A weighing system and method for mining equipment

Abstract

The present invention belongs to the technical field of mining equipment, and discloses a weighing system and method for mining equipment, including: a signal acquisition system: including at least two acquisition processing modules, each of which is used to acquire different working data of mining handling equipment and send it to the calculation processing module; the calculation processing module: used to calculate a cargo weight according to the working data sent by each acquisition module; also used to perform data fusion processing on each cargo weight, and send the corrected cargo weight to the display alarm module for display; also used to send an alarm signal to the display alarm module when the cargo weight is overloaded; the display alarm module: used for display. The present invention improves the accuracy of weight measurement and improves the safety factor of mine production.

Description

Technical Field

[0001] The invention belongs to the technical field of mining equipment, and in particular relates to a weighing system and method for mining equipment. Background Art

[0002] During the relocation and reversing process of the comprehensive mining working face, in order to realize the reversal or long-distance transportation of large mining equipment such as hydraulic supports, it is generally transported by a support transporter. However, there is an upper limit to the loading capacity of each support transporter. However, in actual use, the driver does not understand the actual weight of the hydraulic support being transported, and often blindly transports it based on subjective impressions, which may exceed its own loading capacity. Long-term overloading will not only shorten the service life of the support transporter, but also cause accidents such as vehicle loss of control and casualties. However, the existing weighing facilities are often unable to be set up on the transporter for direct weighing. Therefore, it is necessary to provide a new weighing system and method to realize the real-time weighing of the transporting equipment during the transportation of large mining equipment, and then judge whether it is overloaded based on the weighing, so as to improve the safety of mining equipment transportation. Summary of the invention

[0003] The present invention overcomes the deficiencies of the prior art and aims to solve the following technical problems: to provide a weighing system and method for mining equipment, so as to solve the situation that the mining equipment on site may exceed its own loading capacity, avoid the shortening of the service life of the mining equipment caused by long-term overloading, and avoid accidents such as vehicle loss of control and casualties.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a weighing system for mining handling equipment, comprising: a signal acquisition system: comprising at least two acquisition processing modules, each of which is used to collect different working data of mining handling equipment and send it to the calculation processing module;

[0005] Calculation and processing module: used to calculate the cargo weight M according to the working data sent by each acquisition module i , M i Indicates the cargo weight calculated based on the working data sent by the i-th data acquisition module; it is also used to calculate the weight of each cargo M i Perform data fusion processing, obtain the corrected cargo weight and send it to the display alarm module for display; also used to send an alarm control signal to the display alarm module when the cargo weight is overloaded;

[0006] Display alarm module: used to display measurement data and send out alarm signals.

[0007] Furthermore, the calculation formula of the corrected cargo weight M is:

[0008]

[0009] Among them, ω i Indicates M i The weighted fusion coefficient of .

[0010] Further, the acquisition and processing module includes: at least two of a hydraulic circuit pressure acquisition module, a hydraulic circuit flow acquisition module, a hydraulic cylinder position angle acquisition module, and an engine speed acquisition module;

[0011] The hydraulic circuit pressure collection module is used to collect the hydraulic pressure Fm of each hydraulic circuit when the cargo is lifted off the ground and reaches a stable balance; m=1, 2..., indicating the serial number of the hydraulic circuit;

[0012] The hydraulic circuit flow collection module is used to collect the flow Sm of each hydraulic circuit when the cargo is lifted off the ground and reaches a stable balance;

[0013] The hydraulic cylinder position angle acquisition module is used to acquire the working position Lm and angle θm of each hydraulic cylinder;

[0014] The engine speed acquisition module is used to acquire the real-time speed of the engine;

[0015] The calculation processing module is used to calculate the cargo weight M1 according to the hydraulic pressure Fm;

[0016] It is also used to calculate the cargo weight M2 according to the flow rate Sm;

[0017] Used to calculate the cargo weight M3 according to the working position Lm and the angle θm;

[0018] And according to the real-time engine speed, the cargo weight M4 is calculated.

[0019] Further, the oil cylinder pressure acquisition module includes a hydraulic pressure sensor, and the hydraulic pressure sensor is arranged on each hydraulic circuit;

[0020] The hydraulic circuit flow acquisition module includes a flow sensor, which is arranged on each hydraulic circuit and is used to measure the flow of each circuit;

[0021] The hydraulic cylinder position angle acquisition module includes a displacement sensor and an angle sensor, wherein the displacement sensor is used to acquire the displacement of the cylinder, and the angle sensor is used to measure the angle of the cylinder;

[0022] The engine speed acquisition module includes a speed sensor, and the speed sensor is arranged on the engine.

[0023] Furthermore, the calculation formulas of M1, M2 and M3 are:

[0024]

[0025]

[0026]

[0027] Among them, f1 represents the cylinder pressure and cylinder flow S m and the functional relationship between the cross-sectional area Am of the cylinder, G represents the deadweight of the handling equipment, and f2 represents the functional relationship between the cylinder pressure and the cylinder displacement and cylinder angle;

[0028] The calculation method of cargo weight M4 is:

[0029] The real-time speed of the engine is obtained, and the instantaneous power of the engine is obtained according to the real-time speed, and then the current torque is obtained, and the current torque is compared with the calibration database to obtain the cargo weight M4.

[0030] In addition, the present invention also provides a weighing method for mining handling equipment, which uses the weighing system for mining handling equipment, and includes the following steps:

[0031] S1, measuring the weight of the load simultaneously through each acquisition and processing module;

[0032] S2, determining the weighted fusion coefficient of each acquisition and processing module;

[0033] S3. Calculate the corrected cargo mass M according to the weight coefficients of each measurement method and the measured value of step S1. The calculation formula is:

[0034]

[0035] Among them, M i represents the cargo weight calculated from the measurement value of the i-th acquisition and processing module, ω i Indicates M i The weighted fusion coefficient of .

[0036] The specific steps of step S2 are:

[0037] S201: Within a cycle, each acquisition and processing module measures the weight of the load simultaneously, and the jth measurement result of the i-th acquisition and processing module is recorded as M. i (j); i = 1, 2, ... n, j = 1, 2 ... N, n represents the number of acquisition processing modules, and N represents the number of measurements in a cycle;

[0038] S202, calculating the average value of each measurement number, the calculation formula is:

[0039]

[0040] Represents the average value of the j-th measurement of each acquisition module;

[0041] S203, calculating the deviation between the measured value of each acquisition and processing module at each measurement time and the measured average value, the calculation formula is:

[0042]

[0043] ΔM i (j) represents the measurement deviation of the jth measurement of the i-th acquisition and processing module;

[0044] S204, calculating the average value and mean square error of the measurement deviations of each acquisition and processing module, the calculation formula is:

[0045]

[0046]

[0047] in, represents the average value of the measurement deviation of the i-th acquisition and processing module; represents the mean square error of the measurement value of the i-th acquisition and processing module;

[0048] S205, calculating the final weighted fusion weight coefficient of each acquisition and processing module, the calculation formula is:

[0049]

[0050] Among them, ω i Represents the weighted fusion weight coefficient of the i-th acquisition and processing module.

[0051] The weighing method of a mining handling equipment further comprises the following steps:

[0052] S4. Send the corrected cargo mass M to the display alarm module for display, and determine whether it is overloaded. If overloaded, send an alarm signal to the display alarm module.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. The present invention provides a weighing system for mining handling equipment, which measures the weight of goods through a variety of measurement methods, and finally uses a computing and processing module to fuse the measurement results, thereby increasing the credibility of the weighing system and overcoming the problem of unreliable results and low credibility of a single measurement method in the prior art.

[0055] 2. The various measurement methods of the present invention include collecting the hydraulic pressure (or the flow rate of the hydraulic circuit) of the robot arm or hydraulic support during the load handling process, and then calculating the weight of the goods; it also includes collecting the engine speed to obtain the torque, comparing the current torque with the calibration data, and then obtaining the weight of the goods; in addition, the present invention further improves the measurement accuracy by performing data fusion through the optimal weighted fusion coefficient, so that the error between the weighing result and the actual result is smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of the structure of a weighing system for mining handling equipment provided in Embodiment 1 of the present invention;

[0057] Figure 2 A schematic flow chart of a weighing method for mining handling equipment provided in Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0059] Embodiment 1

[0060] like Figure 1 As shown, the first embodiment of the present invention provides a weighing system for mining handling equipment, including:

[0061] Signal acquisition system: comprising at least two acquisition processing modules, each of which is used to collect different working data of mining handling equipment and send it to the calculation processing module;

[0062] Calculation and processing module: used to calculate the cargo weight M according to the working data sent by each acquisition module i , Mi represents the cargo weight calculated according to the working data sent by the i-th data acquisition module; it is also used to perform data fusion processing on each cargo weight Mi, and send the corrected cargo weight M to the display alarm module for display; it is also used to send an alarm signal to the display alarm module when the cargo weight is overloaded;

[0063] Display alarm module: used to display measurement data and send out alarm signals.

[0064] Specifically, in this embodiment, the calculation formula for calculating the corrected cargo weight M by the calculation processing module is:

[0065]

[0066] Among them, M i represents the cargo weight calculated from the measurement value of the i-th acquisition and processing module, ω i Indicates M i The weighted fusion coefficient of .

[0067] like Figure 1 As shown, the information acquisition system also includes a signal amplifying circuit, which is used to amplify the output signals of each acquisition processing module and then send them to the calculation processing unit.

[0068] In this embodiment, the calculation and processing module can be specifically set in a single-chip microcomputer, which collects signals from the sensor for analysis, obtains information on the weight of the object being measured according to different output signal types, and stores the information in the single-chip microcomputer storage chip; then the signal is filtered, correlated, and processed, and the processing results are compared with the database to obtain the load weights corresponding to different measurement methods; then the dynamic weighting method is used to fuse the preprocessing results, and finally a load measurement result with a high degree of credibility is output. At the same time, the obtained results are transmitted to the display screen for display. If overload or other conditions occur, an alarm signal is output, and an emergency shutdown can be performed if necessary. Figure 1 As shown, the single chip microcomputer also includes a reset circuit, a crystal oscillator circuit, an analog-to-digital conversion module, a data storage module, a data processing unit and an input-output module.

[0069] Specifically, in this embodiment, the acquisition and processing module includes: at least two of a hydraulic circuit pressure acquisition module, a hydraulic circuit flow acquisition module, a hydraulic cylinder position angle acquisition module, and an engine speed acquisition module.

[0070] Since the handling equipment often has multiple hydraulic cylinders, it lifts and transports the goods through hooks, sprockets and chains. Therefore, in this embodiment, the hydraulic circuit pressure collection module, the hydraulic circuit flow collection module and the hydraulic cylinder position angle collection module need to collect the working data in each hydraulic circuit.

[0071] The hydraulic circuit pressure acquisition module is used to collect the hydraulic pressure Fm of each hydraulic circuit when the cargo is lifted off the ground and reaches a stable balance; specifically, the oil cylinder pressure acquisition module includes a hydraulic pressure sensor, which is arranged on each hydraulic circuit. Wherein, m=1,2..., represents the serial number of the hydraulic circuit. The calculation processing module is used to calculate the cargo weight M1 according to the hydraulic pressure Fm.

[0072] The hydraulic circuit flow acquisition module is used to collect the flow Sm of each hydraulic circuit when the cargo is lifted off the ground and reaches a stable balance; the hydraulic circuit flow acquisition module includes a flow sensor, which is arranged on each hydraulic circuit to measure the flow of each circuit. The calculation processing module is used to calculate the cargo weight M2 according to the flow Sm.

[0073] The hydraulic cylinder position angle acquisition module is used to acquire the working position Lm and angle θm of each hydraulic cylinder; the hydraulic cylinder position angle acquisition module includes a displacement sensor and an angle sensor, the displacement sensor is used to acquire the displacement of the cylinder, and the angle sensor is used to measure the angle of the cylinder. The calculation processing module is used to calculate the cargo weight M3 according to the working position Lm and angle θm.

[0074] The engine speed acquisition module is used to acquire the real-time speed of the engine. The engine speed acquisition module includes a speed sensor, which is arranged on the engine. The calculation processing module is used to calculate the cargo weight M4 according to the real-time speed of the engine.

[0075] Specifically, in this embodiment, the calculation formulas for the cargo weights M1, M2 and M3 are:

[0076]

[0077]

[0078]

[0079] Among them, f1 represents the cylinder pressure and cylinder flow S m The functional relationship between G and the cylinder cross-sectional area Am can be determined through experiments or calibrated through theoretical calculations. G represents the deadweight of the handling equipment, which can be calibrated at the factory. f2 represents the functional relationship between the cylinder pressure and the cylinder displacement and cylinder angle, which can be determined through experiments or calibrated through theoretical calculations.

[0080] In this embodiment, by reading the value of the pressure sensor in each hydraulic circuit, the hydraulic pressure of each hydraulic circuit can be obtained, and the hydraulic pressure is equal to the weight of the cargo plus the weight of the handling equipment. In addition, by reading the value of the flow sensor in each hydraulic circuit, the flow rate S of each hydraulic circuit can be obtained. m The hydraulic pressure of each hydraulic cylinder can also be determined by the displacement (working position) and angle of the hydraulic cylinder.

[0081] The calculation method of cargo weight M4 is:

[0082] The real-time speed of the engine n1 is obtained, and the instantaneous power of the engine is obtained by comparing the real-time speed with the power curve of the engine, and then the current torque is obtained, and the current torque is compared with the calibration database to obtain the cargo weight M4. Specifically, the relationship between torque and instantaneous power P can be expressed as: T = P * 9550 / n1. (p is the instantaneous power of the engine, in KW; n1 is the engine speed, in rpm).

[0083] In this embodiment, the results obtained by the calculation and processing module are transmitted to the display alarm module for display via 485, CAN and other communication methods. The main function of the display alarm module is to display the collected data and the results of the control system processing. The driver can decide whether to carry the current goods according to the weight of the load and the vehicle's own bearing capacity, thereby reducing or even avoiding the occurrence of overloading, overloading and the like. In the event of overloading or other situations, the display alarm module outputs an alarm signal, and effective measures such as emergency braking can be taken when necessary. In addition, the system estimates the service life of the equipment based on historical data, forms a historical curve chart, and judges the service life of the equipment and the bearing capacity of the equipment. Avoid the occurrence of failures due to factors such as equipment aging and improper operation.

[0084] Due to wear and tear during vehicle use and the influence of factors such as the driver's weight, the calculation results may be biased. In order to obtain more accurate vehicle load information, it is necessary to regularly calibrate the vehicle's own weight, hydraulic pressure sensor and other database information during daily maintenance and use. In order to improve the accuracy of data detection, in this embodiment, the pressure sensor, displacement sensor and angle sensor are all high-precision sensors, and standard weight comparison is used for parameter calibration, so as to improve the weighing accuracy of the vehicle load self-weighing system.

[0085] Embodiment 2

[0086] like Figure 2 As shown, an embodiment of the present invention provides a weighing method for mining handling equipment, using a weighing system for mining handling equipment described in Embodiment 1, including the following steps:

[0087] S1, measuring the weight of the load simultaneously through each acquisition and processing module;

[0088] S2, determining the weighted fusion coefficient of each acquisition and processing module;

[0089] S3. Calculate the corrected cargo mass M according to the weight coefficients of each measurement method and the measured value of step S1. The calculation formula is:

[0090]

[0091] Among them, M irepresents the cargo weight calculated from the measurement value of the i-th acquisition and processing module, ω i Indicates M i The weighted fusion coefficient of .

[0092] S4. Send the corrected cargo mass M to the display alarm module for display, and determine whether it is overloaded. If overloaded, send an alarm signal to the display alarm module.

[0093] Specifically, in this embodiment, the specific steps of step S2 are:

[0094] S201: Within a cycle, each acquisition and processing module measures the weight of the load simultaneously, and the jth measurement result of the i-th acquisition and processing module is recorded as M. i (j); i = 1, 2, ... n, j = 1, 2 ... N, n represents the number of acquisition processing modules, and N represents the number of measurements in a cycle;

[0095] S202, calculating the average value of each measurement number, the calculation formula is:

[0096]

[0097] Represents the average value of the j-th measurement of each acquisition module;

[0098] S203, calculating the deviation between the measured value of each acquisition and processing module at each measurement time and the measured average value, the calculation formula is:

[0099]

[0100] ΔM i (j) represents the measurement deviation of the jth measurement of the i-th acquisition and processing module;

[0101] S204, calculating the average value and mean square error of the measurement deviations of each acquisition and processing module, the calculation formula is:

[0102]

[0103]

[0104] in, represents the average value of the measurement deviation of the i-th acquisition and processing module; represents the mean square error of the measurement value of the i-th acquisition and processing module;

[0105] S205, calculating the final weighted fusion weight coefficient of each acquisition and processing module, the calculation formula is:

[0106]

[0107] Among them, ω i Represents the weighted fusion weight coefficient of the i-th acquisition and processing module.

[0108] In summary, the present invention utilizes the structural characteristics of mining handling equipment and can realize the weighing of vehicle loads by configuring a certain number of sensors. It does not require an additional weighing system, thus greatly reducing the equipment cost. At the same time, if this system can be widely used in current support transport vehicles, it can also avoid the shortening of the service life of support transport vehicles, vehicle loss of control, casualties, etc. caused by overloading. The present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A weighing system for mining handling equipment, characterized in that: include: Signal acquisition system: includes at least two acquisition processing modules, each of which is used to collect different working data of mining handling equipment and send it to the calculation processing module; Calculation and processing module: used to calculate the weight of goods according to the working data sent by each acquisition module M i , M i represents the cargo weight calculated based on the working data sent by the i-th data acquisition module; Also used to weigh each cargo M i Perform data fusion processing, obtain the corrected cargo weight and send it to the display alarm module for display; also used to send an alarm control signal to the display alarm module when the cargo weight is overloaded; Display alarm module: used to display measurement data and send out alarm signals; The acquisition and processing module includes: at least two of a hydraulic circuit pressure acquisition module, a hydraulic circuit flow acquisition module, a hydraulic cylinder position angle acquisition module, and an engine speed acquisition module; The hydraulic circuit pressure collection module is used to collect the hydraulic pressure Fm of each hydraulic circuit when the cargo is lifted off the ground and reaches a stable balance; m=1,2..., indicating the sequence number of the hydraulic circuit; The hydraulic circuit flow collection module is used to collect the flow Sm of each hydraulic circuit when the cargo is lifted off the ground and reaches a stable balance; The hydraulic cylinder position angle acquisition module is used to acquire the working position Lm and angle θm of each hydraulic cylinder; The engine speed acquisition module is used to acquire the real-time speed of the engine; The calculation processing module is used to calculate the cargo weight M1 according to the hydraulic pressure Fm; It is also used to calculate the cargo weight M2 according to the flow rate Sm; Used to calculate the cargo weight M3 according to the working position Lm and the angle θm; And according to the real-time engine speed, the cargo weight M4 is calculated.

2. A weighing system for mining handling equipment according to claim 1, characterized in that: The calculation formula for the corrected cargo weight is: ； Among them, ω i express M i The weighted fusion coefficient of .

3. The weighing system of mining handling equipment according to claim 1, characterized in that: The pressure acquisition module includes a hydraulic pressure sensor, and the hydraulic pressure sensor is arranged on each hydraulic circuit; The hydraulic circuit flow acquisition module includes a flow sensor, which is arranged on each hydraulic circuit and is used to measure the flow of each circuit; The hydraulic cylinder position angle acquisition module includes a displacement sensor and an angle sensor, wherein the displacement sensor is used to acquire the displacement of the cylinder, and the angle sensor is used to measure the angle of the cylinder; The engine speed acquisition module includes a speed sensor, and the speed sensor is arranged on the engine.

4. The weighing system of mining handling equipment according to claim 1, characterized in that: The calculation formula for cargo weight M1, M2 and M3 is: M1=( -G) / g; M2=( f1(S m ,Am)-G) / g; M3=( f2(Lm,θm)-G) / g; Among them, f1 represents the cylinder pressure and cylinder flow S m and the functional relationship between the cross-sectional area Am of the cylinder, G represents the deadweight of the handling equipment, and f2 represents the functional relationship between the cylinder pressure and the cylinder displacement and cylinder angle; The calculation method of cargo weight M4 is: The real-time speed of the engine is obtained, and the instantaneous power of the engine is obtained according to the real-time speed, and then the current torque is obtained, and the current torque is compared with the calibration database to obtain the cargo weight M4.

5. A weighing method for mining handling equipment, characterized in that: The weighing system of a mining handling equipment according to claim 1 comprises the following steps: S1, measuring the weight of the load simultaneously through each acquisition and processing module; S2, determining the weighted fusion coefficient of each acquisition and processing module; S3. Calculate the corrected cargo mass M according to the weight coefficients of each measurement method and the measured value of step S1. The calculation formula is: ； Among them, M i represents the cargo weight calculated from the measurement value of the i-th acquisition and processing module, ω i express M i The weighted fusion coefficient of .

6. A weighing method for mining handling equipment according to claim 5, characterized in that: The specific steps of step S2 are: S201. Within a cycle, each acquisition and processing module measures the weight of the load simultaneously. The jth measurement result of the i-th acquisition and processing module is recorded as M i ( j ); i = 1, 2, ... n, j = 1, 2 ... N, n represents the number of acquisition processing modules, N represents the number of measurements in a cycle; S202, calculating the average value of each measurement number, the calculation formula is: ； Represents the average value of the j-th measurement of each acquisition module; S203, calculating the deviation between the measured value of each acquisition and processing module at each measurement time and the measured average value, the calculation formula is: ； represents the measurement deviation of the jth measurement of the i-th acquisition and processing module; S204, calculating the average value and mean square error of the measurement deviations of each acquisition and processing module, the calculation formula is: ； ； in, represents the average value of the measurement deviation of the i-th acquisition and processing module; represents the mean square error of the measurement value of the i-th acquisition and processing module; S205, calculating the final weighted fusion weight coefficient of each acquisition and processing module, the calculation formula is: ； in, Represents the weighted fusion weight coefficient of the i-th acquisition and processing module.

7. A weighing method for mining handling equipment according to claim 5, characterized in that: The following steps are also included: S4. Send the corrected cargo mass M to the display alarm module for display, and determine whether it is overloaded. If overloaded, send an alarm signal to the display alarm module.

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