• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a device and a method for automatically straightening a body of a scraper conveyor based on spatial position information capture, belonging to the technical field of fully-mechanized coal mining equipment. The device comprises scraper conveyor middle troughs, spatial position information acquisition devices, data transmission devices and straightening actuators. The present invention effectively solves the problem of large error caused by manually straightening the body of the scraper conveyor according to the experience and the observation by naked eyes, can directly measure relevant data of straightness of the body of the scraper conveyor, and can straighten the body of the scraper conveyor based on the data, thereby achieving the purposes of autonomous perception and autonomous analysis of the scraper conveyor and quick response to the straightening of the body.
    公开号:NL2028218A
    申请号:NL2028218
    申请日:2021-05-17
    公开日:2021-08-17
    发明作者:Jiang Shoubo；Wang Chenglong；Zeng Qingliang；Wan Lirong；Gao Kuidong；Wang Liang；Ren Weijian；Zhang Xin
    申请人:Univ Shandong Science & Tech；
    IPC主号:
    专利说明:

    -1-DEVICE AND METHOD FOR AUTOMATICALLY STRAIGHTENING BODYOF SCRAPER CONVEYOR BASED ON SPATIAL POSITION INFORMATION
    CAPTURE Field of the Invention The present invention relates to a device and a method for automatically straightening a body of a scraper conveyor based on spatial position information capture, belonging to the technical field of fully-mechanized coal mining equipment. Background of the Invention Fully-mechanized coal mining is the most important technology for current coal production. With the proposal of smart mine concepts on the premise and basis of digitization and informatization of mines, it becomes particularly important to realize autonomous perception, automatic analysis and rapid processing of equipment in the coal production process. A scraper conveyor undertakes the transportation of scattered materials such as coal and gangue, and the scraper conveyor also a rail on which a coal mining machine runs and a fulcrum of a hydraulic support. Therefore, ensuring the straightness of the scraper conveyor for the normal operation of the coal mining machine to mine coal, guaranteeing the straightness of a coal wall and the hydraulic support, and ensuring uniform stress of the hydraulic support to maximize its effect, can greatly reduce damage of side guard plates due to a curved support, and risks such as support fall and roof fall due to insufficient support force after the support is inclined, and ensure a normal coal mining operation. On the other hand, if the scraper conveyor is not straight, the operating load of the scraper conveyor will increase, and the scraper chain will not be stressed uniformly, resulting in the problems of chain breakage and the like, which then affects the safety and efficiency of coal production. At present, a scraper conveyor for a domestic coal mine is usually straightened manually according to experience, or straightened by means of a push unit of a hydraulic support after the hydraulic support is straightened. The existing method cannot collect data of the straightness of the scraper conveyor, and cannot directly straighten the body of the scraper conveyor according to the straightness of the scraper conveyor. Meanwhile, the manual operation involves heavy workload, and the problems of large body straightness error, low reliability and the like may occur due to the influence of human factors.
    -2- Chinese patent CN105000328B discloses a device and a method for automatically straightening a body of a scraper conveyor for a fully-mechanized coal mining face.
    The device includes elastic rods and a relative pose measurement device, the elastic rods are arranged between any two adjacent hydraulic supports, angle sensors are arranged between the elastic rods and the hydraulic supports, the relative pose measurement device includes elastic connectors, the elastic connectors are arranged between any two adjacent middle troughs, the elastic connectors are provided with strain sensors having a temperature compensation function, the angle sensors and the strain sensors are connected to a signal processing system via communication lines, the signal processing system communicates with an electro-hydraulic control system via a data transmission module, and the electro-hydraulic control system is connected to the hydraulic supports.
    Chinese patent document CN103114867B discloses a method and a system for automatically straightening hydraulic supports and scraper conveyors for a fully- mechanized coal mining face.
    The method includes the following steps: in the process of continuous advancement of the fully-mechanized coal mining working face, acquiring a relative position between every two hydraulic supports by a first travel sensor installed on each hydraulic support; acquiring a relative position between each hydraulic support and each scraper conveyor; based on specified hydraulic supports, straightening the hydraulic supports within a specified range according to the relative position between every two hydraulic supports, till the readings of the first travel sensors are all zero; and referring to the relative positions between specified hydraulic supports and scraper conveyors, straightening the scraper conveyors within a specified range according to the relative position between each hydraulic support and each scraper conveyor.
    Existing improvement techniques, such as Chinese patent CN105000328B and Chinese patent document CN103114867B, both employ sensors for sensing, and then straighten scraper conveyors.
    The information sensing simply depending on the sensors is easily affected by the complex fully-mechanized coal mining environment on site.
    In addition, as multiple sensors are used for information acquisition, when the data acquired by the multiple sensors is processed, the problem of data fitting is present, which increases the difficulty of data processing.
    Errors of data measured by the multiple sensors will be superimposed, which may affect the straightness of a middle trough of a scraper conveyor after straightening.
    -3- Summary of the Invention Aiming at the shortcomings of the prior art, the present invention provides a device for automatically straightening a body of a scraper conveyor based on spatial position information capture, which effectively solves the problem of large error caused by manually straightening the body of the scraper conveyor according to the experience and the observation by naked eyes. This device can directly measure relevant data of straightness of the body of the scraper conveyor, and straighten the body of the scraper conveyor based on the data, thereby achieving the purposes of autonomous perception and autonomous analysis of the scraper conveyor and quick response to the straightening of the body.
    The present invention further provides a using method of the above-mentioned device for automatically straightening a body of a scraper conveyor based on spatial position information capture.
    The technical solutions of the present invention are as follows: A device for automatically straightening a body of a scraper conveyor based on spatial position information capture, including scraper conveyor middle troughs, spatial position information acquisition devices, data transmission devices and straightening actuators, wherein: the straightening actuators are mounted at the same distance on one side of the scraper conveyor middle troughs; the spatial position information acquisition device includes feature position markers, a video acquisition device and a laser displacement sensor, two feature position markers are arranged on at least one side of an individual scraper conveyor middle trough, a set of video acquisition devices are mounted on every three scraper conveyor middle troughs, and the laser displacement sensor is mounted on the straightening actuator; the data transmission device includes a wireless data transmitting device and a wireless data receiving device, the wireless data transmitting device is connected to the video acquisition device and the laser displacement sensor, the wireless data receiving device is connected to an industrial computer, and the industrial computer is connected to the straightening actuator.
    Preferably, the feature position markers are spherical illuminants, which facilitate the video acquisition device to capture the position of a light spot. Further preferably, the feature position markers are LED lamps.
    -4- Preferably, the feature position markers are mounted at 1/4 of a top surface of a ledge steel on the scraper conveyor middle troughs from two ends by means of mounting seats.
    Further preferably, the mounting seat includes an aluminum sheet and a thin steel plate, the aluminum sheet and the thin steel plate are circular plates having the same cross section, the middle of the thin steel plate is provided with a circular groove, the middle of the circular groove is provided with a circular through hole penetrating the thin steel plate, the middle position of the aluminum sheet is provided with a circular through hole having the same size, the feature position marker is welded in the circular through hole of the aluminum sheet, a magnet is placed in the circular groove of the thin steel plate, the thin steel plate is mounted on the ledge steel via the magnet, and the mounting position can be conveniently adjusted by means of the magnet.
    Preferably, the straightening actuators are hydraulic push devices, the hydraulic push devices are connected to push lugs on the scraper conveyor middle troughs by connectors, and all laser displacement sensors are mounted at the same positions on the same horizontal plane of center lines of the hydraulic push devices and the ledge steel of the scraper conveyor.
    Preferably, the video acquisition device includes three optical cameras, wherein two optical cameras are mounted on one side of the scraper conveyor middle troughs, a straight line constituted by the two optical camera is parallel to the ledge steel, one optical camera is mounted on the other side of the scraper conveyor middle troughs, the three optical cameras enclose an isosceles right triangle, and the optical cameras are connected to the wireless data transmitting device.
    Preferably, two feature position markers are arranged on each of two sides of an individual scraper conveyor middle trough.
    The arrangement of the feature position markers on two sides can avoid the problem that straightening cannot be implemented because the spatial position information of the feature position markers cannot be acquired due to the installation angle of the video acquisition device, increase the accuracy of information acquisition, and greatly ensure the accuracy of straightening the middle troughs and the straightness of the middle troughs.
    A using method of the device for automatically straightening a body of a scraper conveyor based on spatial position information capture is as follows: (1) marking feature positions of the body of the scraper conveyor with the feature position markers to obtain accurate spatial position information thereof, wherein each
    -5- feature position marker is simultaneously captured by two optical cameras; (2) measuring distance parameters between the scraper conveyor middle troughs and the laser displacement sensors with the laser displacement sensors, and measuring the straightness of the scraper conveyor middle troughs by comparing the distance values acquired by all the laser displacement sensors; (3) transmitting the data measured by the optical cameras and the laser displacement sensors to the industrial computer by the wireless data transmitting devices and the wireless data receiving devices, and performing data processing of the spatial position information of the feature position markers and the distance parameters measured by the laser displacement sensors in the industrial computer; and (4) the industrial computer transmitting signals to the push controllers on the hydraulic push devices, solenoid valves being closed under the control of push controllers, and the hydraulic push devices moving to complete the straightening; when the information acquired by the optical cameras and the laser displacement sensors shows in the industrial computer that the front and back scraper conveyor middle troughs are located on the same straight line, and the distance values measured by the front and back laser displacement sensors are identical, the industrial computer stopping transmitting signals, the push controllers controlling the solenoid valves to be opened, the hydraulic push devices stopping operating, at this time, the front and back scraper conveyor middle troughs being on the same straight line.
    The beneficial effects of the present invention are as follows:
    1. The present invention effectively solves the problem of large error caused by manually straightening the body of the scraper conveyor according to the experience and the observation by naked eyes, can directly measure relevant data of straightness of the body of the scraper conveyor, and can straighten the body of the scraper conveyor based on the data, thereby achieving the purposes of autonomous perception and autonomous analysis of the scraper conveyor and quick response to the straightening of the body.
    2. The three optical cameras are provided to increase the accuracy of spatial position information capture, and to prevent data acquisition failure or inaccurate data acquisition due to angle blind areas of placement of the optical cameras.
    3. The feature position markers are mounted by means of mounting seats, which facilitates position adjustment.
    -6- Brief Description of the Drawings Fig. 1 is a schematic structural diagram of the present invention; Fig. 2 is a flowchart of a straightening actuator control method according to the present invention; Fig. 3 is a working flowchart of the present invention; Fig. 4 is a schematic diagram of mounting positions of feature position markers according to the present invention; Fig. 5 is a schematic diagram of information acquisition of the feature position markers according to the present invention; Fig. 61s a top view of a mounting structure of video acquisition devices according to the present invention, Fig. 7 is a schematic diagram of a mounting seat for a feature position marker according to the present invention; Fig. 8 is a schematic structural diagram of a thin steel plate according to the present invention; In the figures: 1, scraper conveyor middle trough; 2, aluminum sheet; 3, thin steel plate; 4, LED lamp; 5, laser displacement sensor; 6, wireless data transmitting device; 7, hydraulic push device; 8, push controller; 9, solenoid valve; 10, optical camera; 11, circular groove.
    Detailed Description of Embodiments The present invention will be further described below with embodiments and the accompanying drawings, but is not limited thereto.
    Embodiment 1: As shown in Fig. 1, this embodiment provides a device for automatically straightening a body of a scraper conveyor based on spatial position information capture, including scraper conveyor middle troughs 1, spatial position information acquisition devices, data transmission devices and straightening actuators, wherein: The straightening actuators are mounted at the same distance on one side of the scraper conveyor middle troughs, the straightening actuators are hydraulic push devices 7, the hydraulic push devices 7 are connected to push lugs on the scraper conveyor middle troughs by connectors, the scraper conveyor is then straightened by means of back and forth motion of the hydraulic push devices, all laser displacement sensors 5 are mounted
    -7- on the same horizontal plane of center lines of the hydraulic push devices and a ledge steel of the scraper conveyor, and the hydraulic push devices 7 are push jacks; The spatial position information acquisition device includes feature position markers, a video acquisition device and a laser displacement sensor 5, two feature position markers are arranged on one side of an individual scraper conveyor middle trough 1, the two feature position markers on one side of the scraper conveyor middle trough 1 represent one side of the scraper conveyor middle trough, a set of video acquisition devices are mounted on every three scraper conveyor middle troughs 1, and the laser displacement sensor 5 is mounted on the straightening actuator; The data transmission device includes a wireless data transmitting device 6 and a wireless data receiving device, the wireless data transmitting device is connected to the video acquisition device and the laser displacement sensor 5, the wireless data receiving device is connected to an industrial computer, and the industrial computer is connected to the straightening actuator.
    The feature position markers are LED lamps 4, the video acquisition device includes three optical cameras 10, wherein two optical cameras 10 are mounted on one side of the scraper conveyor middle troughs 1, a straight line constituted by the two optical camera 10 is parallel to the ledge steel, one optical camera 10 is mounted on the other side of the scraper conveyor middle troughs 1, the three optical cameras 10 enclose an isosceles right triangle, as shown in Fig. 6, and the optical cameras 10 are connected to the wireless data transmitting device. The three optical cameras 10 are provided to increase the accuracy of spatial position information capture, and to prevent data acquisition failure or inaccurate data acquisition due to angle blind areas of placement of the optical cameras.
    The flowchart of a straightening actuator control method is as shown in Fig. 2. The information acquired by the optical cameras 10 and the laser displacement sensors 5 is transmitted to data processing software in the industrial computer, whether the feature markers are on the same straight line and whether the distance parameters measured by the laser displacement sensors are identical are determined in the industrial computer, and when the feature markers are on the same straight line and the distance parameters are identical, the straightening actuators, that is, push mechanisms stop operating.
    The laser displacement sensors are of a HEAYI LC-SI0ON model and have the advantages of small size, high precision and the like, the optical cameras are Nokov
    -8- Mars 1.3H, the wireless data transmitting device is an E104-2G4U04A wireless data transmitting device based on a CC2540 radio-frequency chip, the push controller is a PLC of Siemens S7-200; solenoid valves are WEH type electro-hydraulic change valves, the LED lamps are WEITIAN Prolight 3030 series, and silicone lenses are used, which have a good anti-collision function and high brightness and can well reflect positions of feature position points; and the wireless data receiving device is a TIANDI KJF80-2A mining wireless signal receiver.
    A device for automatically straightening a body of a scraper conveyor based on spatial position information capture, the using method of the device is as follows: (1) Feature positions of the body of the scraper conveyor are marked with the feature position markers to obtain accurate spatial position information thereof, wherein each feature position marker is simultaneously captured by two optical cameras 10; The schematic diagram of information acquisition of the feature position markers is as shown in Fig. 5, the running direction of the scraper conveyor is shown in the arrow direction in Fig. 5, and A, B and C indicate three scraper conveyor middle troughs; when the scraper conveyor middle trough A is straightened, the optical cameras acquire position information of the feature position markers, and whether two sides of the scraper conveyor middle trough A and the scraper conveyor middle trough B are on the same straight line are automatically determined in the industrial computer; when the two sides are on the same straight line, the solenoid valves are controlled to be opened, and the straightening operation is finished; (2) The laser displacement sensors 5 measure distance parameters between the scraper conveyor middle troughs 1 and the laser displacement sensors 5, and the straightness of the scraper conveyor middle troughs 1 is measured by comparing the distance values acquired by all the laser displacement sensors; (3) The data measured by the optical cameras 10 and the laser displacement sensors 5 is transmitted to the industrial computer by the wireless data transmitting devices 6 and the wireless data receiving devices, and data processing of the spatial position information of the feature position markers and the distance parameters measured by the laser displacement sensors 5 is performed on the data processing software of the industrial computer, (4) The industrial computer transmits signals to the push controllers 8 on the hydraulic push devices 7, and the solenoid valves 9 are closed under the control of the push
    -9- controllers 8; when the data measured by the laser displacement sensors 5 is greater than a standard threshold set in the industrial computer, the hydraulic push devices 7 push the scraper conveyor middle troughs to complete the straightening; when the data measured by the laser displacement sensors 5 is smaller than the standard threshold set in the industrial computer, the hydraulic push devices 7 pull the scraper conveyor middle troughs to complete the straightening; when the information acquired by the optical cameras 10 and the laser displacement sensors 5 shows in the industrial computer that the front and back scraper conveyor middle troughs are located on the same straight line, and the distance values measured by the front and back laser displacement sensors 5 are identical, the industrial computer stops transmitting signals, the push controllers 8 control the solenoid valves 9 to be opened, the hydraulic push devices 7 stop operating, at this time, the front and back scraper conveyor middle troughs 1 are on the same straight line; and the overall workflow diagram of the device is as shown in Fig. 3. Embodiment 2: A device for automatically straightening a body of a scraper conveyor based on spatial position information capture has the structure as mentioned in Embodiment 1, and has the difference in that the feature position markers are mounted at 1/4 of the top surface of the ledge steel on the scraper conveyor middle troughs from two ends by means of mounting seats, as shown in Fig. 4.
    Embodiment 3: A device for automatically straightening a body of a scraper conveyor based on spatial position information capture has the structure as mentioned in Embodiment 2, and has the differences in that the mounting seat includes an aluminum sheet 2 and a thin steel plate 3, the structure of the mounting seat is as shown in Fig. 7, the aluminum sheet 2 and the thin steel plate 3 are fixedly connected by bolts and are circular plates having the same cross section, the middle of the thin steel plate 3 is provided with a circular groove 11, the middle of the circular groove 11 is provided with a circular through hole penetrating the thin steel plate, the structure of the thin steel plate 3 1s shown in Fig. 8, the middle position of the aluminum sheet 2 is provided with a circular through hole having the same size, the feature position marker is welded in the circular through hole of the aluminum sheet 2, a magnet is placed in the circular groove of the thin steel plate 3, the thin steel plate 3 1s mounted on the ledge steel via the magnet, and the mounting position can be conveniently adjusted by means of the magnet.
    -10-
    Embodiment 4:
    A device for automatically straightening a body of a scraper conveyor based on spatial position information capture has the structure as mentioned in Embodiment 1, and has the difference in that two feature position markers are arranged on each of two sides of an individual scraper conveyor middle trough 1. The arrangement of the feature position markers on both two sides can avoid the problem that straightening cannot be implemented because the spatial position information of the feature position markers cannot be acquired due to the installation angle of the video acquisition device, increase the accuracy of information acquisition, and greatly ensure the accuracy of straightening the middle troughs and the straightness of the middle troughs.
    权利要求:
    Claims (9)
    [1]
    S11 - Conclusions l. Device for automatically straightening a body of a scraper conveyor based on spatial position information recording, the device comprising scraper conveyor center troughs, devices for acquiring spatial position information, data broadcasting devices, and straightening actuators, wherein: the straightening actuators are at the same distance on one side of the scraper conveyor center troughs are mounted; the spatial information feature position marker acquisition apparatus comprises a video acquisition device and a laser displacement sensor, wherein two feature position markers are arranged on at least one side of an individual scraper conveyor center trough, a set of video acquisition devices are mounted on each three scraper conveyor center trough, and the laser displacement sensor is mounted on the straightening actuator; the data broadcasting device comprising a wireless data broadcasting device and a wireless data receiving device, the wireless data broadcasting device being connected to the video acquisition device and the laser displacement sensor, the wireless data receiving device being connected to an industrial computer, and the industrial computer being connected to the straightening actuator.
    [2]
    The apparatus for automatically straightening a scraper conveyor body based on spatial position information recording according to claim 1, wherein the feature position markers are spherical light sources.
    [3]
    The apparatus for automatically straightening a scraper conveyor body based on spatial position information recording according to claim 2, wherein the feature position markers are LED lamps.
    [4]
    The apparatus for automatically straightening a body of a scraper conveyor based on spatial position information recording according to claim 1, wherein the feature position markers are 1/4 from two ends of an upper surface of a steel ledge on the scraper conveyor center troughs through
    S12 - mounted by means of mounting seats.
    [5]
    The device for automatically straightening a body of a scraper conveyor based on spatial position information recording according to claim 4, wherein the mounting seat comprises an aluminum sheet and a thin steel plate, the aluminum sheet and the thin steel plate being circular plates with the same cross section, the center of the thin steel sheet is provided with a circular groove, the center of the circular groove is provided with a circular through-hole penetrating the thin steel sheet, the center position of the aluminum sheet is provided with a circular through hole of the same size, wherein the feature position marker is welded into the circular through hole of the aluminum sheet, a magnet is placed in the circular groove of the thin steel sheet, the thin steel sheet is mounted on the steel ledge via the magnet.
    [6]
    The apparatus for automatically straightening a body of a scraper conveyor based on spatial position information recording according to claim 1, wherein the straightening actuators are hydraulic pushers wherein the hydraulic pushers are connected to push connection tabs on the scraper conveyor center troughs by connectors, and all laser displacement sensors on be mounted in the same position on the same horizontal plane of central lines of the hydraulic pushers and the steel ledge of the scraper conveyor.
    [7]
    The apparatus for automatically straightening a body of a scraper conveyor based on spatial position information recording according to claim 6, wherein the video acquiring device comprises three optical cameras, two optical cameras being mounted on one side of the scraper conveyor center troughs, a straight line formed by the two optical cameras parallel to the steel ledge, with one optical camera mounted on the other side of the scraper conveyor center troughs, the three optical cameras enclosing an isosceles right triangle, and the optical cameras being connected to the wireless data - broadcasting device.
    -13 -
    [8]
    The apparatus for automatically straightening a scraper conveyor body based on spatial position information recording according to claim 1, wherein two feature position markers are arranged on each of two sides of an individual scraper conveyor center trough.
    [9]
    The method of using the apparatus for automatically straightening a scraper conveyor body based on spatial position information recording according to claim 7, wherein the method comprises: (1) marking feature positions of the scraper conveyor body with the feature position markers to obtain accurate spatial position information therefrom, each feature position marker being captured simultaneously by two optical cameras; (2) measuring distance parameters between the scraper conveyor center troughs and the laser displacement sensors with the laser displacement sensors, and measuring the straightness of the scraper conveyor center troughs by comparing the distance values obtained by all laser displacement sensors; (3) transmitting the data measured by the optical cameras and the laser displacement sensors to the industrial computer by the wireless data transmitting devices and the wireless data receiving devices, and performing data processing of the spatial position information of the feature position markers and the distance parameters which is measured by the laser displacement sensors in the industrial computer; and (4) transmitting signals from the industrial computer to the pushers on the hydraulic pushers, closing of solenoid valves under the control of pushers, and moving hydraulic pushers to complete the straightening; When the information obtained by the optical cameras and the laser displacement sensors in the industrial computer shows that the front and rear scraper conveyor center troughs are on the same straight line, and the distance values measured by the front and rear laser displacement sensors are identical, the industrial computer stopping the transmission of signals, controlling the solenoid valves to be opened by the pushers, stopping the operation of the hydraulic pushers, on
    - 14 - the moment the front and rear scraper conveyor center chutes are on the same straight line.
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    CN111674838B|2021-04-02|
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    CN103114867A|2013-02-22|2013-05-22|广州日滨科技发展有限公司|Automatic straightening method and system for hydraulic supports and scraper conveyors of fully-mechanized coal mining working faces|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CN202010430791.7A|CN111674838B|2020-05-20|2020-05-20|Automatic straightening device and method for scraper conveyor body based on spatial position information capture|
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