Remote control scraper conveyor belt posture automatic adjustment control method and system

Abstract

The present invention discloses a method and system for automatically adjusting the posture of a remote-controlled scraper conveyor belt, which belongs to the technical field of scraper conveyors and includes the following steps: obtaining a height measurement value of the remote-controlled scraper conveyor belt and a distance detection value of a nearby obstacle; calculating a deviation value between the height measurement value and the distance detection value; and selecting a control output value obtained through PID calculation based on the deviation value to feedback control the posture of the remote-controlled scraper conveyor belt. This method and system can realize that when the height measurement value is greater than or equal to the distance detection value, PID calculation is performed to control the remote-controlled scraper conveyor belt to lower its height until the height measurement value decreases to a preset distance setting value, thereby achieving a fast response and a fast and stable control effect. Moreover, when the height measurement value is less than the distance detection value, the initial value of the posture of the remote-controlled scraper conveyor belt is obtained, an adjustment value is obtained through PID calculation, and the height of the remote-controlled scraper conveyor belt is feedback controlled, effectively improving the functional practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of scraper equipment, and in particular to a remote-controlled scraper conveyor belt posture automatic adjustment control method and system. Background Art

[0002] Currently, remote-controlled scrapers are specialized equipment designed for underground operations. They are a new type of intelligent scraping equipment used for shoveling, loading, and transporting collapsed ore after blasting and opening a tunnel in underground mines, enabling large-scale mining. However, the position of the conveyor belt often affects the efficiency of remote-controlled scrapers. Existing remote controls typically rely on operators adjusting controls based on road conditions, video display observations, and work experience, resulting in poor results and low efficiency. Summary of the Invention

[0003] To this end, the present invention provides a remote-controlled scraper conveyor belt posture automatic adjustment control method and system to solve the technical problem in the prior art that during the operation of the remote-controlled scraper, the working efficiency of the remote-controlled scraper is affected by the posture position of the conveyor belt, and the adjustment and control are conventionally performed based on road conditions, video display observation and judgment, and work experience, resulting in poor overall effect, low efficiency, and easy damage to the equipment.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A remote control method for automatically adjusting the posture of a conveyor belt of a slag scraper comprises the following steps:

[0006] Obtain the height measurement value of the remote-controlled scraper conveyor belt and the distance detection value of nearby obstacles;

[0007] Calculate the deviation between the height measurement value and the distance detection value;

[0008] According to the deviation value, the control output value is obtained through PID operation to feedback control the posture of the remote control scraper conveyor belt.

[0009] On the basis of the above technical solution, the present invention is further described as follows:

[0010] As a further solution of the present invention, obtaining the height measurement value of the remote-controlled scraper conveyor belt and the distance detection value of the nearby obstacles specifically includes:

[0011] The height measurement value of the conveyor belt and the distance detection value of nearby obstacles are obtained by installing an ultrasonic sensor on the conveyor belt.

[0012] As a further solution of the present invention, the calculation of the deviation between the height measurement value and the distance detection value, and the selection of the control output value obtained by PID operation according to the deviation value to feedback control the posture of the remote control scraper conveyor belt specifically include:

[0013] When the height measurement value is greater than or equal to the distance detection value, the controller output signal is obtained through PID calculation to control the remote control scraper conveyor to a position of the distance set value;

[0014] When the height measurement value is less than the distance detection value, the initial value of the posture of the remote-controlled scraper conveyor belt is obtained, and the adjustment value is obtained through PID calculation, and the height of the remote-controlled scraper conveyor belt is feedback-controlled.

[0015] As a further solution of the present invention, when the height measurement value is greater than or equal to the distance detection value, the controller output signal is obtained by PID operation to control the remote control scraper conveyor belt to a position of the distance set value, specifically including:

[0016] When the height measurement value is greater than or equal to the obstacle distance detection value, the remote-controlled scraper conveyor belt is controlled to lower its height until the height measurement value is reduced to within a safe range of a preset distance setting value.

[0017] As a further solution of the present invention, obtaining the initial value of the posture of the remote-controlled scraper conveyor belt specifically includes:

[0018] When the action cylinder directly or indirectly connected to the conveyor belt does not move, the remote-controlled scraper has a driving or turning action and maintains it for a preset time, the initial value of the posture of the conveyor belt of the remote-controlled scraper is obtained.

[0019] As a further solution of the present invention, the PID operation is:

[0020] Y=S+K∫(HX)dx

[0021] Among them, Y is the control output value, K is the proportional coefficient, S is the preset constant, H is the height measurement value, and X is the distance measurement value.

[0022] A control system using the remote control method for automatically adjusting the posture of a conveyor belt of a slag scraper, the control system comprising:

[0023] a detection module, assembled on the conveyor belt;

[0024] A control module, wherein a control input terminal is electrically connected to an output terminal of the detection module;

[0025] The actuator is electrically connected to the control output end of the control module, and the actuator is connected to the conveyor belt through a transmission assembly.

[0026] As a further solution of the present invention, the detection module includes an ultrasonic sensor and / or a conveyor belt angle sensor;

[0027] The output end of the ultrasonic sensor is electrically connected to the control input end of the control module;

[0028] And / or, the output end of the conveyor belt angle sensor is electrically connected to the control input end of the control module.

[0029] As a further solution of the present invention, the control module is a vehicle-mounted controller;

[0030] The output end of the ultrasonic sensor is electrically connected to the control input end of the vehicle controller;

[0031] And / or, the output end of the conveyor belt angle sensor is electrically connected to the control input end of the vehicle-mounted controller.

[0032] As a further solution of the present invention, the actuator includes a lifting solenoid valve, a lowering solenoid valve and an actuating cylinder;

[0033] The control port of the vehicle-mounted controller is respectively connected to the input ports of the lifting solenoid valve and the lowering solenoid valve, the output ports of the lifting solenoid valve and the lowering solenoid valve are respectively connected to the actuating cylinder, and the actuating cylinder is transmission-connected to the conveyor belt.

[0034] The present invention has the following beneficial effects:

[0035] The method and system can realize that when the height measurement value is greater than or equal to the distance detection value, PID calculation is performed to control the remote control scraper conveyor belt to lower the height until the height measurement value is reduced to a preset distance setting value, thereby achieving a fast response and a fast and stable control effect. When the height measurement value is less than the distance detection value, the initial value of the attitude of the remote control scraper conveyor belt is obtained, the adjustment value is obtained through PID calculation, and the height of the remote control scraper conveyor belt is feedback controlled, which effectively improves the practicality of the function. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0037] Figure 1 This is one of the overall axonometric structural schematic diagrams of the automatic adjustment control method and system for the remote-controlled scraper conveyor belt provided in an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the assembly structure of the reciprocating screw, nut reciprocating slide and material transfer structure in the remote control scraper conveyor belt automatic adjustment control method and the system provided by the embodiment of the present invention.

[0039] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0040] Cart main structure 1, wheel body 11;

[0041] Sand and gravel hopper 2, accommodating chamber 21;

[0042] Sand-topped guide bucket 3: separation baffle 31, sand-topped channel 32, sand-topped outlet 33, limit baffle 34;

[0043] Transmission structure 4: axle pulley 41, screw pulley 42, transmission belt 43;

[0044] Reciprocating screw 5; nut reciprocating slide 6;

[0045] Material transfer structure 7: guide material transfer pipe 71, material transfer outlet 72, and connecting hose 73. DETAILED DESCRIPTION

[0046] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0047] The terms "upper", "lower", "left", "right", "middle", etc. used in this specification are only for the convenience of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the present invention without substantially changing the technical content.

[0048] The embodiment of the present invention provides a remote control method and system for automatically adjusting the posture of a conveyor belt of a slag scraper, wherein: Figure 1 A flow chart of a method for automatically adjusting the attitude of a conveyor belt of a remote-controlled scraper provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the automatic adjustment control method of the conveyor belt posture of a remote-controlled scraper according to an embodiment of the present invention includes the following steps:

[0049] Obtain the height measurement value of the remote-controlled scraper conveyor belt and the distance detection value of nearby obstacles;

[0050] Calculate the deviation between the height measurement value and the distance detection value;

[0051] According to the deviation value, the control output value is obtained through PID operation to feedback control the posture of the remote control scraper conveyor belt.

[0052] The automatic adjustment control method for the remote-controlled scraper conveyor belt posture provided in this embodiment can automatically adjust the remote-controlled scraper conveyor belt posture, so that the scraper can maintain the conveyor belt angle to follow the road bumps during operation.

[0053] In order to better understand the present invention, each step in this embodiment is described below.

[0054] Height measurements and distance detection values ​​are obtained by ultrasonic sensors installed on the conveyor belt.

[0055] In this embodiment, since the ultrasonic sensor can determine the height measurement value and the distance detection value without any external conditions, the controller can calculate and adjust the solenoid valve to achieve continuous adjustment of the remote control scraper conveyor belt.

[0056] Specifically, it includes:

[0057] When the height measurement value is greater than or equal to the distance detection value, the controller output signal is obtained through PID calculation to control the remote control scraper conveyor to a position of the distance set value;

[0058] When the height measurement value is less than the distance detection value, the initial value of the posture of the remote-controlled scraper conveyor belt is obtained, and the adjustment value is obtained through PID calculation, and the height of the remote-controlled scraper conveyor belt is feedback-controlled.

[0059] The obtaining of the initial value of the posture of the conveyor belt of the remote-controlled scraper is specifically, when the actuating cylinder and the conveyor belt are not in motion, the remote-controlled scraper is in driving or turning motion and maintains the motion for a preset time, obtaining the initial value of the posture of the conveyor belt of the remote-controlled scraper.

[0060] In this example, PID stands for "proportional, integral, and derivative." The PID algorithm is a common control algorithm used in situations where a physical quantity needs to be kept stable, such as maintaining balance, stabilizing power, or stabilizing speed. In this example, PID is used to control the actual height of the conveyor belt in real time, adjusting it to a calculated setpoint.

[0061] Specifically, the PID operation is:

[0062] Y=S+K∫(HX)dx

[0063] Among them, Y is the control output value, K is the proportional coefficient, S is the preset constant, H is the height measurement value, and X is the distance measurement value.

[0064] Figure 2 This is a schematic diagram of the control principle of the remote control system for automatically adjusting the attitude of the conveyor belt of the slag scraper provided by the embodiment of the present invention. Figure 2 As shown, the system includes an ultrasonic sensor, a vehicle-mounted controller, a lifting solenoid valve, a lowering solenoid valve, an actuating cylinder and a conveyor belt.

[0065] The output end of the ultrasonic sensor is electrically connected to the control input end of the vehicle-mounted controller, the control port of the vehicle-mounted controller is respectively connected to the input ports of the lifting solenoid valve and the lowering solenoid valve, the output ports of the lifting solenoid valve and the lowering solenoid valve are respectively connected to the actuating cylinder, and the actuating cylinder is transmission-connected to the conveyor belt.

[0066] In this embodiment, the ultrasonic sensor is used to measure the height measurement value of the conveyor belt and the distance detection value of the obstacle in real time. A conveyor belt angle sensor can also be set to work synchronously with the ultrasonic sensor.

[0067] The onboard controller uses the height measurement and distance detection values ​​as input. It generates a control signal through PID calculation and outputs it to the lifting or lowering solenoid valve.

[0068] The lifting solenoid valve and the lowering solenoid valve are used to control the signal value as input to control the action cylinder to adjust the conveyor belt posture.

[0069] When the height measurement value is greater than or equal to the distance detection value, the descending solenoid valve is controlled to lower the height of the conveyor belt until the height measurement value is reduced to a preset distance setting value.

[0070] Preferably, the preset distance setting value can be set manually.

[0071] In summary, the automatic control method and system for the remote-controlled scraper conveyor belt provided by this application, when the height measurement value is greater than or equal to the distance detection value, performs PID calculation to control the remote-controlled scraper conveyor belt to lower its height until the height measurement value drops to a preset distance setting value. This can achieve a fast response and a fast and stable control effect. Moreover, when the height measurement value is less than the distance detection value, the initial value of the remote-controlled scraper conveyor belt's posture is obtained, and the adjustment value is obtained through PID calculation, and the height of the remote-controlled scraper conveyor belt is feedback-controlled, effectively improving the practicality of the function.

[0072] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made thereto. Therefore, such modifications and improvements, without departing from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A remote control method for automatically adjusting the posture of a conveyor belt of a slag scraper, characterized in that: The steps include: Obtain the height measurement value of the remote-controlled scraper conveyor belt and the distance detection value of nearby obstacles; Calculate the deviation between the height measurement value and the distance detection value; According to the deviation value, the control output value is obtained through PID operation to feedback control the posture of the remote control scraper conveyor belt; The calculation of the deviation between the height measurement value and the distance detection value, and the selection of the control output value obtained by PID operation according to the deviation value to feedback control the posture of the remote control conveyor belt of the scraper specifically include: When the height measurement value is greater than or equal to the distance detection value, the controller output signal is obtained through PID calculation to control the remote control scraper conveyor to a position of the distance set value; When the height measurement value is less than the distance detection value, the initial value of the posture of the remote-controlled scraper conveyor belt is obtained, and the adjustment value is obtained through PID calculation, and the height of the remote-controlled scraper conveyor belt is feedback-controlled; The PID operation is: Among them, Y is the control output value, K is the proportional coefficient, S is the preset constant, H is the height measurement value, and X is the distance measurement value.

2. The automatic adjustment control method for the remote control scraper conveyor belt according to claim 1 is characterized in that: The method of obtaining the height measurement value of the conveyor belt of the remote-controlled scraper and the distance detection value of nearby obstacles specifically includes: The height measurement value of the conveyor belt and the distance detection value of nearby obstacles are obtained by installing an ultrasonic sensor on the conveyor belt.

3. The automatic adjustment control method for the remote control scraper conveyor belt according to claim 1 is characterized in that: When the height measurement value is greater than or equal to the distance detection value, the controller output signal is obtained by PID operation to control the remote control scraper conveyor belt to a position of the distance setting value, specifically including: When the height measurement value is greater than or equal to the obstacle distance detection value, the remote-controlled scraper conveyor belt is controlled to lower its height until the height measurement value is reduced to within a safe range of a preset distance setting value.

4. The automatic adjustment control method for the remote control scraper conveyor belt according to claim 1 is characterized in that: The obtaining of the initial value of the posture of the conveyor belt of the remote control scraper specifically includes: When the action cylinder directly or indirectly connected to the conveyor belt does not move, the remote-controlled scraper has a driving or turning action and maintains it for a preset time, the initial value of the posture of the conveyor belt of the remote-controlled scraper is obtained.

5. A control system using the remote control method for automatically adjusting the attitude of a conveyor belt of a slag scraper according to any one of claims 1 to 4, characterized in that: The control system includes: a detection module, assembled on the conveyor belt; A control module, wherein a control input terminal is electrically connected to an output terminal of the detection module; The actuator is electrically connected to the control output end of the control module, and the actuator is connected to the conveyor belt through a transmission assembly.

6. The remote control system for automatically adjusting the attitude of the conveyor belt of a slag scraper according to claim 5 is characterized in that: The detection module includes an ultrasonic sensor and / or a conveyor belt angle sensor; The output end of the ultrasonic sensor is electrically connected to the control input end of the control module; And / or, the output end of the conveyor belt angle sensor is electrically connected to the control input end of the control module.

7. The remote control system for automatically adjusting the attitude of the conveyor belt of a slag scraper according to claim 6 is characterized in that: The control module is a vehicle-mounted controller; The output end of the ultrasonic sensor is electrically connected to the control input end of the vehicle controller; And / or, the output end of the conveyor belt angle sensor is electrically connected to the control input end of the vehicle-mounted controller.

8. The remote control system for automatically adjusting the attitude of the conveyor belt of a slag scraper according to claim 7 is characterized in that: The actuator includes a lifting solenoid valve, a lowering solenoid valve and an actuating cylinder; The control port of the vehicle-mounted controller is respectively connected to the input ports of the lifting solenoid valve and the lowering solenoid valve, the output ports of the lifting solenoid valve and the lowering solenoid valve are respectively connected to the actuating cylinder, and the actuating cylinder is transmission-connected to the conveyor belt.

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