Laser coal conveyor belt deviation monitoring method, device, equipment and storage medium

Abstract

The present invention belongs to the technical field of coal mines, and discloses a laser coal conveyor belt deviation monitoring method, device, equipment and storage medium. The method comprises: obtaining the initial position information of the monitoring point on the coal conveyor belt to be monitored; when the coal conveyor belt to be monitored is running, measuring the monitoring point by a laser tracker to obtain the measurement position information; determining the belt deviation information of the coal conveyor belt to be monitored according to the initial position information and the measurement position information; and performing deviation monitoring on the coal conveyor belt to be monitored according to the belt deviation information. Through the above-mentioned method, the measurement position information of the monitoring point on the coal conveyor belt is measured in real time by a laser tracker, and then the belt deviation information of the coal conveyor belt to be monitored is obtained according to the measurement position information and the initial position information of the monitoring point, and the deviation monitoring of the coal conveyor belt is performed with the monitoring belt, thereby realizing automatic real-time monitoring of the deviation of the coal conveyor belt.

Description

Technical Field

[0001] The present invention relates to the field of coal mine technology, and in particular to a laser coal conveyor belt deviation monitoring method, device, equipment and storage medium. Background Art

[0002] After collecting coal resources, the current coal mining industry and coal utilization industry use belt transportation methods on a large scale to transport coal. Belt coal conveyors are the main means of transporting materials. Long-term work will cause wear and tear on the machines and loosening of some parts, which may cause the coal conveyor belt to deviate. If the deviation of the coal conveyor belt is not discovered in time, the danger level of on-site workers will be greatly increased. If safety problems arise, the entire work system will be paralyzed. However, at present, the observation of the deviation of the coal conveyor belt can only be checked on time by the staff. It cannot be monitored in real time and is inefficient.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a laser coal conveyor belt deviation monitoring method, device, equipment and storage medium, aiming to solve the technical problem that the existing technology of coal conveyor belt deviation cannot realize automatic monitoring.

[0005] To achieve the above object, the present invention provides a method for monitoring the deviation of a laser coal conveyor belt, the method comprising the following steps:

[0006] Obtaining initial position information of monitoring points on the coal conveyor belt to be monitored;

[0007] When the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain measurement position information;

[0008] Determine the belt deviation information of the coal conveyor belt to be monitored according to the initial position information and the measured position information;

[0009] The coal conveyor belt to be monitored is monitored for deviation according to the belt deviation information.

[0010] Optionally, the obtaining of initial position information of a monitoring point on the coal conveyor belt to be monitored includes:

[0011] Obtaining spatial location information of monitoring points on the coal conveyor belt to be monitored;

[0012] Establishing an observation coordinate system corresponding to the coal conveyor belt to be monitored;

[0013] Substitute the spatial position information into the observation coordinate system to obtain the initial position information of the monitoring point.

[0014] Optionally, when the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain measurement position information, including:

[0015] When the coal conveyor belt to be monitored is running, the monitoring point is monitored in real time by a laser tracker to obtain the motion trajectory information of the monitoring point;

[0016] Obtaining motion curve information of the monitoring point according to the motion trajectory information and the observation coordinate system;

[0017] The measurement position information of the monitoring point is obtained according to the motion curve information.

[0018] Optionally, determining the belt deviation information of the coal conveyor belt to be monitored according to the initial position information and the measured position information includes:

[0019] Obtaining reference position information corresponding to the monitoring point at a preset time according to the measured position information;

[0020] Determine the standard position information of the coal conveyor belt to be monitored according to the reference point position information and the initial position information;

[0021] The belt deviation information of the coal conveyor belt to be monitored is determined according to the reference position information, the standard position information and the initial position information.

[0022] Optionally, determining the standard position information of the coal conveyor belt to be monitored according to the reference point position information and the initial position information includes:

[0023] Obtaining the running speed of the coal conveyor belt to be monitored;

[0024] Determine the running time corresponding to when the reference position information is selected according to the running speed, the initial position information and the reference position information;

[0025] The preset standard operation curve of the coal conveyor belt to be monitored is queried according to the operation time to obtain standard position information.

[0026] Optionally, determining the belt deviation information of the coal conveyor belt to be monitored according to the reference position information, the standard position information and the initial position information includes:

[0027] Determine the measured running route of the coal conveyor belt to be monitored according to the reference position information and the initial position information;

[0028] Determine a standard running route of the coal conveyor belt to be monitored according to the standard position information and the initial position information;

[0029] Determine the belt offset angle of the coal conveyor belt to be monitored according to the measured running route and the standard running route;

[0030] The belt offset information of the coal conveyor belt to be monitored is determined according to the belt offset angle.

[0031] Optionally, the performing deviation monitoring on the coal conveyor belt to be monitored according to the belt deviation information includes:

[0032] Get preset safety offset information;

[0033] Determining a preset safety angle range according to the preset safety offset information;

[0034] When the belt offset angle in the belt offset information is not within the preset safety angle range, it is determined that the coal conveyor belt to be monitored is in an offset state, and an early warning message is generated and sent to the user.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a laser coal conveyor belt deviation monitoring device, the laser coal conveyor belt deviation monitoring device comprising:

[0036] An acquisition module is used to acquire the initial position information of the monitoring point on the coal conveyor belt to be monitored;

[0037] A measuring module, used for measuring the monitoring point by a laser tracker when the coal conveyor belt to be monitored is running, so as to obtain measurement position information;

[0038] An analysis module, used to determine the belt deviation information of the coal conveyor belt to be monitored according to the initial position information and the measured position information;

[0039] A monitoring module is used to monitor the deviation of the coal conveying belt to be monitored according to the belt deviation information.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a laser coal conveyor belt offset monitoring device, which includes: a memory, a processor, and a laser coal conveyor belt offset monitoring program stored in the memory and executable on the processor, and the laser coal conveyor belt offset monitoring program is configured to implement the steps of the laser coal conveyor belt offset monitoring method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a laser coal conveyor belt offset monitoring program is stored. When the laser coal conveyor belt offset monitoring program is executed by a processor, the steps of the laser coal conveyor belt offset monitoring method described above are implemented.

[0042] The present invention obtains the initial position information of the monitoring point on the coal conveyor belt to be monitored; when the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain the measurement position information; the belt offset information of the coal conveyor belt to be monitored is determined according to the initial position information and the measurement position information; and the offset of the coal conveyor belt to be monitored is monitored according to the belt offset information. In this way, the measurement position information of the monitoring point on the coal conveyor belt is measured in real time by a laser tracker, and then the belt offset information of the coal conveyor belt to be monitored is obtained according to the measurement position information and the initial position information of the monitoring point to monitor the offset of the coal conveyor belt, thereby realizing automatic real-time monitoring of the offset of the coal conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of a laser coal conveyor belt deviation monitoring device in a hardware operating environment involved in an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of the flow chart of the first embodiment of the laser coal conveyor belt deviation monitoring method of the present invention;

[0045] Figure 3 It is a schematic diagram of the flow chart of the second embodiment of the laser coal conveyor belt deviation monitoring method of the present invention;

[0046] Figure 4 This is a structural block diagram of the first embodiment of the laser coal conveyor belt deviation monitoring device of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a laser coal conveyor belt deviation monitoring device in the hardware operating environment involved in the embodiment of the present invention.

[0050] like Figure 1As shown, the laser coal conveyor belt deviation monitoring device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the laser coal conveyor belt deviation monitoring device, and may include more or less components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0052] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a laser coal conveyor belt deviation monitoring program.

[0053] exist Figure 1 In the laser coal conveyor belt deviation monitoring device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the laser coal conveyor belt deviation monitoring device of the present invention can be set in the laser coal conveyor belt deviation monitoring device, and the laser coal conveyor belt deviation monitoring device calls the laser coal conveyor belt deviation monitoring program stored in the memory 1005 through the processor 1001, and executes the laser coal conveyor belt deviation monitoring method provided by the embodiment of the present invention.

[0054] The embodiment of the present invention provides a method for monitoring the deviation of a laser coal conveyor belt. Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a method for monitoring deviation of a laser coal conveyor belt according to the present invention.

[0055] In this embodiment, the laser coal conveyor belt deviation monitoring method includes the following steps:

[0056] Step S10: Obtaining initial position information of the monitoring point on the coal conveyor belt to be monitored.

[0057] It should be noted that the executor of this embodiment is a controller, which is mainly a controller for controlling the laser coal conveyor belt deviation monitoring method. It can be any device that can achieve this function, and this embodiment does not limit this.

[0058] It should be understood that in the existing production environment, most of the material transportation work in the coal mining industry is carried out by belt conveyors. The coal conveyor belts of belt conveyors will deviate after long-term use. In order to prevent the deviation of the coal conveyor belts from causing safety accidents, special staff will be arranged to conduct regular inspections and maintenance. However, manual maintenance work cannot achieve real-time monitoring and is not efficient, so that safety hazards always exist at the production site. This embodiment uses a mechanical tracker to perform real-time monitoring of the deviation of the coal conveyor belt, which can achieve efficient real-time monitoring of the deviation of the coal conveyor belt.

[0059] In a specific implementation, the coal conveyor belt to be monitored can be a coal conveyor belt on any type of belt conveyor, and can be set by the user, and this embodiment does not impose any limitation on this.

[0060] It should be noted that the monitoring point is an arbitrarily selected point on the coal conveyor belt to be monitored, and a laser tracker is used to measure the movement of the monitoring point to monitor the deviation of the coal conveyor belt.

[0061] It should be understood that the initial position information refers to the position information of the pre-recorded monitoring point on the coal conveyor belt to be detected, which may be the position of the monitoring point at a certain moment pre-set by the user or administrator, and this embodiment does not impose any limitation on this.

[0062] Furthermore, in order to accurately obtain the initial position information of the monitoring point, step S10 includes: obtaining the spatial position information of the monitoring point on the coal conveyor belt to be monitored; establishing an observation coordinate system corresponding to the coal conveyor belt to be monitored; substituting the spatial position information into the observation coordinate system to obtain the initial position information of the monitoring point.

[0063] In a specific implementation, the spatial position information refers to the three-dimensional position information of the monitoring point on the coal conveyor belt to be monitored. The spatial position information can be obtained using laser positioning, or by other devices and means that can achieve this function, which is not limited in this embodiment.

[0064] It should be noted that the observation coordinate system refers to a spatial rectangular coordinate system established corresponding to the coal conveyor belt to be monitored, and is used to calibrate and represent the positions of monitoring points on the coal conveyor belt to be monitored.

[0065] It should be understood that the observation coordinate system can take any point on the coal conveyor belt to be monitored as the coordinate origin, and any two mutually perpendicular directions on the plane of the coal conveyor belt to be monitored as the coordinate axis x and the coordinate axis y, and the coordinate axis z is the direction perpendicular to the coal conveyor belt to be monitored. The specific directions of the coordinate axis x and the coordinate axis y are not limited in this embodiment.

[0066] In a specific implementation, substituting the spatial position information into the observation coordinate system to obtain the initial position information of the monitoring point means representing the spatial position of the monitoring point using coordinate information in the observation coordinate system based on the spatial position information of the monitoring point and the established observation coordinate system, which is the initial position information of the monitoring point.

[0067] In this way, the initial position information of the monitoring point is represented and recorded by establishing an observation coordinate system, which makes the initial position information more accurate and intuitive.

[0068] Step S20: When the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain measurement position information.

[0069] It should be noted that a laser tracker refers to an instrument that can track a moving target in space and measure the target's three-dimensional coordinates in real time.

[0070] It should be understood that the measured position information refers to the spatial position information of the monitoring point that changes with time when the coal conveyor belt to be monitored is in continuous motion.

[0071] In a specific implementation, when the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker, and the measurement position information obtained means: when the coal conveyor belt to be monitored starts to work, the monitoring point is located by a laser tracker and real-time measurement is performed to obtain the position information of the monitoring point that changes with time, which is the measurement position information.

[0072] Furthermore, in order to be able to record the measurement position information of the monitoring point in real time, step S20 includes: when the coal conveyor belt to be monitored is running, the monitoring point is monitored in real time by a laser tracker to obtain the motion trajectory information of the monitoring point; based on the motion trajectory information and the observation coordinate system, the motion curve information of the monitoring point is obtained; based on the motion curve information, the measurement position information of the monitoring point is obtained.

[0073] It should be noted that the motion trajectory information refers to the relevant information of the trajectory of changes in the spatial position of the monitoring point when the monitored coal conveyor belt moves with the operation of the monitored coal conveyor belt.

[0074] It should be understood that obtaining the motion curve information of the monitoring point based on the motion trajectory information and the observation coordinate system means: substituting the motion trajectory in the motion trajectory information into the observation coordinate system to obtain the motion curve of the monitoring point changing with time, which is the motion curve information.

[0075] In a specific implementation, obtaining the measurement position information of the monitoring point according to the motion curve information means that the position coordinates of the monitoring point at different times are correspondingly stored and recorded according to the motion curve information, and the measurement position information is finally obtained.

[0076] In this way, the motion trajectory information of the recorded monitoring points is substituted into the observation coordinate system to obtain the measurement position information of the monitoring points, so that the coordinate positions of the monitoring points at different times can be accurately stored and recorded, making the offset monitoring of the coal conveyor belt more accurate.

[0077] Step S30: determining the belt deviation information of the coal conveyor belt to be monitored according to the initial position information and the measured position information.

[0078] It should be noted that the belt offset information refers to relevant information about the offset status of the coal conveyor belt to be monitored, and may include information such as the belt offset angle and offset time of the coal conveyor belt to be monitored, which is not limited in this embodiment.

[0079] It should be understood that determining the belt offset information of the coal conveyor belt to be monitored based on the initial position information and the measured position information means selecting the position of the monitoring point at a certain moment based on the measured position information, and then obtaining the standard position information corresponding to the coal conveyor belt to be monitored in the non-offset state, and finally obtaining the belt offset information.

[0080] Step S40: performing deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.

[0081] In a specific implementation, the coal conveyor belt to be monitored is offset according to the belt offset information. Monitoring refers to real-time monitoring and determining whether the coal conveyor belt to be monitored is offset according to the belt offset information, and generating an early warning message to the user when an offset occurs.

[0082] This embodiment obtains the initial position information of the monitoring point on the coal conveyor belt to be monitored; when the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain the measurement position information; the belt offset information of the coal conveyor belt to be monitored is determined according to the initial position information and the measurement position information; and the offset monitoring of the coal conveyor belt to be monitored is performed according to the belt offset information. In this way, the measurement position information of the monitoring point on the coal conveyor belt is measured in real time by a laser tracker, and then the belt offset information of the coal conveyor belt to be monitored is obtained according to the measurement position information and the initial position information of the monitoring point, and the offset monitoring of the coal conveyor belt is performed with the monitoring belt, thereby realizing automatic real-time monitoring of the offset of the coal conveyor belt.

[0083] refer to Figure 3 , Figure 3 It is a flow chart of a second embodiment of a method for monitoring deviation of a laser coal conveyor belt according to the present invention.

[0084] Based on the first embodiment described above, the laser coal conveyor belt deviation monitoring method of this embodiment includes in step S30:

[0085] Step S301: obtaining reference position information corresponding to the monitoring point at a preset time according to the measured position information.

[0086] It should be noted that the preset time may be any time point preset by a user or an administrator, and the specific time point of the preset time is not limited in this embodiment.

[0087] It should be understood that the reference position information refers to the coordinate position information of the monitoring point at a preset time extracted from the measured position information.

[0088] Step S302: Determine the standard position information of the coal conveyor belt to be monitored according to the reference point position information and the initial position information.

[0089] In a specific implementation, determining the standard position information of the coal conveyor belt to be monitored based on the reference point position information and the initial position information means: querying the corresponding standard position on the standard operating curve of the coal conveyor belt to be monitored based on the operating speed and operating time of the coal conveyor belt to be monitored, which is the standard position information.

[0090] Furthermore, in order to accurately determine the standard position information, step S302 includes: obtaining the running speed of the coal conveyor belt to be monitored; determining the running time corresponding to the selection of the reference position information based on the running speed, the initial position information and the reference position information; and querying the preset standard running curve of the coal conveyor belt to be monitored based on the running time to obtain the standard position information.

[0091] It should be noted that the running speed of the coal conveyor belt to be monitored refers to the moving speed of the belt when the coal conveyor belt to be monitored operates normally.

[0092] It should be understood that determining the corresponding running time when selecting the reference position information based on the running speed, the initial position information and the reference position information means determining the moving distance of the monitoring point when reaching the position of the reference position information based on the initial position information and the reference position information, and then obtaining the corresponding running time based on the moving distance and the running speed.

[0093] In a specific implementation, the standard operation curve refers to a pre-stored and set motion curve of the monitoring point of the coal conveyor belt to be monitored changing with time when no deviation occurs.

[0094] It should be noted that, by querying the preset standard operating curve of the coal conveyor belt to be monitored according to the operating time, obtaining the standard position information means that the coordinate position of the end point finally reached by the monitoring point on the standard operating curve moving from the coordinate position of the initial position information according to the operating speed is queried according to the operating time and recorded as the standard position information.

[0095] In this way, the standard position information is calculated based on the running speed and running time of the coal conveyor belt to be monitored, so that the calculation of subsequent belt deviation information is more accurate.

[0096] Step S303: determining the belt offset information of the coal conveyor belt to be monitored according to the reference position information, the standard position information and the initial position information.

[0097] It should be noted that determining the belt offset information of the coal conveyor belt to be monitored based on the reference position information, the standard position information and the initial position information means first determining the actual running route of the coal conveyor belt to be monitored based on the reference position information and the initial position information, then comparing it with the standard running route to obtain the belt offset angle, and finally obtaining the belt offset information based on the belt offset angle.

[0098] Furthermore, in order to accurately calculate the belt offset angle, step S303 includes: determining the measured operating route of the coal conveyor belt to be monitored based on the reference position information and the initial position information; determining the standard operating route of the coal conveyor belt to be monitored based on the standard position information and the initial position information; determining the belt offset angle of the coal conveyor belt to be monitored based on the measured operating route and the standard operating route; determining the belt offset information of the coal conveyor belt to be monitored based on the belt offset angle.

[0099] It should be understood that determining the measured running route of the coal conveyor belt to be monitored based on the reference position information and the initial position information means: taking the straight line connecting the coordinate points of the reference position information and the coordinate points of the initial position information as the measured running route.

[0100] In a specific implementation, determining the standard operating route of the coal conveyor belt to be monitored based on the standard position information and the initial position information means: taking the straight line connecting the coordinate points of the standard position information and the coordinate points of the initial position information as the standard operating route.

[0101] It should be understood that determining the belt offset angle of the coal conveyor belt to be monitored based on the measured operating route and the standard operating route means that the measured operating route and the standard operating route will intersect at the coordinate point of the initial position information, so the angle of the coordinate point of the initial position information is used as the belt offset angle.

[0102] In a specific implementation, determining the belt offset information of the coal conveyor belt to be monitored according to the belt offset angle means: generating the belt offset information according to the belt offset angle, and simultaneously using the time when the belt offset angle is obtained and the number of the coal conveyor belt to be monitored as the belt offset information.

[0103] In this way, the belt offset angle can be accurately calculated, making the offset monitoring of the coal conveyor belt to be monitored more accurate and reducing the possibility of misjudgment of the offset.

[0104] Furthermore, in order to be able to warn the user when the coal conveyor belt to be monitored is in an offset state, the step of monitoring the offset of the coal conveyor belt to be monitored based on the belt offset information includes: obtaining preset safety offset information; determining a preset safety angle range based on the preset safety offset information; when the belt offset angle in the belt offset information is not within the preset safety angle range, determining that the coal conveyor belt to be monitored is in an offset state, and generating a warning message and sending it to the user.

[0105] It should be noted that the preset safety offset information refers to the pre-stored safety setting related information about the offset of the coal conveyor belt to be monitored, which may include a preset safety angle range, the duration of a safety accident that will occur after the coal conveyor belt to be monitored is offset, and other information, or other safety-related information about the offset of the coal conveyor belt to be monitored. This embodiment does not limit this.

[0106] It should be understood that the preset safety angle range refers to the belt deviation angle range within which no warning is required when the monitored coal conveyor belt deviates and which is preset by the user and extracted from the preset safety deviation information.

[0107] In a specific implementation, when the belt offset angle in the belt offset information is not within the preset safety angle range, the coal conveyor belt to be monitored is determined to be in an offset state, and an early warning message is generated and sent to the user, which means that the belt offset angle is compared with the preset safety angle range. When the belt offset angle exceeds the preset safety angle range, the coal conveyor belt to be monitored is determined to be in an offset state, and an early warning message is automatically generated and sent to the user.

[0108] It should be noted that when the belt offset angle is within the preset safety angle range, it is determined that the coal conveyor belt to be monitored is not in an offset state, and no warning information will be generated and the working state of the coal conveyor belt to be monitored will be continuously monitored.

[0109] In this way, it is possible to promptly warn the user when it is determined that the belt deviation angle of the coal conveyor belt to be monitored does not meet the preset safety range, thereby reducing the possibility of safety accidents.

[0110] This embodiment obtains the reference position information corresponding to the monitoring point at a preset time according to the measured position information; determines the standard position information of the coal conveyor belt to be monitored according to the reference point position information and the initial position information; and determines the belt offset information of the coal conveyor belt to be monitored according to the reference position information, the standard position information and the initial position information. In this way, the belt offset information of the coal conveyor belt to be monitored can be obtained by selecting the reference position information and the standard position information corresponding to the reference position information during the movement of the monitoring point, so that the offset state of the coal conveyor belt to be monitored can be fully automatically monitored without manual processing, making the offset monitoring of the coal conveyor belt to be monitored more efficient.

[0111] In addition, an embodiment of the present invention further proposes a storage medium, on which a laser coal conveyor belt deviation monitoring program is stored. When the laser coal conveyor belt deviation monitoring program is executed by a processor, the steps of the laser coal conveyor belt deviation monitoring method described above are implemented.

[0112] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0113] Reference Figure 4 , Figure 4 This is a structural block diagram of the first embodiment of the laser coal conveyor belt deviation monitoring device of the present invention.

[0114] like Figure 4 As shown, the laser coal conveyor belt deviation monitoring device proposed in the embodiment of the present invention includes:

[0115] The acquisition module 10 is used to acquire the initial position information of the monitoring point on the coal conveyor belt to be monitored.

[0116] The measuring module 20 is used to measure the monitoring point by means of a laser tracker when the coal conveyor belt to be monitored is running, so as to obtain the measurement position information.

[0117] The analysis module 30 is used to determine the belt deviation information of the coal conveyor belt to be monitored according to the initial position information and the measured position information.

[0118] The monitoring module 40 is used to monitor the deviation of the coal conveying belt to be monitored according to the belt deviation information.

[0119] This embodiment obtains the initial position information of the monitoring point on the coal conveyor belt to be monitored; when the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain the measurement position information; the belt offset information of the coal conveyor belt to be monitored is determined according to the initial position information and the measurement position information; and the offset monitoring of the coal conveyor belt to be monitored is performed according to the belt offset information. In this way, the measurement position information of the monitoring point on the coal conveyor belt is measured in real time by a laser tracker, and then the belt offset information of the coal conveyor belt to be monitored is obtained according to the measurement position information and the initial position information of the monitoring point, and the offset monitoring of the coal conveyor belt is performed with the monitoring belt, thereby realizing automatic real-time monitoring of the offset of the coal conveyor belt.

[0120] In one embodiment, the acquisition module 10 is also used to obtain the spatial position information of the monitoring point on the coal conveyor belt to be monitored; establish an observation coordinate system corresponding to the coal conveyor belt to be monitored; substitute the spatial position information into the observation coordinate system to obtain the initial position information of the monitoring point.

[0121] In one embodiment, the measurement module 20 is also used to monitor the monitoring point in real time through a laser tracker when the coal conveyor belt to be monitored is running, so as to obtain the motion trajectory information of the monitoring point; obtain the motion curve information of the monitoring point according to the motion trajectory information and the observation coordinate system; and obtain the measurement position information of the monitoring point according to the motion curve information.

[0122] In one embodiment, the analysis module 30 is also used to obtain the reference position information corresponding to the monitoring point at a preset time based on the measured position information; determine the standard position information of the coal conveyor belt to be monitored based on the reference point position information and the initial position information; determine the belt offset information of the coal conveyor belt to be monitored based on the reference position information, the standard position information and the initial position information.

[0123] In one embodiment, the analysis module 30 is also used to obtain the running speed of the coal conveyor belt to be monitored; determine the running time corresponding to the selection of the reference position information according to the running speed, the initial position information and the reference position information; and query the preset standard running curve of the coal conveyor belt to be monitored according to the running time to obtain the standard position information.

[0124] In one embodiment, the analysis module 30 is also used to determine the measured running route of the coal conveyor belt to be monitored based on the reference position information and the initial position information; determine the standard running route of the coal conveyor belt to be monitored based on the standard position information and the initial position information; determine the belt offset angle of the coal conveyor belt to be monitored based on the measured running route and the standard running route; and determine the belt offset information of the coal conveyor belt to be monitored based on the belt offset angle.

[0125] In one embodiment, the monitoring module 40 is also used to obtain preset safety offset information; determine a preset safety angle range based on the preset safety offset information; when the belt offset angle in the belt offset information is not within the preset safety angle range, it is determined that the coal conveyor belt to be monitored is in an offset state, and an early warning message is generated and sent to the user.

[0126] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0127] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0128] In addition, for technical details not fully described in this embodiment, reference can be made to the laser coal conveyor belt deviation monitoring method provided in any embodiment of the present invention, and will not be repeated here.

[0129] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0130] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0132] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for monitoring the deviation of a laser coal conveyor belt, characterized in that: The laser coal conveyor belt deviation monitoring method comprises: Obtaining initial position information of monitoring points on the coal conveyor belt to be monitored; When the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain measurement position information; Obtaining reference position information corresponding to the monitoring point at a preset time according to the measured position information; Obtaining the running speed of the coal conveyor belt to be monitored; Determine the running time corresponding to when the reference position information is selected according to the running speed, the initial position information and the reference position information; According to the running time, a preset standard running curve of the coal conveyor belt to be monitored is queried to obtain standard position information; Determine the measured running route of the coal conveyor belt to be monitored according to the reference position information and the initial position information; Determine a standard running route of the coal conveyor belt to be monitored according to the standard position information and the initial position information; Determine the belt offset angle of the coal conveyor belt to be monitored according to the measured running route and the standard running route; Determining the belt deviation information of the coal conveying belt to be monitored according to the belt deviation angle; The coal conveyor belt to be monitored is monitored for deviation according to the belt deviation information.

2. The method according to claim 1, characterized in that The step of obtaining the initial position information of the monitoring point on the coal conveyor belt to be monitored includes: Obtaining spatial location information of monitoring points on the coal conveyor belt to be monitored; Establishing an observation coordinate system corresponding to the coal conveyor belt to be monitored; Substitute the spatial position information into the observation coordinate system to obtain the initial position information of the monitoring point.

3. The method according to claim 2, characterized in that When the coal conveyor belt to be monitored is running, the monitoring point is measured by a laser tracker to obtain measurement position information, including: When the coal conveyor belt to be monitored is running, the monitoring point is monitored in real time by a laser tracker to obtain the motion trajectory information of the monitoring point; Obtaining motion curve information of the monitoring point according to the motion trajectory information and the observation coordinate system; The measurement position information of the monitoring point is obtained according to the motion curve information.

4. The method according to claim 1, characterized in that The step of performing deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information includes: Get preset safety offset information; Determining a preset safety angle range according to the preset safety offset information; When the belt offset angle in the belt offset information is not within the preset safety angle range, it is determined that the coal conveyor belt to be monitored is in an offset state, and an early warning message is generated and sent to the user.

5. A laser coal conveyor belt deviation monitoring device, characterized in that: The laser coal conveyor belt deviation monitoring device comprises: An acquisition module is used to acquire the initial position information of the monitoring point on the coal conveyor belt to be monitored; A measuring module, used for measuring the monitoring point by a laser tracker when the coal conveyor belt to be monitored is running, so as to obtain measurement position information; An analysis module is used to obtain the reference position information corresponding to the monitoring point at a preset time according to the measured position information; obtain the running speed of the coal conveyor belt to be monitored; determine the running time corresponding to the selection of the reference position information according to the running speed, the initial position information and the reference position information; query the preset standard running curve of the coal conveyor belt to be monitored according to the running time to obtain the standard position information; determine the measured running route of the coal conveyor belt to be monitored according to the reference position information and the initial position information; determine the standard running route of the coal conveyor belt to be monitored according to the standard position information and the initial position information; determine the belt offset angle of the coal conveyor belt to be monitored according to the measured running route and the standard running route; determine the belt offset information of the coal conveyor belt to be monitored according to the belt offset angle; A monitoring module is used to monitor the deviation of the coal conveying belt to be monitored according to the belt deviation information.

6. A laser coal conveyor belt deviation monitoring device, characterized in that: The device includes: a memory, a processor, and a laser coal conveyor belt deviation monitoring program stored in the memory and executable on the processor, wherein the laser coal conveyor belt deviation monitoring program is configured to implement the laser coal conveyor belt deviation monitoring method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores a laser coal conveyor belt deviation monitoring program, and when the laser coal conveyor belt deviation monitoring program is executed by the processor, the laser coal conveyor belt deviation monitoring method as described in any one of claims 1 to 4 is implemented.

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