Scraper machine oblique cutting middle slot angle measuring system and measuring method thereof

Abstract

The application discloses a kind of middle groove included angle measuring systems of scraper machine bevel cutting entry area, the system includes: camera, image processing module and judging module, camera obtains the end image of at least two adjacent middle grooves, image processing module includes: image recognition module, image recognition module receives the image transmitted by camera, and identifies the included angle α between two adjacent middle grooves in image, judging module receives the α sent by image recognition module, and compares α with preset value A, if |A-α|≤error δ, hydraulic support completes pushover;If |A-α|>delta, hydraulic support moves to adjust included angle α;Wherein, when all |A-α|>delta middle groove is adjusted, camera reacquires the image of middle groove, and re-identifies, judges, adjusts until |A-α|≤delta. According to the included angle measuring system of the embodiment of the application, not only can the personnel on-site measurement angle be saved, time and effort are saved, safety is improved, but also measurement accuracy, measurement practicability can be improved, equipment service life is improved.

Description

Technical Field

[0001] This invention relates to the field of mining technology, and in particular to a system and method for measuring the included angle of the central groove in the oblique cutting feed zone of a scraper conveyor. Background Technology

[0002] Coal mining machines require an initial cutting face during mining. The scraper conveyor serves as the machine's operating track. During the cutting process, the scraper conveyor creates an oblique cutting zone, allowing the machine to reach a certain cutting depth. In related technologies, during the formation of this oblique cutting zone, workers need to measure the included angle (1°, 1.5°, or 2°, etc.) of the central groove of each scraper conveyor, and then manually adjust the dumbbell connecting adjacent central grooves so that the hydraulic support can tilt the central groove to a predetermined angle when pushing the conveyor. However, mine working faces present many potential dangers and emergencies. Working on the front lines is dangerous, time-consuming, and labor-intensive, and the accuracy of adjusting the included angle of the central groove is relatively low. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a system for measuring the included angle of the central groove in the oblique cutting feed area of ​​a scraper conveyor. This system not only eliminates the need for personnel to measure angles on-site, saving time and effort and improving safety, but also improves measurement accuracy, practicality, and extends the service life of the equipment.

[0004] The present invention also proposes a measurement method with the aforementioned central groove angle measurement system.

[0005] According to a first aspect of the present invention, a mid-groove angle measurement system for a scraper conveyor with oblique cutting feed area includes: a camera, an image processing module, and a judgment module. The camera is mounted on a hydraulic support connected to the mid-groove, and the camera acquires end images of at least two adjacent mid-grooves. The image processing module includes: an image recognition module, which receives images transmitted by the camera and identifies the angle α between two adjacent mid-grooves in the image. The judgment module receives the angle α sent by the image recognition module and compares the angle α with a preset value A. If |A-α|≤ error δ, the hydraulic support completes the push; if |A-α|>δ, the hydraulic support moves to adjust the angle α. After all mid-grooves with |A-α|>δ have been adjusted, the camera reacquires images of the mid-grooves and re-identifies, judges, and adjusts them until |A-α|≤δ.

[0006] Therefore, the scraper conveyor oblique cutting infeed zone mid-slot angle measurement system according to an embodiment of the present invention, by mounting the camera on a hydraulic support, not only prevents the camera from being damaged during coal transportation in the mid-slot, thus extending the camera's service life, but also improves the camera's field of view, thereby collecting more information about the oblique cutting infeed zone. By using an image recognition module to identify the mid-slot angle α value, measurement accuracy can be improved. The hydraulic support adjusts the mid-slot based on the difference determined by the judgment module, eliminating the need for workers to measure the angle on the front line. This not only saves time and labor but also improves worker safety.

[0007] In addition, the scraper mill oblique cutting feed zone center groove angle measuring system according to the present invention may also have the following additional technical features:

[0008] In some embodiments, the image processing module further includes: an image stitching module, which receives images transmitted by the camera and stitches the images together to form a first image; and an image recognition module receives the first image sent by the image stitching module and identifies the included angle α in the first image.

[0009] Optionally, after receiving the first image, the image recognition module processes the overlapping area in the first image to form a second image; the central groove angle measurement system of the scraper machine's oblique cutting feed area also includes a display module, which receives and displays the second image.

[0010] In some embodiments, the camera is located at one end of the hydraulic support adjacent to the end of the central groove.

[0011] The present invention also proposes a method for measuring the included angle of the central groove in the oblique cutting feed zone of a scraper machine having the above embodiments.

[0012] The measurement method according to a second aspect of the present invention includes:

[0013] S1: Obtain end images of at least two adjacent central slots;

[0014] S2: Receive the image;

[0015] S3: Identify the included angle α between two adjacent central grooves in the image;

[0016] S4: Receive the included angle α value between two adjacent middle slots;

[0017] S5: Compare the included angle α with the preset value A. If |A-α|≤ error δ, the hydraulic support completes the pushing; if |A-α|>δ, the hydraulic support moves to adjust the included angle α.

[0018] When all the central slots with |A-α|>δ are adjusted, S1 to S5 are repeated until |A-α|≤δ.

[0019] Therefore, the method for measuring the included angle of the middle trough in the oblique cutting zone of the scraper conveyor according to an embodiment of the present invention, by acquiring the included angle image between two adjacent middle troughs and identifying the included angle α value, can eliminate the need for workers to measure the included angle at the mine cutting face. This not only saves time and labor but also improves worker safety. Furthermore, identifying the included angle α value through image recognition can improve measurement accuracy and prevent inaccurate readings by workers in dimly lit environments. By mounting the camera on a hydraulic support, not only can the camera be prevented from being damaged during coal transportation in the middle trough, extending its service life, but the camera's field of view can also be increased, thereby collecting more information about the oblique cutting zone.

[0020] In one embodiment, before step S3, the method further includes: S21: stitching the received images together to form a first image; S22: processing the overlapping areas in the first image to form a second image; S23: displaying the second image.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 This is a schematic diagram of the oblique cutting surface structure of a coal mining machine according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the central groove and hydraulic support of the oblique cutting feed area of ​​the scraper conveyor according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the arrangement of the central groove and hydraulic support according to an embodiment of the present invention;

[0026] Figure 4 This is a flowchart according to an embodiment of the present invention.

[0027] Figure label:

[0028] 100° Measuring system for the included angle of the groove in the oblique cutting feed zone of the scraper conveyor;

[0029] Scraper conveyor 1; central trough 12; middle plate 121; bottom plate 122;

[0030] Coal mining machine 2;

[0031] Hydraulic support 3;

[0032] Camera 4. Detailed Implementation

[0033] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of this invention, it should be understood that the terms "top," "bottom," "inner," "outer," "circumferential," etc., indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] The following is for reference. Figures 1-3 A method for measuring the included angle of the middle groove in the oblique cutting feed zone of a scraper conveyor according to an embodiment of the present invention is described.

[0037] like Figure 1 As shown, the coal mining machine 2 needs to cut the cutting surface first during coal mining. The scraper conveyor 1 is the running track of the coal mining machine 2. During the cutting process of the coal mining machine 2, the scraper conveyor 1 forms an oblique cutting cutting zone. The coal mining machine 2 completes the cutting through the oblique cutting cutting zone to reach a certain cutting depth. The middle groove 12 of the oblique cutting cutting zone is bent at a certain angle, so that there is an included angle between two adjacent middle grooves 12. The included angle of the middle grooves 12 is a preset value (e.g., 1.5°, 2°, etc.) to ensure that the coal mining machine 2 meets the cutting depth requirement after passing through the oblique cutting cutting zone.

[0038] like Figures 1-3 As shown, the scraper machine oblique cutting feed area middle groove angle measurement system 100 according to an embodiment of the present invention includes: camera 4, image processing module and judgment module.

[0039] Specifically, a camera 4 is installed on the hydraulic support 3 connected to the central groove 12. The camera 4 acquires end images of at least two adjacent central grooves 12, such as... Figure 1 , 3 As shown, each hydraulic support 3 is connected to the central trough 12 of the scraper conveyor 1. The hydraulic support 3 can push the central trough 12 towards the cutting surface to complete the pushing operation, so that the central trough 12 maintains a predetermined distance from the cutting surface, ensuring that the coal mining machine 2 can smoothly mine coal while sitting on the central trough 12. The camera 4 can be installed on the front column or top beam of the hydraulic support 3. The camera 4 can acquire images of the ends of the central trough 12. Specifically, the camera 4 takes pictures of the ends of two adjacent central troughs 12, that is, it acquires the included angle between two adjacent central troughs 12.

[0040] In some embodiments, the image capture range of camera 4 can be the ends of two adjacent central slots 12. In other embodiments, the image capture range of camera 4 includes not only the ends of two adjacent central slots 12, but also the body portion of the central slots 12.

[0041] In related technologies, it is understandable that, such as Figure 3 As shown, the central trough 12 includes a central plate 121 and a bottom plate 122. The central plate 121 is used to support coal, and the bottom plate 122 is used for the scraper chain return. During operation in the mine, coal may fall onto or be carried into the bottom plate 122 by the scraper chain, thus the testing equipment located on the bottom plate 122 may be damaged by impact. If installed in other positions on the central trough 12, coal may also damage the measuring equipment during coal transportation, resulting in a short service life for the measuring equipment.

[0042] In this application, by mounting the camera 4 on the hydraulic support 3, the scraper conveyor 1 can prevent the camera 4 from being damaged during coal conveying, thereby improving the service life of the camera 4. In addition, mounting the camera 4 on the hydraulic support 3 can increase the field of view for taking pictures. For example, the camera 4 can be positioned to the body of the central groove 12 to obtain information about the central groove 12 in the oblique cutting feed area.

[0043] In some embodiments, the image processing module includes an image recognition module, which can receive images transmitted by the camera 4 and identify the included angle α between two adjacent central slots 12 in the image. That is, the image recognition module uses image recognition technology to identify the included angle α value in the image in order to measure the included angle of the central slot 12 in the oblique cutting infeed area.

[0044] The judgment module receives the α sent by the image recognition module and compares α with the preset value A. If |A-α|≤ error δ, the hydraulic support 3 completes the pushing; if |A-α|>δ, the hydraulic support 3 moves to adjust the included angle α of the central groove 12. In other words, after the image recognition module measures the included angle α, it sends the identified α value to the judgment module. The judgment module receives the α value and compares the difference between each included angle α and the preset value A (the preset value A is a pre-set desired angle value). If |A-α|≤δ, it indicates that the difference between the included angle α and the preset value A is within an acceptable range, the current angle of the central groove 12 meets the requirements, and the hydraulic support 3 does not need to push the central groove 12. If |A-α|>δ, it indicates that the difference between the included angle α and the preset value A exceeds the acceptable range, the included angle α is too large or too small, and the hydraulic support 3 needs to move to adjust the bending angle of the central groove 12 connected to it, thereby reducing the error δ between the included angle α and the preset value A.

[0045] In field operations, the number of central grooves 12 in the oblique cutting feed area of ​​the scraper conveyor 1 is known. Typically, there are 8 to 10 central grooves 12 in the oblique cutting feed area, and the corresponding central grooves 12 of the scraper conveyor 1 are also pre-set. In some embodiments, for example... Figure 2 As shown, in the direction of the coal mining machine 2's forward movement, the central slots 12 of the oblique cutting zone are marked as Z1, Z2, Z3, Z4, Z5, Z6, Z7, Z8, and Z9, respectively. The hydraulic supports 3 connected to the central slots 12 are marked as Y1, Y2, Y3, Y4, Y5, Y6, Y7, Y8, and Y9, respectively. Z1 and Z9 remain straight, while Z2 is tilted at a certain angle. The angle between Z1 and Z2 is denoted as α1, and so on. The angle between Z2 and Z3 is denoted as α2. The angles between the other central slots 12 in the oblique cutting zone are α3, α4, α5, α6, α7, and α8, respectively. Cameras 4 are installed on hydraulic supports Y1 to Y8, respectively. Cameras 4 take pictures of the ends of the central slots 12 to obtain image information, thus obtaining the angle values ​​α1 to α8.

[0046] For example, when the judgment module determines that |A-α3|>δ, the hydraulic support Y4 pushes the middle groove Z4 to move, thereby adjusting the included angle α3, while the middle groove Z3 remains stationary, thus keeping the included angle α2 unchanged. Conversely, if |A-α2|>δ, the hydraulic support Y3 pushes the middle groove Z3 to move, thereby adjusting the included angle α2, while the hydraulic support Y2 does not push the middle groove Z2 to move. Other methods for adjusting the included angle α can be deduced similarly.

[0047] In some embodiments of the present invention, after all the central slots 12 with |A-α|>δ are adjusted, the camera 4 re-acquires images of the oblique cutting feed area and re-identifies, judges, and adjusts until |A-α|≤δ. That is, after the central slots 12 with |A-α|>δ in the oblique cutting feed area are adjusted by the hydraulic support 3, all cameras 4 in the oblique cutting feed area need to re-capture images of the included angle of the central slots 12 to obtain image information. The image recognition module receives the image information acquired by the camera 4 and identifies the included angle α value in each image. The image recognition module sends the identified α value to the judgment module. After receiving the α value, the judgment module judges and compares the difference between each included angle α and the preset value A. If |A-α|>δ still exists, then the corresponding hydraulic support 3 continues to adjust the middle groove 12. After adjustment, all cameras 4 in the oblique cutting area take pictures again to obtain image information. Then the image recognition module needs to identify the included angle α of the middle groove 12 in the oblique cutting area. After receiving the included angle α value, the judgment module judges the difference between A and α until |A-α|≤δ, indicating that the included angle of the middle groove 12 in the oblique cutting area meets the requirements.

[0048] The central troughs 12 of the scraper conveyor 1 are connected by dumbbells. When the hydraulic support 3 moves the central trough 12 connected to it, the moving central trough 12 will drive the adjacent central troughs 12 to move. After the hydraulic support 3 adjusts the central trough 12, it re-captures image information through all the cameras 4 in the oblique cutting area. This ensures that the included angle α value of each angle in the oblique cutting area is within the received error range, preventing the included angle α of adjacent central troughs 12 from changing when the hydraulic support 3 adjusts the central trough 12 connected to it.

[0049] It should be noted that mining work is very dangerous, and the cutting face may suddenly experience dangers such as roof collapse and rockfall. In the current technology, it is actually a very dangerous operation for workers to measure the angle between two adjacent central slots 12 in the oblique cutting cutting area.

[0050] Therefore, the central trough angle measurement system 100 of the scraper conveyor's oblique cutting feed area according to an embodiment of the present invention, by mounting the camera 4 on the hydraulic support 3, not only prevents the camera 4 from being damaged during coal transportation in the central trough 12, thus extending the service life of the camera 4, but also improves the camera's field of view, thereby collecting more information about the oblique cutting feed area. By using an image recognition module to identify the angle α value of the central trough 12, not only is the measurement accuracy improved, but it also eliminates the need for workers to go to the site for measurement, improving safety. The hydraulic support 3 adjusts the central trough 12 according to the difference determined by the judgment module, eliminating the need for workers to go to the cutting surface line to measure the angle, thus saving time and effort and improving worker safety. Furthermore, identifying the angle α value through the image recognition module improves measurement accuracy and prevents inaccurate readings by workers in dim environments.

[0051] In some embodiments of the present invention, the image processing module further includes an image stitching module, which receives images transmitted by the camera 4 and stitches the images together to form a first image. When the camera 4 takes a picture, it captures the central groove 12 body portion. The camera 4 can be numbered according to the included angle α of the captured image as: C1, C2, C3, C4, C5, C6, C7, C8. The image stitching module receives the images transmitted by the camera 4 and stitches the received images together sequentially according to the numbering of the camera 4 to form the first image, which is a field layout diagram of the oblique cutting feed area.

[0052] The image recognition module receives the first image sent by the image stitching module and identifies the included angle α in the first image. The first image contains multiple included angles α, such as... Figure 2 In this embodiment, when the camera takes pictures of the included angles α1 to α8, the first image contains 8 included angles α. Therefore, the image recognition module needs to identify the included angle values ​​α1 to α8. The image recognition module sends the included angle values ​​α1 to α8 to the judgment module so that the judgment module can compare and judge the included angle values ​​α1 to α8.

[0053] Optionally, after receiving the first image, the image recognition module processes the overlapping areas in the first image to form a second image. That is, when the camera 4 takes a picture, it captures the main body of the central slot 12, and the camera 4 captures at least half of the main body of the central slot 12, causing overlapping parts when the image stitching module stitches the images. As a result, the image does not match the actual situation at the mine site. The image recognition module processes the first image with overlapping parts to generate a second image, which can realistically reflect the situation of the oblique cutting cutting area at the mine site.

[0054] The display module receives and displays the second image. The display module can display the second image through a host computer or other devices, so that workers can clearly and intuitively understand the on-site situation and the angle value of the groove 12 in the middle of the oblique cutting feed area.

[0055] In some embodiments, the camera 4 is located at one end of the hydraulic support 3 near the end of the central groove 12. For example Figure 2 , 3 As shown, the camera 4 is mounted on the hydraulic support 3 and is located near the end of the central groove 12 so that the camera 4 can clearly and accurately obtain the angle image between two adjacent central grooves 12.

[0056] The present invention also proposes a method for measuring the included angle of the middle groove 12 in the oblique cutting feed area of ​​a scraper machine 1, which is a middle groove included angle measurement system 100 in the oblique cutting feed area of ​​a scraper machine having the above-described embodiments.

[0057] The method for measuring the included angle of the central groove in the oblique cutting feed zone of a scraper conveyor according to a second aspect of the present invention includes:

[0058] S1: Obtain end images of at least two adjacent middle slots 12;

[0059] S2: Receive image;

[0060] S3: Identify the included angle α between two adjacent central slots 12 in the image;

[0061] S4: Receive the included angle α between two adjacent middle slots 12;

[0062] S5: Compare α with the preset value A. If |A-α|≤ error δ, the hydraulic support 3 completes the push; if |A-α|>δ, the hydraulic support 3 moves to adjust the included angle α of the central groove 12.

[0063] When all the middle slots 12 with |A-α|>δ are adjusted, S1~S5 are repeated until |A-α|≤δ.

[0064] Specifically, a camera 4 is installed on the hydraulic support 3 corresponding to the middle groove 12 in the oblique cutting feed area of ​​the scraper conveyor 1. The camera 4 acquires end images of at least two adjacent middle grooves 12, such as... Figure 1 , 3 As shown, each hydraulic support 3 is connected to the central trough 12 of the scraper conveyor 1. The hydraulic support 3 can push the central trough 12 towards the cutting surface to complete the pushing operation, so that the central trough 12 maintains a predetermined distance from the cutting surface, ensuring that the coal mining machine 2 can smoothly mine coal while sitting on the central trough 12. The camera 4 can be installed on the front column or top beam of the hydraulic support 3. The camera 4 can acquire images of the ends of the central trough 12. Specifically, the camera 4 takes pictures of the ends of two adjacent central troughs 12, that is, it acquires the included angle between two adjacent central troughs 12.

[0065] In some embodiments, the image capture range of camera 4 can be the ends of two adjacent central slots 12. In other embodiments, the image capture range of camera 4 includes not only the ends of two adjacent central slots 12, but also the body portion of the central slots 12.

[0066] In related technologies, measuring devices such as sensors are installed on the central trough 12 of the scraper conveyor 1 to measure the angle of the central trough 12. However, during the coal conveying process, the coal can damage the measuring devices, resulting in a short service life. In this application, by installing the camera 4 on the hydraulic support 3, the scraper conveyor 1 can prevent the camera 4 from being damaged during coal conveying, thereby improving the service life of the camera 4. Furthermore, installing the camera 4 on the hydraulic support 3 increases the field of view, allowing the camera 4 to be positioned above the main body of the central trough 12 to obtain information about the oblique cutting feed area of ​​the central trough 12.

[0067] In some embodiments, the image recognition module can receive the image transmitted by the camera 4 and identify the included angle α between two adjacent central slots 12 in the image. That is, the image recognition module can identify the included angle α value in the image and measure the included angle of the central slot 12 in the oblique cutting infeed area.

[0068] The judgment module receives the α value sent by the image recognition module and compares α with the preset value A. If |A-α|≤ error δ, the hydraulic support 3 completes the pushing; if |A-α|>δ, the hydraulic support 3 moves to adjust the included angle α of the central groove 12. In other words, after the image recognition module measures the included angle α, it sends the identified α value to the judgment module. The judgment module receives the α value and compares the difference between each included angle α and the preset value A (the preset value A is a pre-set desired angle value). If |A-α|≤δ, it indicates that the difference between the included angle α and the preset value A is within an acceptable range, and the current angle of the central groove 12 meets the requirements. If |A-α|>δ, it indicates that the difference between the included angle α and the preset value A exceeds the acceptable range, and the included angle α is too large or too small. The hydraulic support 3 needs to readjust the central groove 12 to reduce the difference between the included angle α and the preset value A.

[0069] The number of central grooves 12 in the oblique cutting feed area of ​​scraper machine 1 is known. There are 8 to 10 central grooves 12 in the oblique cutting feed area. The central grooves 12 corresponding to the oblique cutting feed area of ​​scraper machine 1 are also set in advance.

[0070] In some embodiments, for example Figure 2 As shown, in the direction of the coal mining machine 2's forward movement, the central grooves 12 of the oblique cutting zone are marked as Z1, Z2, Z3, Z4, Z5, Z6, Z7, Z8, and Z9, respectively, and their corresponding hydraulic supports 3 are marked as Y1, Y2, Y3, Y4, Y5, Y6, Y7, Y8, and Y9, respectively. Z1 and Z9 remain straight, while Z2 is tilted at a certain angle. The angle between Z1 and Z2 is denoted as α1, and so on. The angle between Z2 and Z3 is denoted as α2. The angles between the other central grooves 12 in the oblique cutting zone are α3, α4, α5, α6, α7, and α8, respectively. Cameras 4 are installed on hydraulic supports 3Y1 to Y8, respectively. Cameras 4 can take pictures of the angles α1 to α8 to obtain image information.

[0071] For example, when the judgment module determines that |A-α3|>δ, the hydraulic support Y4 pushes the middle groove Z4 to move, adjusting the included angle α3, while the middle groove Z3 remains stationary, thus keeping the included angle α2 unchanged. Conversely, if |A-α2|>δ, the hydraulic support Y3 pushes the middle groove Z3 to move, adjusting the included angle α2, while the middle groove Z2 remains stationary. This process continues for other middle groove 12 adjustment methods.

[0072] In some embodiments of the present invention, after all the central grooves 12 with |A-α|>δ are adjusted, the camera 4 re-acquires images of the oblique cutting feed area and re-identifies and judges them until |A-α|≤δ. That is, after the central grooves 12 with |A-α|>δ in the oblique cutting feed area are adjusted by the hydraulic support 3, all cameras 4 in the oblique cutting feed area need to re-capture images of the included angle of the central groove 12 to obtain image information. The image recognition module receives the image information acquired by the camera 4 and identifies the included angle α value in each image. The image recognition module sends the identified α value to the judgment module. After receiving the α value, the judgment module judges and compares the difference between each included angle α and the preset value A. If |A-α|>δ still exists, then the corresponding hydraulic support 3 continues to adjust the central groove 12. After adjustment, all cameras 4 in the oblique cutting feed area re-capture images to obtain image information, and then the image recognition and judgment module repeats the process until |A-α|≤δ.

[0073] Understandably, the middle grooves 12 of the scraper conveyor 1 are connected by dumbbells. When the hydraulic support 3 moves the middle groove 12 connected to it, the moving middle groove 12 will drive the adjacent middle grooves 12 to move. After the hydraulic support 3 adjusts the middle groove 12, all cameras 4 in the oblique cutting area re-capture image information, which can ensure that the included angle α value of each angle in the oblique cutting area is within the received error, preventing the included angle α of adjacent middle grooves 12 from changing when the hydraulic support 3 adjusts the middle groove 12 connected to it.

[0074] Therefore, the method for measuring the included angle of the middle groove 12 in the oblique cutting zone of the scraper conveyor 1 according to the embodiment of the present invention, by acquiring the included angle image between two adjacent middle grooves 12 and identifying the included angle α value, can save workers from measuring the included angle at the mine cutting face. This not only saves time and labor but also improves worker safety. In addition, identifying the included angle α value through image recognition can improve the accuracy of the measurement and prevent workers from taking inaccurate readings in dim environments. By mounting the camera 4 on the hydraulic support 3, it is not only possible to prevent the camera 4 from being damaged when the middle groove 12 is transporting coal, thus extending the service life of the camera 4, but also to improve the field of view for video recording, thereby collecting more information about the oblique cutting zone.

[0075] Optionally, before step S3, the method further includes: S21: stitching the received images together to form a first image; S22: processing the overlapping areas in the first image to form a second image, and identifying the included angle α of the central groove 12 in the second image; S23: displaying the second image.

[0076] In other words, the image processing module may further include an image stitching module, which receives images transmitted from camera 4 and stitches them together to form a first image. When camera 4 takes a picture, it captures the central slot 12 body portion. Camera 4 numbers the captured angle α as follows: C1, C2, C3, C4, C5, C6, C7, C8. The image stitching module receives the images transmitted from camera 4 and stitches the received images together sequentially according to the camera 4's numbering to form the first image, which is a site layout diagram of the oblique cutting feed area.

[0077] Furthermore, when camera 4 takes a picture, it captures the main body of the central groove 12, and camera 4 captures at least half of the main body of the central groove 12, which causes overlapping parts to occur when the image stitching module stitches the images. As a result, the image does not match the actual situation at the mine site. After the image recognition module processes the first image with overlapping parts, it generates a second image. The second image can truly reflect the situation of the oblique cutting cutting area at the mine site.

[0078] The display module receives and displays the second image. The display module can display the second image through a host computer or other devices, so that workers can clearly and intuitively understand the on-site situation and the angle value of the groove 12 in the middle of the oblique cutting feed area.

[0079] The image recognition module receives the first image sent by the image stitching module and identifies the included angles α in the first image. The first image contains multiple included angles α. For example, in the above embodiment, when camera 4 takes pictures of included angles α1 to α8, the first image contains 8 included angles α. Therefore, the image recognition module needs to identify the values ​​of included angles α1 to α8. The image recognition module sends the included angle values ​​α1 to α8 to the judgment module so that the judgment module can compare and judge the included angle values ​​α1 to α8.

[0080] Other configurations and operations of the scraper machine oblique cutting feed zone center groove included angle measurement system and its measurement method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0081] In the description of this specification, references to terms such as "some embodiments," "optionally," "furthermore," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0082] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A system for measuring the included angle of the central groove in the oblique cutting feed zone of a scraper conveyor, characterized in that, include: A camera is mounted on a hydraulic bracket connected to the central slot, and the camera acquires end images of at least two adjacent central slots; The image processing module includes an image recognition module and an image stitching module. The image stitching module receives images transmitted from the camera and stitches them together to form a first image. The image recognition module receives the first image sent by the image stitching module and identifies the included angle between two adjacent central slots in the first image. α Furthermore, after receiving the first image, the image recognition module processes the overlapping areas in the first image to form the second image; The display module receives and displays the second image. The judgment module receives the included angle sent by the image recognition module. α and the included angle α Compared with the preset value A, If |A- α If the error is less than or equal to δ, the hydraulic support completes the movement. If |A- α |>δ, the hydraulic support moves to adjust the included angle α ; Among them, when all |A- α After the central groove of |>δ is adjusted, the camera re-acquires the image of the central groove, and re-identifies, judges, and adjusts it until |A- α |≤δ.

2. The scraper conveyor oblique cutting feed zone mid-groove angle measuring system according to claim 1, characterized in that, The camera is located at one end of the hydraulic support near the end of the central groove.

3. A method for measuring the included angle of the groove in the oblique cutting feed zone of a scraper conveyor, characterized in that, This is achieved using the center groove angle measurement system of claim 1 or 2, comprising: S1: Obtain end images of at least two adjacent central slots; S2: Receive the image; S3: Identify the included angle between two adjacent central grooves in the image. α ; S4: Receive the included angle between two adjacent central slots α value; S5: Compare the included angles α Compared with the preset value A, if |A- α If |A- ≤ error δ, the hydraulic support completes the movement; if |A- α |>δ, the hydraulic support moves to adjust the included angle α ; Among them, when all |A- α After the central groove of |>δ is adjusted, repeat S1~S5 until |A- α |≤δ.

4. The method for measuring the included angle of the middle groove in the oblique cutting feed zone of a scraper conveyor according to claim 3, characterized in that, Before step S3, the following is also included: S21: The received images are stitched together to form a first image; S22: Process the overlapping areas in the first image to form a second image; S23: Display the second image.

Images