Control method and system for removing coal blockages

Abstract

The present invention provides a control method and system for removing coal blockages, which identify the types of debris and the hardware parameters of the transportation equipment, determine an arm operation mode suitable for the current coal blockage situation based on the preset correspondence between the parameters and the arm operation mode, then control the arm to operate according to this arm operation mode, further comprehensively judge the state of the coal blockage, drive the arm to execute different removal operations, automatically identify and execute the removal operations, timely discover the coal blockage, and improve the removal efficiency.

Description

Technical Field

[0005] , , ,

[0004]

[0001] The present invention relates to the technical field of removing coal blockages in the mining industry, and more specifically to a control method and system for removing coal blockages.

Background Art

[0002] During transportation, there is a risk that large coal, metal anchors, silica, etc. will accumulate at positions such as the coal tank and the middle groove of the transfer machine. As the accumulation increases, transportation may be hindered and coal blockages may occur. Currently, since it is removed manually or by controlling machinery, there is a problem that coal blockages cannot be detected in a timely manner and the removal efficiency is low.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The object of the present invention is to solve the problem that the method of removing coal blockages manually or by controlling machinery cannot detect coal blockages in a timely manner and has low removal efficiency.

Means for Solving the Problems

[0004] To solve the above problems, an embodiment of the present invention provides a control method for removing coal blockages. The method includes: acquiring an image of the target area of the coal blockage; identifying the type of debris based on the image, where the debris includes metal debris and lignite attachments; acquiring the hardware parameters of the transportation equipment corresponding to the target area of the coal blockage, where the hardware parameters include at least one of the wall thickness and hole diameter of the coal tank; determining the arm operation mode corresponding to the type of debris and the hardware parameters according to the preset correspondence between the type of debris, hardware parameters, and arm operation mode, where the arm operation mode includes at least one of excavation, vibration, and excavation + vibration; and controlling the operation of the arm according to the determined arm operation mode.

[0005] Optionally, the preset correspondence includes the following: if the wall thickness of the coal tank is less than the preset wall thickness, the corresponding arm operation mode is drilling + vibration or vibration; if the wall thickness of the coal tank is equal to or greater than the preset wall thickness, the corresponding arm operation mode is vibration; if the hole diameter of the coal tank is less than the preset hole diameter, the corresponding arm operation mode is drilling or drilling + vibration; if the hole diameter of the coal tank is equal to or greater than the preset hole diameter, the corresponding arm operation mode is vibration; if the metallic miscellaneous material is an anchor net, anchor rope, or iron ore, the corresponding arm operation mode is drilling + vibration or drilling; if the metallic miscellaneous material is an anchor, the corresponding arm operation mode is drilling + vibration; if the lignite appendage is silica, the corresponding arm operation mode is drilling or drilling + vibration; and if the lignite appendage is slurry, the corresponding arm operation mode is vibration or drilling + vibration.

[0006] Selectively acquiring an image of the area of ​​coal blockage and acquiring the type of foreign matter by image recognition includes the following: acquiring an image of the area of ​​coal blockage through a camera, preprocessing the image to obtain an image block of the object, comparing the image block of the object with a template image to obtain the similarity between the image block and the template image, and if the similarity satisfies the matching condition, it is determined that the type of foreign matter corresponding to the template image is the type of foreign matter contained in the image.

[0007] Optionally, obtaining the similarity between an image block of an object and a template image includes: moving the template image into the image block of the object; calculating the average value of the difference in grayscale values ​​between the pixels of the image block and the pixels at the corresponding positions in the template image; and calculating the average value of the squared difference in grayscale values ​​between the pixels of the image block and the pixels at the corresponding positions in the template image.

[0008] Optionally, the method further includes obtaining the execution frequency of each arm operation mode in a past period, and controlling the arm to execute the arm operation mode for a predetermined time based on the execution frequency.

[0009] Optionally, obtaining hardware parameters of the transport equipment corresponding to the area of ​​coal blockage includes: obtaining an image of the area of ​​coal blockage via a camera; determining hardware parameters of the transport equipment based on the image; and / or detecting the transport equipment corresponding to the area of ​​coal blockage via an ultrasonic sensor to obtain the hardware parameters of the transport equipment.

[0010] Optionally, the pre-set wall thickness is 50 mm, or the pre-set hole diameter is 0.5 mm.

[0011] Embodiments of the present invention provide a control system for removing coal blockages, the system comprising a camera, an ultrasonic sensor, an arm, a single-chip computer, and a master computer, the master computer being used to perform a control method for removing the coal blockages.

[0012] Optionally, the camera is used to collect images of the area of ​​coal blockage, and the ultrasonic sensor is used to detect the transport equipment corresponding to the area of ​​coal blockage and to obtain hardware parameters of the transport equipment.

[0013] Optionally, the single-chip computer is used to receive data collected by the camera and the ultrasonic sensor, transmit the data to the master computer, receive control commands from the master computer, and control the arm based on the control commands. [Effects of the Invention]

[0014] The control method and system for removing coal blockages provided in embodiments of the present invention identify the type of foreign matter and hardware parameters of the transport equipment, determine an arm operation mode suitable for the current coal blockage situation based on a preset correspondence between the parameters and arm operation modes, then control the arm to operate according to the arm operation mode, further comprehensively assess the state of the coal blockage, drive the arm to perform different removal operations, automatically identify and perform removal operations, detect coal blockages in a timely manner, and improve removal efficiency. [Brief explanation of the drawing]

[0015] To more clearly describe embodiments of the present invention or technical solutions of the prior art, the drawings necessary for describing the embodiments or prior art will be briefly described below. Clearly, the drawings used in the following description are merely embodiments of the present invention, and those skilled in the art can obtain other drawings based on the provided drawings without any creative effort. [Figure 1] Figure 1 is a schematic diagram illustrating the principle of a control system for removing coal blockages provided in an embodiment of the present invention. [Figure 2] Figure 2 is a flowchart of a control method for removing coal blockages provided in an embodiment of the present invention. [Figure 3] Figure 3 is a diagram illustrating the matching relationship between information fed back by a single-chip computer provided in an embodiment of the invention and the arm operation mode. [Modes for carrying out the invention]

[0016] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, specific embodiments of the present invention will be described in detail below with reference to the drawings. However, it should be understood that the specific embodiments described herein are for illustrative purposes only and do not limit the present invention.

[0017] Embodiments of the present invention utilize a vision system to identify the internal and external environments of a coal clogging area (such as a coal tank), and at the same time, assist with an ultrasonic system, collect and process information through a single-chip computer, and comprehensively determine the state of the coal tank based on the processed information (including wall thickness, the size of the hole diameter of the coal tank, metal shape, lignite appendages, etc.), and drive the arm to execute different operation modes such as excavation, vibration, and excavation + vibration based on different situations.

[0018] In the control system for removing coal clogging provided by the embodiments of the present invention, the hardware part includes a camera, an ultrasonic sensor, an arm, a single-chip computer, and a master computer.

[0019] Here, the camera is used to collect images of the target area of coal clogging, and the ultrasonic sensor is used to detect the transportation equipment corresponding to the target area of coal clogging to obtain the hardware parameters of the transportation equipment.

[0020] The single-chip computer is used to receive the data collected by the camera and ultrasonic sensor, transmit the data to the master computer, receive the control commands of the master computer, and control the arm based on the control commands.

[0021] Figure 1 is a schematic diagram of the principle of the control system for removing coal clogging provided by the embodiments of the present invention, showing a vision system, an ultrasonic system, an arm, a single-chip computer, and a master computer.

[0022] Exemplarily, the vision system consisting of a camera can identify the environmental information inside and outside the coal tank, determine the measured spatial position, and realize the identification function of the object. The ultrasonic system consisting of an ultrasonic sensor mainly assists in the identification of wall thickness, the hole diameter of the coal tank, etc. The vision system and the ultrasonic system transmit information to the master computer.

[0023] Exemplarily, the master computer is a general PC, and its main function is to connect a camera, an ultrasonic sensor and an arm, and transmit the motion mode that the arm needs to perform after identification to the single-chip computer through serial communication. The single-chip computer controls the arm to perform the specified operation. The single-chip computer can use model number series such as STM32S and C51, and send commands through the serial port to drive the motors of each part of the arm to realize the movement of each part.

[0024] The above system software development part can: 1. Utilize the upper computer program mixing c+ and MATLAB (registered trademark) to realize the visualization of the three-dimensional information of the observed physics; 2. Conduct development using the single-chip computer, mainly controlling the arm to realize the specified operation.

[0025] Data collection mainly includes the following: the wall thickness of the coal tank, the size of the clogged hole diameter, metals, lignite attachments. The wall thickness is mainly determined with the assistance of the vision system and the ultrasonic system, and its range is within 50mm, 50mm - 100mm, 100mm - 150mm, 150mm - 200mm. The size of the hole diameter is also generally determined with the assistance of the ultrasonic system, mainly within a radius of 0.5m, 0.5m - 1m, 1m - 2m. The types of metal solids are usually determined through the vision system by different boundary and color tone values, mainly including anchors, anchor nets, anchor ropes, iron ore, etc. Lignite attachments are also determined through the vision system by different boundary and color tone values, mainly including silica, slurry, etc.

[0026] After the vision system and the ultrasonic system collect information, the single-chip computer transmits it to the upper computer PC side for processing, and the processed information is fed back to the single-chip computer. The single-chip computer selects the arm motion mode based on the feedback information. The matching correspondence relationship between the type of debris obtained by information collection and the arm motion mode is preset.

[0027] Figure 2 is a flowchart of a control method for removing coal blockage provided by an embodiment of the present invention, which includes the following steps.

[0028] S202 acquires an image of the area where coal is clogged, and identifies the type of foreign matter based on the image.

[0029] Specifically, images of the area where coal is likely to be clogged are acquired in real time via a camera. This area may be a location where coal clogging is likely to occur, such as the coal tank of transport equipment like a scraper transfer machine, or the central groove of the transfer machine. The type of foreign matter can be determined by image recognition. The foreign matter may consist of metallic foreign matter and lignite appendages. The metallic foreign matter may be anchors, anchor nets, anchor ropes, or iron ore, while the lignite appendages may be silica or slurry.

[0030] S204, acquire the hardware parameters of the transport equipment corresponding to the area of ​​coal blockage.

[0031] The hardware parameters of the transport equipment can be optionally determined using a camera or an ultrasonic sensor, and these hardware parameters may include at least one of the coal tank wall thickness and the coal tank hole diameter. Specifically, an image of the area affected by coal clogging is acquired via a camera, and the hardware parameters of the transport equipment are determined based on the image, and / or the transport equipment corresponding to the area affected by coal clogging is detected via an ultrasonic sensor, and the hardware parameters of the transport equipment are obtained.

[0032] S206, based on the pre-set correspondence between the type of debris, hardware parameters, and arm removal operation mode, determines the arm operation mode corresponding to the above-mentioned type of debris and hardware parameters. The arm operation mode may include at least one of the following: excavation, vibration, or excavation + vibration.

[0033] As an example, the pre-defined correspondence is as follows:

[0034] If the wall thickness of the coal tank is less than the preset wall thickness, the corresponding arm operation mode is excavation + vibration or vibration. If the wall thickness of the coal tank is equal to or greater than the preset wall thickness, the corresponding arm operation mode is vibration. In many cases, the vibration method can be used to remove coal blockages, and if the wall thickness of the coal tank is less than the preset wall thickness, the blockage can be removed by excavation + vibration, and the preset wall thickness is set to 50 mm.

[0035] If the diameter of the coal tank hole is smaller than a preset diameter, the corresponding arm operation mode is drilling or drilling + vibration. If the diameter of the coal tank hole is equal to or larger than the preset diameter, the corresponding arm operation mode is vibration. Considering that a larger diameter of the coal tank hole makes the coal tank more susceptible to vibration and thus more effective in removing coal blockages, the vibration method can be adopted if the diameter of the coal tank hole is larger than or equal to the preset diameter. If the diameter is smaller than the preset diameter, vibration alone is not very effective, so the drilling or drilling + vibration method can be adopted. For example, the preset diameter is set to 0.5 m.

[0036] If the metallic impurities are anchor networks, anchor ropes, or iron ore, the corresponding arm operation mode is drilling + vibration or drilling. If the metallic impurities are anchors, the corresponding arm operation mode is drilling + vibration. When metallic impurities are present, the drilling method is mainly used, but the drilling + vibration method can also be used.

[0037] If the lignite appendage is silica, the corresponding arm operation mode is drilling or drilling + vibration; if the lignite appendage is slurry, the corresponding arm operation mode is vibration or drilling + vibration. Considering the different properties of silica and slurry, if silica is present, the drilling method is mainly adopted, but drilling + vibration can also be adopted; if slurry is present, the vibration method is mainly adopted, but drilling + vibration can also be adopted.

[0038] Figure 3 is a schematic diagram of the matching relationship between feedback information and arm operation modes of a single-chip computer provided in an embodiment of the present invention, showing that the clogging is divided into wall thickness, hole diameter, metal, lignite appendages, and each corresponding specific classification, and also showing that the arm operation modes are drilling, vibration, and drilling + vibration.

[0039] S208 controls the movement of the arm based on the determined arm movement mode.

[0040] After determining the above arm operation mode, the arm's movement can be controlled based on this operation mode.

[0041] The control method for removing coal blockages provided in an embodiment of the present invention identifies the type of foreign matter and the hardware parameters of the transport equipment, determines an arm operation mode suitable for the current coal blockage situation based on a preset correspondence between the parameters and the arm operation mode, then controls the arm to operate according to the arm operation mode, thereby comprehensively determining the state of the coal blockage, driving the arm to perform different operations to remove the coal blockage, automatically performing identification and removal operations, and improving the efficiency of timely detection and removal of coal blockages.

[0042] For example, in this embodiment, image recognition can be performed by similarity measurement. Therefore, it can be done in the following way.

[0043] First, an image of the area where the coal is clogged is acquired through a camera, and the image is preprocessed to obtain an image block of the object. The preprocessing process includes noise correction, removal of irrelevant information, and removal of interference points, and then the geometric edges of the object are obtained by edge detection.

[0044] Next, the image block of the target object is compared with a template image, and the similarity between the image block and the template image is obtained. If the sizes of the image block and the template image do not match, the template image is slid within the image block by a predetermined step length by sliding the window until the entire range of the image block is covered. Optionally, the following steps may be included.

[0045] (1) Move the template image into the image block of the target object.

[0046] (2) The average value of the difference in grayscale values ​​between the pixels of the image block and the corresponding pixels in the template image, and the average value of the square of the difference in grayscale values ​​between the pixels of the image block and the corresponding pixels in the template image are calculated. If the above average values ​​satisfy the pre-set similarity conditions, the image block is determined to be a match with the template image.

[0047] Then, if the similarity satisfies the matching conditions, it is determined that the type of miscellaneous object corresponding to the template image is the type of miscellaneous object contained in the above image.

[0048] The image recognition described above will be explained in detail below.

[0049] 1. Image preprocessing.

[0050] The image captured by the camera is calibrated, and the camera's initial parameter matrix is ​​obtained. Since noise is generated by the camera itself or during shooting, it is necessary to correct it and remove irrelevant information. First, the contrast between the subject and the image background is enhanced by changing the tonal values, then interference points are removed using a filtering algorithm, and finally, the geometric edges of the subject are extracted using an edge detection algorithm.

[0051] (2) Algorithm identification

[0052] After preprocessing the image, divided image blocks are obtained, each block having different features such as boundaries, central pixel values, and color information. By extracting features from different blocks and calculating the similarity between the template and the image, the similarity S when the template image is horizontally moved within the identification region and moved to a specific position is as follows, and is used to characterize the degree of difference.

[0053]

number

[0054] Here, T is the discrimination region, t(a,b) is the template image, and f(r+a,c+b) is the grayscale value moved to the template region. The absolute sum S' and square sum S'' of the difference in grayscale values ​​between the template and the image are as follows.

[0055]

number

[0056]

number

[0057] Here, n is the number of pixels in the discrimination region. When the light rays change linearly, a similar change in grayscale occurs, and in order to prevent the effects of linear changes in light irradiation, a normalized relational function form is adopted.

[0058]

number

[0059] Here, JPEG0007877497000005.jpg10143 is the average value and variance of the tonal values ​​of all pixel points in the template. JPEG0007877497000006.jpg11144 is the mean and variance of the tonal values ​​of all pixel points in the image as it moves to its current position.

[0060] The algorithm described above can identify various metals and lignite aggregates.

[0061] Considering the timeliness of the coal blockage removal process, it can be performed automatically at regular intervals. For example, the automatic execution frequency can be determined based on the execution frequency of each operating mode within a past period. Specifically, this can be done by obtaining the execution frequency of each arm operating mode within a past period, and then controlling the arm based on the execution frequency to execute the arm operating mode at predetermined intervals.

[0062] Embodiments of the present invention utilize a visual system to identify the internal and external environment of a coal tank, simultaneously assisted by an ultrasonic system. Information is collected and processed through a single-chip computer. Based on the information processed, including wall thickness, hole diameter, metal shape, and lignite attachments, the state of the coal tank is comprehensively determined. Based on the different conditions, the arm is driven to perform different operating modes such as drilling, vibration, and drilling + vibration.

[0063] Embodiments of the present invention further provide a control system for removing coal blockages, the system comprising a camera, an ultrasonic sensor, an arm, a single-chip computer, and a master computer, the master computer being used to perform a control method for removing the coal blockages.

[0064] Optionally, cameras are used to collect images of the area of ​​coal blockage, and ultrasonic sensors are used to detect the transport equipment corresponding to the area of ​​coal blockage and to obtain hardware parameters of the transport equipment.

[0065] Optionally, a single-chip computer is used to receive data collected by cameras and ultrasonic sensors, transmit the data to a master computer, receive control commands from the master computer, and control the arm based on those commands.

[0066] Those skilled in the art will understand that the process for implementing all or part of the methods of the above embodiments can be carried out by sending commands to a control device via a computer program. The program can be stored on a computer-readable storage medium, and when executed, the program may include the processes of each of the above embodiments, and the storage medium may be memory, magnetic disk, optical disk, etc.

[0067] In this specification, relational terms such as "first" and "second," etc., are used solely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that such an actual relationship or order exists between these entities or operations. Furthermore, the terms "include," "incorporate," or any other variants are intended to cover non-exclusive inclusions in which a process, method, article, or apparatus containing a set of elements includes not only those elements but also other elements not expressly described, or elements specific to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "one...includes" does not preclude the presence of another identical element in a process, method, article, or device containing that element.

[0068] Based on the above description of the disclosed embodiments, those skilled in the art can implement or use the present invention. Various modifications of these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Accordingly, the present invention is not limited to the embodiments shown herein and should be adapted to the broadest scope that is consistent with the principles and novel features disclosed herein.

Claims

1. A control method for removing coal blockages, the method comprising the following: An image of the area where coal is clogged is acquired, and the type of foreign matter is identified based on the image. The aforementioned miscellaneous matter is metallic miscellaneous matter or lignite appendages. The hardware parameters of the transport equipment corresponding to the area of ​​coal blockage are obtained. The aforementioned hardware parameters include at least one of the coal tank wall thickness and the coal tank hole diameter. The type of object, hardware parameters, and arm operation mode are determined according to a preset correspondence between the type of object and the hardware parameters. The arm operation modes include at least one of drilling, vibration, and drilling + vibration. The movement of the arm is controlled according to the determined arm movement mode. The aforementioned pre-set correspondence is If the diameter of the hole in the coal tank is smaller than a preset diameter, the corresponding arm operation mode is drilling or drilling + vibration. If the diameter of the hole in the coal tank is equal to or greater than a preset hole diameter, the corresponding arm operation mode is vibration. If the aforementioned metallic material is an anchor network, anchor rope, or iron ore, the corresponding arm operating mode is drilling + vibration or drilling. If the aforementioned metal object is an anchor, the corresponding arm operation mode is excavation + vibration, If the aforementioned lignite appendage is silica, the corresponding arm operating mode is drilling or drilling + vibration. A control method for removing coal blockages, wherein, if the lignite appendage is a slurry, the corresponding arm operating mode is either vibration or drilling + vibration.

2. The above method further includes the following: Obtain the execution frequency of each arm operation mode over the past period. A control method for removing coal blockage according to claim 1, comprising controlling the arm based on the execution frequency to execute the arm operation mode for a predetermined time.

3. Obtaining the hardware parameters of the transport equipment corresponding to the area of ​​coal blockage includes the following: Images of the area of ​​coal blockage are acquired via a camera, and the hardware parameters of the transport equipment are determined based on the images, and / or A control method for removing coal blockage according to claim 1, comprising detecting transport equipment corresponding to the area of ​​coal blockage via an ultrasonic sensor and obtaining hardware parameters of the transport equipment.

4. The aforementioned pre-set wall thickness is 50 mm, or The control method for removing coal blockage according to claim 1, wherein the predetermined hole diameter is 0.5 m.

5. The pre-set correspondence is If the wall thickness of the coal tank is less than a preset wall thickness, the corresponding arm operation mode is excavation + vibration or vibration. If the wall thickness of the coal tank is equal to or greater than the preset wall thickness, the corresponding arm operating mode is vibration, further comprising: A control method for removing coal blockages as described in claim 1.

6. A control system for removing coal blockages, The system includes a camera, an ultrasonic sensor, an arm, a single-chip computer, and a master computer. The control system for removing coal blockages, wherein the master computer is used to perform the control method for removing coal blockages according to any one of claims 1 to 5.

7. The aforementioned camera is used to collect images of the target area of ​​coal blockage. The control system for removing coal blockages according to claim 6, wherein the ultrasonic sensor is used to detect transport equipment corresponding to the area of ​​coal blockage and to obtain hardware parameters of the transport equipment.

8. The single-chip computer receives the data collected by the camera and the ultrasonic sensor. The data is transmitted to the master computer, Upon receiving a control command from the master computer, A control system for removing a coal blockage according to claim 6, used to control the arm based on the control command.

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