam when the belt is in idle running according to the trigonometric function relation
Figure 180720DEST_PATH_IMAGE002
The concrete formula is as follows:
Figure 251445DEST_PATH_IMAGE018
(formula 1) wherein,
Figure 304851DEST_PATH_IMAGE004
the actual distance corresponding to the N laser beams in the width of the belt when the belt idles,
Figure 393899DEST_PATH_IMAGE005
the included angle value of the first beam, the laser ray and the vertical direction is obtained;
s4: the average coal thickness height of the belt in idle running can be obtained from the formula 1
Figure 936876DEST_PATH_IMAGE006
：
Figure 291634DEST_PATH_IMAGE007
(formula 2)
S5: as shown in fig. 3: according to the step S3, the height H of the coal corresponding to each laser beam when the belt carries the coal can be obtaineds:
Figure 335682DEST_PATH_IMAGE019
(formula 3)
Wherein
Figure 92285DEST_PATH_IMAGE009
The actual distance corresponding to the N laser beams in the width of the belt when the belt carries coal,
Figure 743847DEST_PATH_IMAGE005
the included angle value of the first beam, the laser ray and the vertical direction is obtained;
s6: the average coal thickness height of the belt carrying the coal can be obtained according to the step S4
Figure 851480DEST_PATH_IMAGE010
The formula is as follows:
Figure 246689DEST_PATH_IMAGE011
(formula 4)
S7: from average coal thickness measured while the belt is idling
Figure 920116DEST_PATH_IMAGE012
And average thickness of the belt when loaded with coal
Figure 8158DEST_PATH_IMAGE013
The current actual coal thickness can be obtained
Figure 337508DEST_PATH_IMAGE014
The calculation formula is as follows:
Figure 536408DEST_PATH_IMAGE015
(formula 5)
S8: obtained according to step 7
Figure 126658DEST_PATH_IMAGE014
The current actual coal flow Q can be obtained by calculation according to the formula 6,
Figure 385601DEST_PATH_IMAGE016
(equation 6), wherein
Figure 202247DEST_PATH_IMAGE017
The belt conveying speed is measured by a speed sensor arranged on the belt, and W is the width of the belt;
the laser radar used in the invention is LS02B of Shenzhen radium spirit.

Claims (2)

1. A coal flow detection method based on a surface laser radar comprises the following steps:
s1: the laser radar is positioned at the center of the belt conveyor, 176 laser beams are emitted by the laser radar cylindrical mirror at an angle interval of 0.5 degree, the 176 laser beams are distributed in a fan shape, and a main controller of the laser radar sequentially emits 176 laser beams at an interval of 200ms to obtain an actual distance;
s2: judging the belt width W of the belt conveyor: comparing the first laser beam with the second laser beam, comparing the 176 th laser beam with the 175 th laser beam, comparing the second laser beam with the third laser beam, comparing the 175 th laser beam with the 174 th laser beam …, and sequentially comparing the light beams to the middle light beam, wherein if the measured distance between the light beams is large, the measured distance mutation area of the light beams is the belt width W of the belt conveyor after repeatedly measuring N times;
s3: measuring the coal thickness corresponding to 176 laser beams during idle running of the belt
Figure DEST_PATH_IMAGE001
: when the belt is in idle running, intercepting the actual distance measured by the laser beam N within the effective range of the belt width, and obtaining the coal thickness height corresponding to each laser beam when the belt is in idle running according to the trigonometric function relation
Figure DEST_PATH_IMAGE002
The concrete formula is as follows:
Figure DEST_PATH_IMAGE003
in the formula 1, in which,
Figure DEST_PATH_IMAGE004
the actual distance corresponding to the N laser beams in the width of the belt when the belt idles,
Figure DEST_PATH_IMAGE005
the included angle value between the first beam of laser light and the vertical direction is shown;
s4: the average coal thickness height of the belt in idle running can be obtained from the formula 2
Figure DEST_PATH_IMAGE006
：
Figure DEST_PATH_IMAGE007
Equation 2
S5: according to the step S3, the height H corresponding to each laser beam when the belt carries coal can be obtaineds:
Figure DEST_PATH_IMAGE008
Formula 3 wherein
Figure DEST_PATH_IMAGE009
The actual distance corresponding to the N laser beams in the width of the belt when the belt carries coal,
Figure 338856DEST_PATH_IMAGE005
the included angle value between the first beam of laser light and the vertical direction is respectively;
s6: the average coal thickness height of the belt carrying the coal can be obtained according to the step S4
Figure DEST_PATH_IMAGE010
The formula is as follows:
Figure DEST_PATH_IMAGE011
equation 4
S7: from average coal thickness measured while the belt is idling
Figure DEST_PATH_IMAGE012
Average coal thickness measured when coal is carried on the belt
Figure DEST_PATH_IMAGE013
The current actual coal thickness can be obtained
Figure DEST_PATH_IMAGE014
The calculation formula is as follows:
Figure DEST_PATH_IMAGE015
equation 5
S8: derived from step S7
Figure 173826DEST_PATH_IMAGE014
The current actual coal flow Q can be calculated according to the formula 6,
Figure DEST_PATH_IMAGE016
equation 6, wherein
Figure DEST_PATH_IMAGE017
The belt conveying speed is measured by a speed sensor arranged on the belt; w is the belt width.
2. The method for detecting the coal flow based on the surface laser radar as claimed in claim 1, wherein the method comprises the following steps: the laser radar model is LS02B of Shenzhen radium spirit.
CN201910825365.0A 2019-09-03 2019-09-03 Coal flow detection method based on surface laser radar Active CN111747062B (en)

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CN111453310B (en) * 2020-04-22 2021-04-23 南京大学 Coal mine scraper conveyor load height detection method based on laser radar
CN112896990A (en) * 2021-03-17 2021-06-04 中信重工开诚智能装备有限公司 Mining explosion-proof coal quantity detection system and method
CN117775643B (en) * 2024-02-23 2024-04-26 徐州众图智控通信科技有限公司 Main coal flow belt conveying control system for coal mine

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CN104132699A (en) * 2014-07-24 2014-11-05 武汉中原电子集团有限公司 Laser scanning type bulk material flow detection and distribution error elimination method
CN107101683A (en) * 2017-06-15 2017-08-29 西安科技大学 A kind of coal flow monitoring system based on laser radar and velocity information
CN107167193A (en) * 2017-04-07 2017-09-15 北京工业大学 Volume of material flow-measuring method and system on conveyer belt
CN108981842A (en) * 2018-08-17 2018-12-11 湖北凯瑞知行智能装备有限公司 The calculating of adhesive tape material heap annular volume and unbalance loading and putty recognition methods based on the linear light source of laser
CN109540241A (en) * 2019-01-22 2019-03-29 艾信智慧医疗科技发展（苏州）有限公司 Volume measuring system and method
CN110282386A (en) * 2019-07-15 2019-09-27 武汉摩林翰机电设备有限公司 Belt conveyor bulk material detection device and its control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104132699A (en) * 2014-07-24 2014-11-05 武汉中原电子集团有限公司 Laser scanning type bulk material flow detection and distribution error elimination method
CN107167193A (en) * 2017-04-07 2017-09-15 北京工业大学 Volume of material flow-measuring method and system on conveyer belt
CN107101683A (en) * 2017-06-15 2017-08-29 西安科技大学 A kind of coal flow monitoring system based on laser radar and velocity information
CN108981842A (en) * 2018-08-17 2018-12-11 湖北凯瑞知行智能装备有限公司 The calculating of adhesive tape material heap annular volume and unbalance loading and putty recognition methods based on the linear light source of laser
CN109540241A (en) * 2019-01-22 2019-03-29 艾信智慧医疗科技发展（苏州）有限公司 Volume measuring system and method
CN110282386A (en) * 2019-07-15 2019-09-27 武汉摩林翰机电设备有限公司 Belt conveyor bulk material detection device and its control method

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