A smart bucket wheel material handling system

Abstract

This invention relates to the field of engineering control, specifically disclosing an intelligent bucket wheel material handling system, comprising: a bucket wheel mechanism and a conveying mechanism; further comprising: a cleaning mechanism for cleaning impurities from the coal to be handled; a control module for acquiring an image of the coal to be handled and setting the gear speed of the cleaning mechanism based on a semantic segmentation algorithm combined with the coal image; a correction module for correcting the gear speed; a frequency setting module for acquiring the current temperature of the coal to be handled and setting the opening and closing frequency of the cleaning mechanism according to the current temperature; and a conveying mechanism detection module for detecting abnormalities in the conveying mechanism and adjusting the opening and closing frequency of the cleaning mechanism according to the frequency of occurrence of the abnormalities. This invention, by adding a cleaning mechanism, prevents impurities in the coal from affecting the material handling machine; by controlling the cleaning mechanism, it prevents dust pollution, saves energy and protects the environment, and improves the safety of the system.

Description

Technical Field

[0001] This application relates to the field of engineering control technology, and more specifically, to an intelligent bucket wheel material handling system. Background Technology

[0002] A bucket wheel excavator mainly consists of a bucket wheel mechanism, a slewing mechanism, a conveying mechanism, a tail car, and a pitching and running mechanism. It is a high-efficiency loading and unloading machine used in large dry bulk cargo yards, capable of both stacking and retrieving materials. It consists of a belt conveyor arm that can pitch and swing horizontally, along with the bucket wheel at its front end, a frame, and a running mechanism. The belt can run in both directions. During retrieving, materials are picked up by the bucket wheel and conveyed out through the conveyor arm. During stacking, goods transported by the main conveyor are thrown into the yard through the conveyor arm.

[0003] Currently, during the material handling process of bucket wheel excavators, due to the influence of materials on site, there is a situation where debris gets entangled in the conveying mechanism and other mechanical rotating equipment. This debris is usually dust netting or straw. At the same time, when the conveying mechanism is entangled, it may also transport the debris to the equipment at the rear, affecting the safe operation of the entire bucket wheel excavator system. Cleaning debris from the coal will also cause the dust concentration in the coal yard to increase, and at the same time increase the risk of coal fire.

[0004] Therefore, how to accurately set the cleaning mechanism parameters during the operation of the bucket wheel excavator system to prevent excessive dust and fires in the coal yard is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This invention provides an intelligent bucket wheel material handling system to solve the technical problems of high dust generation and low safety in existing bucket wheel excavator systems. It includes a bucket wheel mechanism and a conveying mechanism, and further includes:

[0006] A cleaning mechanism, connected to the conveying mechanism, includes a crushing barrel and a gear mechanism, used to clean impurities from the coal to be removed;

[0007] The control module is used to acquire an image of the coal to be removed and to set the gear speed of the cleaning mechanism based on a semantic segmentation algorithm combined with the image of the coal to be removed.

[0008] A correction module is used to correct the gear rotation speed;

[0009] The frequency setting module is used to obtain the current temperature of the coal to be removed and set the opening and closing frequency of the cleaning mechanism according to the current temperature of the coal to be removed.

[0010] The conveying mechanism detection module is used to detect abnormal conditions of the conveying mechanism and adjust the opening and closing frequency of the cleaning mechanism according to the frequency of occurrence of the abnormal conditions.

[0011] Furthermore, the specific steps by which the control module sets the gear rotation speed of the cleaning mechanism based on a semantic segmentation algorithm and an image of the coal to be removed include:

[0012] Obtain an image of the coal to be taken, and perform semantic segmentation on the image of the coal to be taken;

[0013] The debris coverage N in the image of the coal to be collected is determined based on the semantic segmentation results.

[0014] The gear rotation speed of the cleaning mechanism is set according to the debris coverage rate N.

[0015] Furthermore, the control module is configured with a preset debris coverage matrix M and a preset gear speed matrix V. For the preset gear speed matrix V, V(V1, V2, V3, V4) is set, where V1 is the first preset gear speed, V2 is the second preset gear speed, V3 is the third preset gear speed, and V4 is the fourth preset gear speed, and V1 < V2 < V3 < V4.

[0016] For the preset clutter coverage matrix M, set M(M1, M2, M3, M4), where M1 is the first preset clutter coverage, M2 is the second preset clutter coverage, M3 is the third preset clutter coverage, M4 is the fourth preset clutter coverage, and M1 < M2 < M3 < M4.

[0017] The control module is used to select the corresponding gear speed as the gear speed when the cleaning mechanism cleans up debris based on the relationship between N and the preset debris coverage matrix M.

[0018] When N < M1, the first preset gear speed V1 is selected as the gear speed when the cleaning mechanism cleans up debris;

[0019] When M1≤N<M2, the second preset gear speed V2 is selected as the gear speed when the cleaning mechanism cleans up debris;

[0020] When M2≤N<M3, the third preset gear speed V3 is selected as the gear speed when the cleaning mechanism cleans up debris;

[0021] When M3≤N<M4, the fourth preset gear speed V4 is selected as the gear speed when the cleaning mechanism cleans up debris.

[0022] Furthermore, the correction module is configured with a preset dust concentration matrix Y and a preset gear speed correction coefficient matrix B. For the preset gear speed correction coefficient matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset gear speed correction coefficient, B2 is the second preset gear speed correction coefficient, B3 is the third preset gear speed correction coefficient, and B4 is the fourth preset gear speed correction coefficient, and 0.5 < B1 < B2 < B3 < B4 < 1;

[0023] For the preset dust concentration matrix Y, set Y(Y1, Y2, Y3, Y4), where Y1 is the first preset dust concentration, Y2 is the second preset dust concentration, Y3 is the third preset dust concentration, Y4 is the fourth preset dust concentration, and Y1 < Y2 < Y3 < Y4.

[0024] The correction module is also used to select a corresponding gear speed correction coefficient to correct the i-th preset gear speed based on the relationship between the current dust concentration around the bucket wheel mechanism and the preset dust concentration matrix Y, where i = 1, 2, 3, 4;

[0025] When the dust concentration is <Y1, the fourth preset gear speed correction coefficient B4 is selected to correct the i-th preset gear speed Vi. The corrected gear speed is Vi*B4.

[0026] When Y1≤dust concentration<Y2, the third preset gear speed correction coefficient B3 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi*B3;

[0027] When Y2≤dust concentration<Y3, the second preset gear speed correction coefficient B2 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi*B2;

[0028] When Y3≤dust concentration<Y4, the first preset gear speed correction coefficient B1 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi*B1.

[0029] Furthermore, after correcting the rotational speed based on the dust concentration, the correction module is also configured to:

[0030] Get the change in dust concentration within a preset time period after one correction, and determine whether the change in dust concentration is greater than the first preset threshold.

[0031] If not, the gear speed is then corrected a second time.

[0032] Furthermore, the correction module is also used to perform a secondary correction on the gear speed based on the change in dust concentration;

[0033] The correction module is configured with a preset dust concentration change matrix W and a preset gear speed secondary correction coefficient matrix C. For the preset dust concentration change matrix W, W(W1, W2, W3, W4) is set, where W1 is the first preset dust concentration change, W2 is the second preset dust concentration change, W3 is the third preset dust concentration change, and W4 is the fourth preset dust concentration change, and W1 < W2 < W3 < W4.

[0034] For the preset gear speed secondary correction coefficient matrix C, set C(C1, C2, C3, C4), where C1 is the first preset gear speed secondary correction coefficient, C2 is the second preset gear speed secondary correction coefficient, C3 is the third preset gear speed secondary correction coefficient, C4 is the fourth preset gear speed secondary correction coefficient, and 0.5 < C1 < C2 < C3 < C4 < 1.

[0035] The correction module selects the corresponding gear speed secondary correction coefficient based on the relationship between the dust concentration change and the preset dust concentration change matrix W, and performs secondary correction on the i-th preset gear speed, where i = 1, 2, 3, 4;

[0036] When the change in dust concentration is less than W1, the fourth preset gear speed secondary correction coefficient C4 is selected to perform secondary correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C4.

[0037] When W1≤dust concentration change<W2, the third preset gear speed correction coefficient C3 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C3.

[0038] When W2≤dust concentration change<W3, the second preset gear speed correction coefficient C2 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C2.

[0039] When W3≤dust concentration change<W4, the first preset gear speed correction coefficient C1 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C1.

[0040] Furthermore, the frequency setting module is set with a preset coal temperature matrix T and a preset on / off frequency matrix S. For the preset on / off frequency matrix S, S(S1, S2, S3, S4) is set, where S1 is the first preset on / off frequency, S2 is the second preset on / off frequency, S3 is the third preset on / off frequency, and S4 is the fourth preset on / off frequency, and S1 < S2 < S3 < S4.

[0041] For the preset coal temperature matrix T, set T(T1, T2, T3, T4), where T1 is the first preset coal temperature, T2 is the second preset coal temperature, T3 is the third preset coal temperature, T4 is the fourth preset coal temperature, and T1 < T2 < T3 < T4.

[0042] The frequency setting module is also used to select the corresponding opening and closing frequency as the opening and closing frequency of the cleaning mechanism based on the relationship between the current temperature of the coal to be removed and the preset temperature matrix T of the coal to be removed.

[0043] When the temperature of the coal to be removed is <T1, the fourth preset opening and closing frequency S4 is selected as the opening and closing frequency of the cleaning mechanism.

[0044] When T1 ≤ current coal temperature < T2, the third preset opening and closing frequency S3 is selected as the opening and closing frequency of the cleaning mechanism.

[0045] When T2 ≤ current coal temperature < T3, the second preset opening and closing frequency S2 is selected as the opening and closing frequency of the cleaning mechanism;

[0046] When T3 ≤ current coal temperature < T4, the first preset opening and closing frequency S1 is selected as the opening and closing frequency of the cleaning mechanism.

[0047] Furthermore, the specific steps for the conveying mechanism detection module to detect abnormal conditions of the conveying mechanism include:

[0048] The surface temperature distribution of the conveying mechanism is obtained. If there is an abnormal temperature point on the surface of the conveying mechanism with a temperature greater than a second preset threshold, it is determined that there is an abnormal situation in the conveying mechanism.

[0049] Furthermore, the conveying mechanism detection module is equipped with a preset abnormal frequency matrix P and a preset opening and closing frequency correction coefficient matrix D. For the preset abnormal frequency matrix P, P(P1, P2, P3, P4) is set, where P1 is the first preset abnormal frequency, P2 is the second preset abnormal frequency, P3 is the third preset abnormal frequency, P4 is the fourth preset abnormal frequency, and P1 < P2 < P3 < P4.

[0050] For the preset start-stop frequency correction coefficient matrix D, set D(D1, D2, D3, D4), where D1 is the first preset start-stop frequency correction coefficient, D2 is the second preset start-stop frequency correction coefficient, D3 is the third preset start-stop frequency correction coefficient, D4 is the fourth preset start-stop frequency correction coefficient, and 0.5 < D1 < D2 < D3 < D4 < 1.

[0051] The conveying mechanism detection module selects a corresponding opening and closing frequency correction coefficient based on the relationship between the frequency of abnormal occurrences and the preset abnormal frequency matrix P to correct the i-th preset opening and closing frequency, i = 1, 2, 3, 4.

[0052] When the frequency of abnormal occurrence is <P1, the first preset opening and closing frequency correction coefficient D1 is selected to correct the i-th preset opening and closing frequency, and the corrected opening and closing frequency is D1*Si.

[0053] When P1≤abnormal occurrence frequency<P2, the second preset opening and closing frequency correction coefficient D2 is selected to correct the i-th preset opening and closing frequency. The corrected opening and closing frequency is D2*Si.

[0054] When P2≤abnormal occurrence frequency<P3, the third preset opening and closing frequency correction coefficient D3 is selected to correct the i-th preset opening and closing frequency. The corrected opening and closing frequency is D3*Si.

[0055] When P3 ≤ frequency of abnormal occurrence < P4, the fourth preset opening and closing frequency correction coefficient D4 is selected to correct the i-th preset opening and closing frequency, and the corrected opening and closing frequency is D4*Si.

[0056] Preferably, the intelligent bucket wheel material handling system further includes:

[0057] The alarm module is used to obtain the highest temperature of the abnormal temperature point of the conveying mechanism. If the highest temperature of the abnormal temperature point is greater than a third preset threshold, the operation of the intelligent bucket wheel material handling system will be stopped and an alarm signal will be sent.

[0058] By applying the above technical solutions, this invention can promptly remove debris from the coal during the operation of the bucket wheel excavator system, and can precisely control the gear speed to reduce dust generated during cleaning and prevent dust pollution. Furthermore, when the coal temperature is too high, the opening and closing frequency of the cleaning mechanism can be controlled in a timely manner to prevent the coal from catching fire due to overheating caused by friction of the cleaning mechanism. At the same time, this invention also monitors abnormal conditions of the bucket wheel excavator system through an alarm module, and promptly stops the system operation and issues an alarm when an abnormality occurs, effectively improving the safety of the system. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A schematic diagram of an intelligent bucket wheel material handling system according to an embodiment of the present invention is shown;

[0061] Figure 2 This diagram illustrates the operation of an intelligent bucket wheel material handling system according to an embodiment of the present invention.

[0062] Among them, 1. Bucket wheel mechanism; 2. Conveying mechanism; 3. Crushing barrel; 4. Gear mechanism. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] This application provides an intelligent bucket wheel material handling system, such as... Figures 1-2 As shown, the system includes a bucket wheel mechanism 1 and a conveying mechanism, and further includes: a cleaning mechanism connected to the conveying mechanism, including a crushing bucket 3 and a gear mechanism, used to clean impurities in the coal to be removed; a control module used to acquire an image of the coal to be removed, and set the gear speed of the cleaning mechanism based on a semantic segmentation algorithm combined with the image of the coal to be removed; a correction module used to correct the gear speed; a frequency setting module used to acquire the current temperature of the coal to be removed, and set the opening and closing frequency of the cleaning mechanism according to the current temperature of the coal to be removed; and a conveying mechanism detection module used to detect abnormal conditions of the conveying mechanism, and adjust the opening and closing frequency of the cleaning mechanism according to the frequency of occurrence of the abnormal conditions.

[0065] In this embodiment, the cleaning mechanism is located at the lower front end of the conveying mechanism, and the distance between it and the conveying mechanism is slightly less than the material picking radius of the bucket wheel mechanism 1. The cleaning mechanism includes a crushing barrel 3 and a gear mechanism 4. The crushing barrel 3 is a roller that rotates in opposite directions. The roller is equipped with an L-shaped claw hook. The gear mechanism 4 and the crushing barrel 3 are configured as a transmission structure. A motor is connected inside the gear mechanism 4, which drives the crushing barrel 3 to rotate. The control module, correction module, frequency setting module, and conveying mechanism detection module are all electrically connected to the gear mechanism 4 to control the rotation speed and opening and closing frequency of the cleaning mechanism.

[0066] In some embodiments of this application, the specific steps of the control module setting the gear speed of the cleaning mechanism based on the semantic segmentation algorithm and the image of the coal to be removed include: acquiring the image of the coal to be removed and performing semantic segmentation on the image of the coal to be removed; determining the debris coverage rate N in the image of the coal to be removed based on the semantic segmentation result; and setting the gear speed of the cleaning mechanism based on the debris coverage rate N.

[0067] In this embodiment, the image of the coal to be retrieved can be acquired by a high-definition camera in the coal yard. The control module uses a semantic segmentation model obtained by deep learning to perform semantic segmentation on the image of the coal to be retrieved, calculates the proportion of each segmented image block to the entire image, and classifies the image blocks into coal and various debris such as straw and dust nets. The area of ​​the debris and the proportion of the total number of pixels in the image are calculated to obtain the debris coverage rate N, and the gear speed of the cleaning mechanism is set according to the debris coverage rate N.

[0068] In some embodiments of this application, the control module is configured with a preset debris coverage matrix M and a preset gear speed matrix V. For the preset gear speed matrix V, V(V1, V2, V3, V4) is set, where V1 is the first preset gear speed, V2 is the second preset gear speed, V3 is the third preset gear speed, V4 is the fourth preset gear speed, and V1 < V2 < V3 < V4.

[0069] For the preset clutter coverage matrix M, set M(M1, M2, M3, M4), where M1 is the first preset clutter coverage, M2 is the second preset clutter coverage, M3 is the third preset clutter coverage, M4 is the fourth preset clutter coverage, and M1 < M2 < M3 < M4.

[0070] The control module is used to select the corresponding gear speed as the gear speed when the cleaning mechanism cleans up debris based on the relationship between N and the preset debris coverage matrix M.

[0071] When N < M1, the first preset gear speed V1 is selected as the gear speed when the cleaning mechanism cleans up debris;

[0072] When M1≤N<M2, the second preset gear speed V2 is selected as the gear speed when the cleaning mechanism cleans up debris;

[0073] When M2≤N<M3, the third preset gear speed V3 is selected as the gear speed when the cleaning mechanism cleans up debris;

[0074] When M3≤N<M4, the fourth preset gear speed V4 is selected as the gear speed when the cleaning mechanism cleans up debris.

[0075] In this embodiment, the higher the calculated debris coverage rate, the faster the gear speed required by the cleaning mechanism. The control module can set an appropriate gear speed according to the debris coverage rate to prevent the cleaning effect of debris from being affected by the gear speed being too fast or too slow.

[0076] In some embodiments of this application, the correction module is configured with a preset dust concentration matrix Y and a preset gear speed correction coefficient matrix B. For the preset gear speed correction coefficient matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset gear speed correction coefficient, B2 is the second preset gear speed correction coefficient, B3 is the third preset gear speed correction coefficient, and B4 is the fourth preset gear speed correction coefficient, and 0.5 < B1 < B2 < B3 < B4 < 1;

[0077] For the preset dust concentration matrix Y, set Y(Y1, Y2, Y3, Y4), where Y1 is the first preset dust concentration, Y2 is the second preset dust concentration, Y3 is the third preset dust concentration, Y4 is the fourth preset dust concentration, and Y1 < Y2 < Y3 < Y4.

[0078] The correction module is also used to select a corresponding gear speed correction coefficient to correct the speed of the i-th preset gear based on the relationship between the current dust concentration around the bucket wheel mechanism 1 and the preset dust concentration matrix Y, where i = 1, 2, 3, 4;

[0079] When the dust concentration is <Y1, the fourth preset gear speed correction coefficient B4 is selected to correct the i-th preset gear speed Vi. The corrected gear speed is Vi*B4.

[0080] When Y1≤dust concentration<Y2, the third preset gear speed correction coefficient B3 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi*B3;

[0081] When Y2≤dust concentration<Y3, the second preset gear speed correction coefficient B2 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi*B2;

[0082] When Y3≤dust concentration<Y4, the first preset gear speed correction coefficient B1 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi*B1.

[0083] In this embodiment, dust concentration detection points are set up around the coal to be removed. The dust concentration during the operation of the cleaning mechanism is detected by an industrial dust detector, and the gear speed of the cleaning mechanism is adjusted by a correction module. When the dust concentration increases, the gear speed is reduced to reduce dust and lower the dust concentration.

[0084] In some embodiments of this application, after the correction module corrects the rotational speed based on the dust concentration, it is further configured to: obtain the change in dust concentration within a preset time period after the first correction, and determine whether the change in dust concentration is greater than a first preset threshold; if not, then perform a second correction on the gear rotational speed.

[0085] In this embodiment, the change in dust concentration within 15 minutes after the first correction is detected. If the change is greater than half of the dust concentration before the first correction, the gear speed is not corrected. If the change is less than half of the dust concentration before the first correction, the gear speed is corrected a second time to further reduce the dust concentration.

[0086] In some embodiments of this application, the correction module is further configured to perform a secondary correction on the gear rotation speed based on the change in dust concentration;

[0087] The correction module is configured with a preset dust concentration change matrix W and a preset gear speed secondary correction coefficient matrix C. For the preset dust concentration change matrix W, W(W1, W2, W3, W4) is set, where W1 is the first preset dust concentration change, W2 is the second preset dust concentration change, W3 is the third preset dust concentration change, and W4 is the fourth preset dust concentration change, and W1 < W2 < W3 < W4.

[0088] For the preset gear speed secondary correction coefficient matrix C, set C(C1, C2, C3, C4), where C1 is the first preset gear speed secondary correction coefficient, C2 is the second preset gear speed secondary correction coefficient, C3 is the third preset gear speed secondary correction coefficient, C4 is the fourth preset gear speed secondary correction coefficient, and 0.5 < C1 < C2 < C3 < C4 < 1.

[0089] The correction module selects the corresponding gear speed secondary correction coefficient based on the relationship between the dust concentration change and the preset dust concentration change matrix W, and performs secondary correction on the i-th preset gear speed, where i = 1, 2, 3, 4;

[0090] When the change in dust concentration is less than W1, the fourth preset gear speed secondary correction coefficient C4 is selected to perform secondary correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C4.

[0091] When W1≤dust concentration change<W2, the third preset gear speed correction coefficient C3 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C3.

[0092] When W2≤dust concentration change<W3, the second preset gear speed correction coefficient C2 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C2.

[0093] When W3≤dust concentration change<W4, the first preset gear speed correction coefficient C1 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C1.

[0094] In some embodiments of this application, the frequency setting module is set with a preset coal temperature matrix T and a preset start-stop frequency matrix S. For the preset start-stop frequency matrix S, S(S1, S2, S3, S4) is set, where S1 is the first preset start-stop frequency, S2 is the second preset start-stop frequency, S3 is the third preset start-stop frequency, S4 is the fourth preset start-stop frequency, and S1 < S2 < S3 < S4.

[0095] For the preset coal temperature matrix T, set T(T1, T2, T3, T4), where T1 is the first preset coal temperature, T2 is the second preset coal temperature, T3 is the third preset coal temperature, T4 is the fourth preset coal temperature, and T1 < T2 < T3 < T4.

[0096] The frequency setting module is also used to select the corresponding opening and closing frequency as the opening and closing frequency of the cleaning mechanism based on the relationship between the current temperature of the coal to be removed and the preset temperature matrix T of the coal to be removed.

[0097] When the temperature of the coal to be removed is <T1, the fourth preset opening and closing frequency S4 is selected as the opening and closing frequency of the cleaning mechanism.

[0098] When T1 ≤ current coal temperature < T2, the third preset opening and closing frequency S3 is selected as the opening and closing frequency of the cleaning mechanism.

[0099] When T2 ≤ current coal temperature < T3, the second preset opening and closing frequency S2 is selected as the opening and closing frequency of the cleaning mechanism;

[0100] When T3 ≤ current coal temperature < T4, the first preset opening and closing frequency S1 is selected as the opening and closing frequency of the cleaning mechanism.

[0101] In this embodiment, to prevent coal yard fires, a temperature detector is installed around the coal to be taken to detect the temperature of the coal to be taken when the cleaning mechanism is working. The frequency setting module reduces the opening and closing frequency of the cleaning mechanism in time when the temperature of the coal to be taken rises, so as to prevent the coal yard from catching fire due to the long-term cleaning work of the cleaning mechanism. In this embodiment, the opening and closing interval of the cleaning mechanism is a preset fixed value, and the opening and closing frequency is specifically the number of times the cleaning mechanism is opened and closed within 1 hour.

[0102] In some embodiments of this application, the specific steps for the conveying mechanism detection module to detect abnormal conditions of the conveying mechanism 2 include:

[0103] The surface temperature distribution of the conveying mechanism 2 is obtained. If there is an abnormal temperature point on the surface of the conveying mechanism 2 with a temperature greater than a second preset threshold, it is determined that there is an abnormal situation in the conveying mechanism 2.

[0104] In this embodiment, the continuous friction of tangled or blocked debris will cause the temperature of a certain point of the conveyor mechanism 2 to be too high. In this embodiment, a temperature detector is set on the conveyor mechanism 2 to obtain the surface temperature of the conveyor belt during the conveying process. When an abnormal temperature point occurs that exceeds the normal temperature of the conveyor mechanism 2 by 10°C, it indicates that there may be debris tangling or blockage in the conveyor mechanism 2. The abnormal situation of the conveyor mechanism 2 is recorded by the temperature detector and uploaded to the conveyor mechanism detection module.

[0105] In some embodiments of this application, the conveying mechanism detection module is provided with a preset abnormal frequency matrix P and a preset opening and closing frequency correction coefficient matrix D. For the preset abnormal frequency matrix P, P(P1, P2, P3, P4) is set, where P1 is the first preset abnormal frequency, P2 is the second preset abnormal frequency, P3 is the third preset abnormal frequency, P4 is the fourth preset abnormal frequency, and P1 < P2 < P3 < P4.

[0106] For the preset start-stop frequency correction coefficient matrix D, set D(D1, D2, D3, D4), where D1 is the first preset start-stop frequency correction coefficient, D2 is the second preset start-stop frequency correction coefficient, D3 is the third preset start-stop frequency correction coefficient, D4 is the fourth preset start-stop frequency correction coefficient, and 1 < D1 < D2 < D3 < D4 < 1.5.

[0107] The conveying mechanism detection module selects a corresponding opening and closing frequency correction coefficient based on the relationship between the frequency of abnormal occurrences and the preset abnormal frequency matrix P to correct the i-th preset opening and closing frequency, i = 1, 2, 3, 4.

[0108] When the frequency of abnormal occurrence is <P1, the first preset opening and closing frequency correction coefficient D1 is selected to correct the i-th preset opening and closing frequency, and the corrected opening and closing frequency is D1*Si.

[0109] When P1≤abnormal occurrence frequency<P2, the second preset opening and closing frequency correction coefficient D2 is selected to correct the i-th preset opening and closing frequency. The corrected opening and closing frequency is D2*Si.

[0110] When P2≤abnormal occurrence frequency<P3, the third preset opening and closing frequency correction coefficient D3 is selected to correct the i-th preset opening and closing frequency. The corrected opening and closing frequency is D3*Si.

[0111] When P3 ≤ frequency of abnormal occurrence < P4, the fourth preset opening and closing frequency correction coefficient D4 is selected to correct the i-th preset opening and closing frequency, and the corrected opening and closing frequency is D4*Si.

[0112] In this embodiment, the conveying mechanism detection module adjusts the opening and closing frequency of the cleaning mechanism by recording the frequency of abnormal situations within 0.5 hours. When the frequency of abnormal situations is high, the opening and closing frequency of the cleaning mechanism is appropriately increased to improve the efficiency of debris cleaning.

[0113] In some embodiments of this application, the intelligent bucket wheel material handling system further includes an alarm module, used to acquire the highest temperature of the abnormal temperature point of the conveying mechanism 2, and if the highest temperature of the abnormal temperature point is greater than a third preset threshold, the intelligent bucket wheel material handling system is stopped and an alarm signal is sent.

[0114] In this embodiment, the alarm module obtains the highest temperature of the abnormal temperature point in real time. When the highest temperature exceeds the normal temperature of the conveying mechanism 2 by 50°C, the operation of the intelligent bucket wheel material handling system is stopped in time, and an audible and visual alarm signal is sent to remind the technicians to pay attention.

[0115] To further illustrate the technical concept of this invention, the technical solution of this invention will now be described in conjunction with specific application scenarios.

[0116] By applying the above technical solutions, this application utilizes a cleaning mechanism located at the lower front end of the conveying mechanism 2 to remove debris such as straw and dust netting from the coal to be processed. The control module sets an appropriate gear speed for the cleaning mechanism based on the debris coverage rate, and the correction module adjusts the gear speed according to the dust concentration and variations in the coal yard. Simultaneously, by detecting the temperature of the coal to be processed, an appropriate opening and closing frequency of the cleaning mechanism is set. Furthermore, real-time monitoring and statistical analysis of the surface temperature of the conveying mechanism 2 detects and analyzes any abnormal conditions and their frequency. An appropriate correction value is selected based on the frequency of abnormal conditions to adjust the opening and closing frequency of the cleaning mechanism. When the temperature at the abnormal temperature point of the conveying mechanism 2 exceeds the normal temperature by 50°C, the system immediately stops operation and issues an audible and visual alarm. This effectively prevents debris in the coal from affecting the material handling machine, prevents dust pollution, saves energy and protects the environment, and improves system safety.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An intelligent bucket wheel reclaimer comprising a bucket wheel mechanism and a conveying mechanism, characterized in that, Also comprising: a cleaning mechanism connected to the conveying mechanism, including a crushing barrel and a gear mechanism, for cleaning sundries in the coal to be taken; a control module for obtaining an image of the coal to be taken, and setting a gear rotation speed of the cleaning mechanism based on a semantic segmentation algorithm combined with the image of the coal to be taken; a correction module for correcting the gear rotation speed; a frequency setting module for obtaining a current temperature of the coal to be taken, and setting an on-off frequency of the cleaning mechanism according to the current temperature of the coal to be taken; a conveying mechanism detection module for detecting abnormal conditions of the conveying mechanism, and adjusting the on-off frequency of the cleaning mechanism according to the frequency of occurrence of the abnormal conditions; the specific steps of the control module for setting the gear rotation speed of the cleaning mechanism based on the semantic segmentation algorithm combined with the image of the coal to be taken include: obtaining an image of the coal to be taken, and performing semantic segmentation on the image of the coal to be taken; determining a sundry coverage rate N in the image of the coal to be taken according to the semantic segmentation result; setting the gear rotation speed of the cleaning mechanism according to the sundry coverage rate N; the determination of the sundry coverage rate N in the image of the coal to be taken according to the semantic segmentation result includes: performing semantic segmentation on the image of the coal to be taken based on a semantic segmentation model obtained by deep learning, calculating the proportion of each segmented image block in the entire image, the classification of the image block including coal and sundries such as straw and dust screen other than coal, calculating the proportion of the area of the sundries in the entire image pixel points, and obtaining the sundry coverage rate N; the control module is provided with a preset sundry coverage rate matrix M and a preset gear rotation speed matrix V, for the preset gear rotation speed matrix V, V(V1, V2, V3, V4) is set, wherein V1 is a first preset gear rotation speed, V2 is a second preset gear rotation speed, V3 is a third preset gear rotation speed, and V4 is a fourth preset gear rotation speed, and V1 for the preset sundry coverage rate matrix M, M(M1, M2, M3, M4) is set, wherein M1 is a first preset sundry coverage rate, M2 is a second preset sundry coverage rate, M3 is a third preset sundry coverage rate, and M4 is a fourth preset sundry coverage rate, and M1 the control module is used to select a corresponding gear rotation speed as the gear rotation speed of the cleaning mechanism for cleaning sundries according to the relationship between N and the preset sundry coverage rate matrix M; when N when M1 when M2 when M3 when M3 2. The intelligent bucket-wheel reclaimer system of claim 1, wherein The correction module is internally provided with a preset dust concentration matrix Y and a preset gear speed correction coefficient matrix B. For the preset gear speed correction coefficient matrix B, B (B1, B2, B3, B4) is set, wherein B1 is a first preset gear speed correction coefficient, B2 is a second preset gear speed correction coefficient, B3 is a third preset gear speed correction coefficient, and B4 is a fourth preset gear speed correction coefficient, and 0.5 < B1 < B2 < B3 < B4 < 1; For the preset dust concentration matrix Y, Y (Y1, Y2, Y3, Y4) is set, wherein Y1 is a first preset dust concentration, Y2 is a second preset dust concentration, Y3 is a third preset dust concentration, and Y4 is a fourth preset dust concentration, and Y1 < Y2 < Y3 < Y4; The correction module is further configured to correct the i-th preset gear speed according to the relationship between the current dust concentration around the bucket wheel mechanism and the preset dust concentration matrix Y, wherein i = 1, 2, 3, 4; When the dust concentration < Y1, the fourth preset gear speed correction coefficient B4 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi * B4; When Y1 ≤ dust concentration < Y2, the third preset gear speed correction coefficient B3 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi * B3; When Y2 ≤ dust concentration < Y3, the second preset gear speed correction coefficient B2 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi * B2; When Y3 ≤ dust concentration < Y4, the first preset gear speed correction coefficient B1 is selected to correct the i-th preset gear speed Vi, and the corrected gear speed is Vi * B1.

3. The intelligent drag-and-drop system as claimed in claim 2, wherein, After the correction of the speed based on the dust concentration, the correction module is further configured to: obtain the dust concentration change amount in a preset period after the first correction, and determine whether the dust concentration change amount is greater than a first preset threshold; If not, the gear speed is corrected again.

4. The intelligent bucket wheel reclaimer system of claim 3, wherein the correction module is further configured to correct the gear speed again according to the dust concentration change amount; the correction module is internally provided with a preset dust concentration change amount matrix W and a preset gear speed correction coefficient matrix C. For the preset dust concentration change amount matrix W, W (W1, W2, W3, W4) is set, wherein W1 is a first preset dust concentration change amount, W2 is a second preset dust concentration change amount, W3 is a third preset dust concentration change amount, and W4 is a fourth preset dust concentration change amount, and W1 < W2 < W3 < W4; For the preset gear speed secondary correction coefficient matrix C, set C(C1, C2, C3, C4), where C1 is the first preset gear speed secondary correction coefficient, C2 is the second preset gear speed secondary correction coefficient, C3 is the third preset gear speed secondary correction coefficient, C4 is the fourth preset gear speed secondary correction coefficient, and 0.5 < C1 < C2 < C3 < C4 < 1. The correction module selects the corresponding gear speed secondary correction coefficient based on the relationship between the dust concentration change and the preset dust concentration change matrix W, and performs secondary correction on the i-th preset gear speed, where i = 1, 2, 3, 4. When the change in dust concentration is less than W1, the fourth preset gear speed secondary correction coefficient C4 is selected to perform secondary correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C4. When W1≤dust concentration change<W2, the third preset gear speed correction coefficient C3 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C3. When W2≤dust concentration change<W3, the second preset gear speed correction coefficient C2 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C2. When W3≤dust concentration change<W4, the first preset gear speed correction coefficient C1 is selected to perform a second correction on the corrected i-th preset gear speed, and the corrected gear speed is Vi*Bi*C1.

5. The intelligent bucket wheel material handling system as described in claim 1, characterized in that, The frequency setting module is set with a preset coal temperature matrix T and a preset start-stop frequency matrix S. For the preset start-stop frequency matrix S, S(S1, S2, S3, S4) is set, where S1 is the first preset start-stop frequency, S2 is the second preset start-stop frequency, S3 is the third preset start-stop frequency, and S4 is the fourth preset start-stop frequency, and S1 < S2 < S3 < S4. For the preset coal temperature matrix T, set T(T1, T2, T3, T4), where T1 is the first preset coal temperature, T2 is the second preset coal temperature, T3 is the third preset coal temperature, T4 is the fourth preset coal temperature, and T1 < T2 < T3 < T4. The frequency setting module is also used to select the corresponding opening and closing frequency as the opening and closing frequency of the cleaning mechanism based on the relationship between the current temperature of the coal to be removed and the preset temperature matrix T of the coal to be removed. When the temperature of the coal to be removed is <T1, the fourth preset opening and closing frequency S4 is selected as the opening and closing frequency of the cleaning mechanism. When T1 ≤ current coal temperature < T2, the third preset opening and closing frequency S3 is selected as the opening and closing frequency of the cleaning mechanism. When T2 ≤ current coal temperature < T3, the second preset opening and closing frequency S2 is selected as the opening and closing frequency of the cleaning mechanism; When T3 ≤ current coal temperature < T4, the first preset opening and closing frequency S1 is selected as the opening and closing frequency of the cleaning mechanism.

6. The intelligent drag-and-drop system as claimed in claim 1, wherein, The specific steps for the conveyor mechanism detection module to detect abnormal conditions of the conveyor mechanism include: The surface temperature distribution of the conveying mechanism is obtained. If there is an abnormal temperature point on the surface of the conveying mechanism with a temperature greater than a second preset threshold, it is determined that there is an abnormal situation in the conveying mechanism.

7. The intelligent bucket wheel material handling system as described in claim 6, characterized in that, The conveying mechanism detection module is equipped with a preset abnormal frequency matrix P and a preset opening and closing frequency correction coefficient matrix D. For the preset abnormal frequency matrix P, P(P1, P2, P3, P4) is set, where P1 is the first preset abnormal frequency, P2 is the second preset abnormal frequency, P3 is the third preset abnormal frequency, P4 is the fourth preset abnormal frequency, and P1 < P2 < P3 < P4. For the preset start-stop frequency correction coefficient matrix D, set D(D1, D2, D3, D4), where D1 is the first preset start-stop frequency correction coefficient, D2 is the second preset start-stop frequency correction coefficient, D3 is the third preset start-stop frequency correction coefficient, D4 is the fourth preset start-stop frequency correction coefficient, and 1 < D1 < D2 < D3 < D4 < 1.

5. The conveying mechanism detection module selects a corresponding opening and closing frequency correction coefficient based on the relationship between the frequency of abnormal occurrences and the preset abnormal frequency matrix P to correct the i-th preset opening and closing frequency, where i = 1, 2, 3, 4. When the frequency of abnormal occurrence is <P1, the first preset opening and closing frequency correction coefficient D1 is selected to correct the i-th preset opening and closing frequency, and the corrected opening and closing frequency is D1*Si. When P1≤abnormal occurrence frequency<P2, the second preset opening and closing frequency correction coefficient D2 is selected to correct the i-th preset opening and closing frequency. The corrected opening and closing frequency is D2*Si. When P2≤abnormal occurrence frequency<P3, the third preset opening and closing frequency correction coefficient D3 is selected to correct the i-th preset opening and closing frequency. The corrected opening and closing frequency is D3*Si. When P3 ≤ frequency of abnormal occurrence < P4, the fourth preset opening and closing frequency correction coefficient D4 is selected to correct the i-th preset opening and closing frequency, and the corrected opening and closing frequency is D4*Si.

8. The intelligent drag-and-drop system as claimed in claim 7, wherein, The intelligent bucket wheel material handling system also includes: The alarm module is used to obtain the highest temperature of the abnormal temperature point of the conveying mechanism. If the highest temperature of the abnormal temperature point is greater than a third preset threshold, the operation of the intelligent bucket wheel material handling system will be stopped and an alarm signal will be sent.

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