A safe feeding method capable of automatically removing large foreign matters in coal

Abstract

The present application relates to a kind of safety material conveying method capable of automatically removing large bulk impurities in coal, belonging to the technical field of coal mine safety equipment.The present application includes the following steps: step 1: the monitoring unit carries out image acquisition on the coal on the belt conveyor, obtains coal position image data, and transmits the collected coal position image data to the central controller;Step 2: the central controller processes and analyzes the coal position image data, judges whether the coal on the belt conveyor is piled up, whether the coal is uniformly distributed and whether there are large bulk impurities in the coal;Step 3: the central controller issues corresponding alarm according to the judgment result, and controls the belt conveyor, the flat coal unit and the impurity removal unit to perform corresponding actions.The present application realizes automatic removal of large bulk impurities in coal and uniform distribution of coal, prevents the running deviation of the material conveying belt, and improves the safety of the belt conveyor operation.

Description

Technical Field

[0001] This invention relates to the field of coal mine safety equipment technology, and in particular to a safe material conveying method that can automatically remove large foreign objects from coal. Background Technology

[0002] In coal mining and production, belt conveyors are one of the main methods of coal transportation. Controlling the coal level on the belt conveyor (i.e., the distribution of coal on the conveyor belt) is crucial for the safe operation of the belt conveyor. When transporting coal by belt conveyor, large foreign objects in the coal or uneven distribution of coal on the conveyor belt can cause uneven stress on the conveyor belt, leading to belt deviation, affecting the normal operation of the belt conveyor, and in severe cases, even causing damage to the belt conveyor and triggering safety accidents. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide a safe conveying method that can automatically remove large foreign objects from coal, in order to solve the problem in the prior art that the presence of large foreign objects in the coal or the uneven distribution of coal on the conveyor belt can easily lead to belt deviation and cause safety accidents when conveying coal by belt conveyors.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] A safe material conveying method capable of automatically removing large foreign objects from coal includes the following steps:

[0006] Step 1: The monitoring unit acquires images of the coal on the belt conveyor, obtains coal level image data, and transmits the acquired coal level image data to the central controller.

[0007] Step 2: The central controller processes and analyzes the coal level image data to determine whether coal pile-up has occurred on the belt conveyor, whether the coal is evenly distributed, and whether there are large foreign objects in the coal.

[0008] Step 3: The central controller issues a corresponding alarm based on the judgment result and controls the belt conveyor, coal leveling unit and foreign object removal unit to perform corresponding actions.

[0009] Further, step 1 includes: the laser emitter emitting a laser and projecting the laser onto the coal on the conveyor belt; the camera receiving the laser reflected from the coal, acquiring coal level image data on the conveyor belt, and transmitting the acquired coal level image data to the central controller.

[0010] Further, step 2 includes: step 201: the central controller preprocesses the collected coal position image data, including grayscale change, median filtering and image sharpening processing, and extracts the coal edge information on the belt conveyor through the Canny algorithm.

[0011] Furthermore, the median filtering process includes: processing the coal position image after grayscale changes using a 3×3 median filter.

[0012] Furthermore, the image sharpening process includes: sharpening the coal position image using the Sobel operator.

[0013] Furthermore, the extraction of coal edge information on the belt conveyor includes: the central controller determining the highest and lowest points of the coal level based on the extracted coal edge information, and extracting the coal level height h1 at the highest point and the coal level height h2 at the lowest point.

[0014] Furthermore, step 2 also includes: step 202: determining whether coal pile-up has occurred on the belt conveyor, whether the coal is evenly distributed, and whether there are large foreign objects in the coal.

[0015] Furthermore, determining whether coal pile-up has occurred on the belt conveyor includes: if h1 is greater than the preset coal pile-up height H, then it is determined that coal pile-up has occurred on the belt conveyor; determining whether the coal material on the belt conveyor is evenly distributed includes: if the difference between h1 and h2 exceeds 0.2H, then it is determined that the coal material is unevenly distributed on the conveyor belt.

[0016] Furthermore, the determination of whether there are large foreign objects in the coal on the belt conveyor includes: recording the largest h1 and the smallest h1 within 200ms. If the difference between the largest h1 and the smallest h1 exceeds 0.2H, it is determined that there are large foreign objects in the coal.

[0017] Furthermore, the safe material conveying method employs a coal level control device.

[0018] The technical solution of this invention can achieve at least the following effects:

[0019] This invention provides a safe coal conveying method capable of automatically removing large foreign objects from coal, comprising the following steps: Step 1: The monitoring unit acquires images of the coal on the belt conveyor, obtains coal level image data, and transmits the acquired coal level image data to the central controller; Step 2: The central controller processes and analyzes the coal level image data to determine whether coal accumulation has occurred on the belt conveyor, whether the coal is evenly distributed, and whether large foreign objects are present in the coal; Step 3: The central controller issues corresponding alarms based on the judgment results and controls the belt conveyor, coal leveling unit, and... The foreign object removal unit performs corresponding actions; this invention realizes the automatic removal of large foreign objects from coal on a belt conveyor, avoiding safety accidents caused by manual operation, and is less likely to miss large foreign objects, thus improving the efficiency and effect of large foreign object removal; at the same time, it also realizes the leveling of unevenly distributed coal on the conveyor belt, so that the coal is evenly distributed on the conveyor belt, thereby making the conveyor belt evenly stressed, preventing the conveyor belt from deviating, reducing the damage rate of the belt conveyor, ensuring the long-term safe and stable operation of the belt conveyor, and improving the safety of belt conveyor operation.

[0020] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0021] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0022] Figure 1 This is a flowchart of a safe conveying method for a belt conveyor in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the coal level control device in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the monitoring unit in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the foreign object removal unit in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention;

[0027] Figure 6 This is one of the structural schematic diagrams of the bucket mechanism in an embodiment of the present invention;

[0028] Figure 7 This is a second schematic diagram of the bucket mechanism in an embodiment of the present invention;

[0029] Figure 8 for Figure 7 Enlarged view of part A in the middle;

[0030] Figure 9 This is a schematic diagram of the structure of the flat coal unit in an embodiment of the present invention;

[0031] Figure 10 This is a schematic diagram of the coal leveling mechanism in an embodiment of the present invention;

[0032] Figure 11 This is a schematic diagram of the angle adjustment component in an embodiment of the present invention.

[0033] Figure label:

[0034] 1-Monitoring unit; 11-Mounting bracket; 12-Laser transmitter; 13-Camera;

[0035] 2-Foreign object removal unit; 21-Support frame; 211-Slide rail; 22-Lifting mechanism; 221-First drive motor; 222-First reducer; 223-Drive shaft; 224-Lifting screw; 225-Lifting platform; 23-Bucket mechanism; 231-Guide rail; 232-Slide block; 233-Bucket; 2331-Material production section; 2332-Receiving section; 234-First hydraulic rod; 235-Rack and pinion; 236-Second drive motor; 237-Second reducer; 238-Drive gear; 24-Unloading chute;

[0036] 3-Coal leveling unit; 31-Fixed support; 32-Coal leveling mechanism; 321-Support frame; 322-Coal leveling plate; 323-Second hydraulic rod; 324-Gathering plate; 3241-Extension; 3242-Gathering part; 325-Angle adjustment assembly; 3251-Flexible spring; 3252-Slider; 3253-Connecting rod; 3254-Angle adjustment disc; 3255-Fixed seat; 3256-Pressure tongue; 3257-Tightening spring;

[0037] 100 - Belt Conveyor. Detailed Implementation

[0038] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0039] Example 1

[0040] One specific embodiment of the present invention discloses a safe material conveying method capable of automatically removing large foreign objects from coal, such as... Figure 1 As shown, the specific steps include the following:

[0041] Step 1: The monitoring unit 1 acquires images of the coal on the belt conveyor 100, obtains coal level image data, and transmits the acquired coal level image data to the central controller.

[0042] Specifically, the laser emitter 12 emits a laser and projects it onto the coal on the conveyor belt. The camera 13 receives the laser reflected by the coal, acquires coal position image data on the conveyor belt (i.e., acquires the cross-sectional contour image of the coal on the conveyor belt), and transmits the acquired coal position image data to the central controller.

[0043] Step 2: The central controller processes and analyzes the coal level image data to determine whether coal pile-up has occurred on the belt conveyor 100, whether the coal is evenly distributed, and whether there are large foreign objects in the coal.

[0044] Specifically, the following steps are included:

[0045] Step 201: The central controller preprocesses the collected coal position image data, including grayscale change, median filtering and image sharpening, and extracts the coal edge information on the belt conveyor 100 (i.e., obtains the outline of the coal cross section) using the Canny algorithm.

[0046] Specifically, the central controller performs grayscale transformation on the acquired coal level image. After grayscale transformation, the grayscale value of the coal is lower, thereby enhancing the contrast between the laser projected by the laser emitter 12 onto the coal and the coal, and outputting the coal level image after grayscale transformation.

[0047] Specifically, a 3×3 median filter is used to process the coal position image after grayscale changes to reduce noise interference. Compared with using a larger template (such as 4×4), the processed coal position image will have increased blurriness, resulting in the loss of more details. Compared with using a smaller template (such as 2×2), although it can better preserve the details of the coal position image, its noise removal ability is weak, which will enhance noise interference.

[0048] Specifically, the Sobel operator is used to sharpen the coal position image;

[0049] Specifically, the Canny edge detection algorithm is used to extract the coal edge information (i.e., the outline information of the coal) in the coal position image;

[0050] Specifically, the central controller determines the highest and lowest points of the coal level based on the extracted coal edge information, and extracts the coal level height h1 at the highest point and the coal level height h2 at the lowest point (i.e., the vertical height from the cross-sectional outline of the coal in the same image to the bottom surface of the conveyor belt).

[0051] Step 202: Determine whether coal has piled up on the belt conveyor 100, whether the coal is evenly distributed, and whether there are large foreign objects in the coal.

[0052] Specifically, if h1 is greater than the preset coal pile height H, it is determined that coal pile-up has occurred on the belt conveyor 100; if the difference between h1 and h2 exceeds 0.2H, it is determined that the coal is unevenly distributed on the conveyor belt; the maximum and minimum h1 within 200ms are recorded, and if the difference between the maximum and minimum h1 exceeds 0.2H (the camera 13 described in this embodiment can capture 24 frames per second), it is determined that there are large foreign objects in the coal.

[0053] Step 3: The central controller issues a corresponding alarm based on the judgment result and controls the belt conveyor 100, the coal leveling unit 3 and the foreign object removal unit 2 to perform corresponding actions;

[0054] Specifically, the following steps are included:

[0055] Step 301: If it is determined that coal has piled up on the belt conveyor 100, the central controller will issue a coal pile-up alarm and control the belt conveyor 100 to stop running;

[0056] Step 302: If it is determined that the coal is unevenly distributed on the conveyor belt, the central controller will issue an uneven coal distribution alarm and control the leveling unit 3 to level the coal on the conveyor belt.

[0057] Specifically, the central controller controls the extension of the second hydraulic rod 323, drives the support frame 321 to rotate, and controls the coal leveling plate 322 to descend to a height of 0.5h1 from the bottom surface of the conveyor belt. The gathering plate 324 gathers the coal on the conveyor belt, and the coal leveling plate 322 flattens the unevenly distributed coal on the conveyor belt, so that the coal is evenly distributed on the conveyor belt. The conveyor belt is evenly stressed, which can prevent the conveyor belt from running off-center and ensure the long-term safe and stable operation of the belt conveyor 100.

[0058] Step 303: If it is determined that there are large foreign objects in the coal, the central controller will issue a large foreign object alarm and control the foreign object removal unit 2 to remove the large foreign objects. Then, the coal leveling unit 3 will be controlled to level the coal on the conveyor belt.

[0059] Specifically, the central controller controls the first hydraulic rod 234 to extend, driving the bucket 233 to rotate, making the material output section 2331 in the bucket 233 parallel to the conveyor belt; controls the first drive motor 221 to rotate, driving the lifting screw 224 to rotate, thereby driving the lifting platform 225 to descend, and then controls the bucket mechanism 23 to descend from the initial position, making the material output section 2331 in the bucket 233 descend to a height of 0.2h1 above the bottom surface of the conveyor belt, scooping up large foreign objects; after waiting for 1 second, if no large foreign object alarm continues to be issued, the bucket mechanism 23 is controlled to rise to the initial position; controls the second drive motor 236 to rotate, driving the bucket 233 to move above the unloading chute 240; controls the first hydraulic rod 234 to retract, making the material output section 2331 in the bucket 233 perpendicular to the plane where the bottom surface of the conveyor belt in the belt conveyor 100 is located, releasing the scooped large foreign objects into the unloading chute 24 and discharging them from the coal level control device;

[0060] Furthermore, the central controller controls the second hydraulic rod 323 to extend, drives the support frame 321 to rotate, controls the leveling plate 322 to descend to a height of 0.5h1 from the bottom surface of the conveyor belt, the gathering plate 324 gathers the coal on the conveyor belt, and the leveling plate 322 flattens the unevenly distributed coal on the conveyor belt, so that the coal is evenly distributed on the conveyor belt.

[0061] By controlling the foreign object removal unit 2 to remove large foreign objects, and then controlling the coal leveling unit 3 to level the coal on the conveyor belt, safety accidents caused by manual operation can be effectively avoided. The process of removing large foreign objects is simple to operate and is less likely to miss large foreign objects, thus improving the efficiency and effect of removing large foreign objects. In addition, after removing large foreign objects from the coal on the belt conveyor 100, the coal leveling unit 3 is further controlled to level the coal on the conveyor belt, which can balance the force on the conveyor belt, make the force on the conveyor belt uniform, prevent the conveyor belt from running off-center, and further ensure the long-term safe and stable operation of the belt conveyor 100.

[0062] Compared with existing technologies, this embodiment acquires coal level image data at corresponding locations through monitoring unit 1 and transmits the acquired coal level image data to the central controller. The central controller processes and analyzes the coal level image data, and controls the foreign object removal unit 2 to perform corresponding actions based on the analysis results. This enables the coal level control device to automatically remove large foreign objects from the coal on the belt conveyor 100, avoiding safety accidents caused by manual operation. It also makes it less likely to miss large foreign objects, improving the efficiency and effect of large foreign object removal. At the same time, the central controller also controls the leveling unit 3 to level the unevenly distributed coal on the conveyor belt of the belt conveyor 100 (i.e., on the cross section perpendicular to the coal flow, there is a large difference between the highest and lowest points of the coal), making the coal evenly distributed on the conveyor belt of the belt conveyor 100. This ensures that the conveyor belt is evenly stressed, prevents the conveyor belt from running off-center, reduces the damage rate of the belt conveyor 100, ensures the long-term safe and stable operation of the belt conveyor 100, and improves the safety of the belt conveyor 100 operation.

[0063] Example 2

[0064] Another specific embodiment of the present invention discloses a coal level control device for Embodiment 1, such as... Figure 2 As shown, the coal level control device includes a monitoring unit 1, a foreign object removal unit 2, and a central controller (not shown in the figure). Both the monitoring unit 1 and the foreign object removal unit 2 are mounted on the belt conveyor 100 and located downstream of the receiving point of the belt conveyor 100, arranged sequentially along the coal flow direction of the belt conveyor 100. Both the monitoring unit 1 and the foreign object removal unit 2 are connected to the central controller. The monitoring unit 1 is used to acquire coal level image data at the corresponding location (i.e., coal level image data of the cross-section along the coal flow direction on the conveyor belt) and transmit the acquired coal level image data to the central controller. The central controller is used to process and analyze the coal level image data, and control the foreign object removal unit 2 to perform actions based on the analysis results, i.e., control the foreign object removal unit 2 to remove foreign objects. This invention removes large foreign objects from the coal conveyed on the belt conveyor 100. Compared with the prior art where large foreign objects are removed from the coal conveyor 100 by manual operation, this invention sets up a monitoring unit 1, a foreign object removal unit 2, and a central controller. The monitoring unit 1 acquires coal level image data at the corresponding location and transmits the acquired coal level image data to the central controller. The central controller processes and analyzes the coal level image data, and controls the foreign object removal unit 2 to perform corresponding actions based on the analysis results. This enables the coal level control device to automatically remove large foreign objects from the coal conveyor 100, avoiding safety accidents caused by manual operation, improving the safety of the belt conveyor 100 operation, and making it less likely to miss large foreign objects, thus improving the efficiency and effect of large foreign object removal.

[0065] Preferably, such as Figure 3As shown, the monitoring unit 1 includes a mounting bracket 11 and a laser emitter 12 and a camera 13 mounted on the mounting bracket 11. The mounting bracket 11 is erected on the belt conveyor 100, and the laser emitter 12 and the camera 13 are located above the conveyor belt of the belt conveyor 100. The laser emitter 12 and the camera 13 are arranged sequentially along the coal flow direction (i.e., the laser emitter 12 is located upstream of the coal flow direction, and the camera 13 is located downstream of the coal flow direction). The laser emitter 12 is used to emit laser light onto the coal on the conveyor belt of the belt conveyor 100, and the camera 13 is used to receive the reflected light to obtain coal position image data (i.e., the outline image of the coal cross-section) at the corresponding position, and transmit the obtained coal position image data to the central controller.

[0066] Preferably, in order to obtain clearer coal position image data, the laser emitter 12 is perpendicular to the plane containing the bottom surface of the conveyor belt in the belt conveyor 100, and the camera 13 is inclined to the plane containing the bottom surface of the conveyor belt in the belt conveyor 100, and the optical axis of the camera 13 intersects with the axis of the laser emitter 12, with an included angle α; the included angle α is preferably 65°. If the included angle α is too large, the reflected light received by the camera 13 will be strong, which will cause the outline of the coal part on the conveyor belt in the belt conveyor 100 to be overexposed. If the included angle α is too small, the reflected light received by the camera 13 will be weak, which will cause the outline of the coal part on the conveyor belt in the belt conveyor 100 to be blurred.

[0067] Preferably, such as Figure 4As shown, the foreign object removal unit 2 includes a support frame 21 and a lifting mechanism 22, a bucket mechanism 23, and a discharge chute 24 mounted on the support frame 21. The support frame 21 is mounted on the belt conveyor 100. The lifting mechanism 22, the bucket mechanism 23, and the discharge chute 24 are all located above the conveyor belt of the belt conveyor 100. The bucket mechanism 23 is slidably connected to the support frame 21. The lifting mechanism 22 is connected to the bucket mechanism 23 and is used to drive the bucket mechanism 23 to move up and down on the support frame 21. The bucket mechanism 23 is used to scoop up large foreign objects from the coal on the conveyor belt of the belt conveyor 100 and unload the scooped-up large foreign objects into the discharge chute 24. The discharge chute 24 spans above the conveyor belt of the belt conveyor 100. The discharge chute 24 has an inclined angle with the horizontal plane, that is, one end of the discharge chute 24 is higher than the other end, thereby enabling... Large foreign objects unloaded into the unloading chute 24 are automatically discharged from the coal level control device under their own gravity, thereby realizing the removal of large foreign objects embedded in the coal by the foreign object removal unit 2. Compared with the prior art of manually removing large foreign objects from the coal, this embodiment removes large foreign objects embedded in the coal on the belt conveyor 100 by setting up a lifting mechanism 22, a bucket mechanism 23, and an unloading chute 24, which can effectively avoid safety accidents caused by manual operation. Compared with the prior art of removing large foreign objects from the coal by grippers, this embodiment removes large foreign objects embedded in the coal by shoveling the bucket mechanism 23 into the coal. The process of removing large foreign objects is simple to operate, and it is not easy to miss large foreign objects, thus improving the efficiency and effect of removing large foreign objects. In addition, after removing large foreign objects from the coal on the belt conveyor 100, the force on the conveyor belt can be balanced, so that the force on the conveyor belt is uniform and the conveyor belt is prevented from running off-center.

[0068] Preferably, each of the four columns of the support frame 21 is provided with a slide rail 211.

[0069] Preferably, such as Figure 5As shown, the lifting mechanism 22 includes a first drive motor 221, a first reducer 222, a transmission shaft 223, a lifting screw 224, and a lifting platform 225. The first drive motor 221, the first reducer 222, and the transmission shaft 223 are all mounted on the upper frame of the support frame 21. The lifting screw 224 is mounted on the upper and lower frames of the support frame 21, and both ends of the lifting screw 224 are rotatably connected to the upper and lower frames, respectively. The first drive motor 221, the first reducer 222, the transmission shaft 223, and the lifting screw 224 are connected in sequence. The first drive motor 221 is connected to a central controller, which controls the rotation of the first drive motor 221, thereby driving the lifting platform 225. The lifting screw 224 rotates; the lifting platform 225 is mounted on the slide rail 211 and slidably connected to the slide rail 211; the lifting screw 224 passes through the lifting platform 225 and is threadedly connected to the lifting platform 225. The rotation of the lifting screw 224 can drive the lifting platform 225 to move along the lifting screw 224, thereby realizing the lifting platform 225 rising and falling along the slide rail 211, and thus controlling the bucket mechanism 23 to rise and fall on the support frame 21; the bucket mechanism 23 descends to scoop up large foreign objects in the coal on the belt conveyor 100; the bucket mechanism 23 rises to keep the bucket mechanism 23 away from the conveying belt in the belt conveyor 100, so as to avoid the bucket mechanism 23 obstructing the conveyor 100 from conveying coal.

[0070] Preferably, two lifting screws 224 are provided, which are arranged opposite to each other and pass through both sides of the lifting platform 225. Compared with one lifting screw 224, two screws 224 make it easier to control the lifting platform 225 to rise and fall smoothly. Compared with three or more lifting screws 224, the structure of two screws 224 is simpler and the control of the lifting platform 225 to rise and fall is more convenient.

[0071] Preferably, such as Figure 6 and Figure 7As shown, the bucket mechanism 23 includes a guide rail 231, a slide block 232, a bucket 233, a first hydraulic rod 234, a rack and pinion 235, a second drive motor 236, a second reducer 237, and a drive gear 238. The guide rail 231 is fixedly installed on the lifting platform 225, and the length direction of the guide rail 231 is parallel to the coal flow direction of the belt conveyor 100. Two guide rails 231 are provided, and the two guide rails 231 are arranged in parallel. The slide block 232 is mounted on the two guide rails 231 and is slidably connected to the guide rails 231. The bucket 233 is hinged to the slide block 232. One end of the first hydraulic rod 234 is hinged to the slide block 232, and the other end is hinged to the bucket 233. The first hydraulic rod 234 is connected to a central controller, which controls the extension and retraction of the first hydraulic rod 234, thereby driving the bucket 233 to rotate, thus controlling the bucket 233 to complete the actions of scooping up and unloading large foreign objects.

[0072] Preferably, the bucket 233 includes a feeding section 2331 and a receiving section 2332. When the first hydraulic rod 234 extends, the feeding section 2331 is parallel to the plane where the bottom surface of the conveyor belt in the belt conveyor 100 is located, which can scoop up large foreign objects wrapped in coal on the belt conveyor 100. When the first hydraulic rod 234 retracts, the feeding section 2331 is perpendicular to the plane where the bottom surface of the conveyor belt in the belt conveyor 100 is located, which can release the scooped large foreign objects into the unloading chute 24.

[0073] Preferably, both the material production section 2331 and the receiving section 2332 are hollow structures. The hollow structure of the bucket 233 allows coal to be discharged from the bucket 233, leaving only large foreign objects inside. Compared with the prior art of using a gripper to remove large foreign objects, which requires precise positioning of the gripper based on the position of the large foreign object on the conveyor belt and is prone to missing large pieces of material during the removal process, the bucket 233 does not require precise positioning of the bucket 233 based on the position of the large foreign object on the conveyor belt. Large pieces of material will not be missed during the removal process, and the control process is more convenient and simpler than that of the gripper.

[0074] Preferably, such as Figure 8As shown, the guide rail 231 is a grooved guide rail; the rack 235 is mounted on the guide rail 231; the second drive motor 236, the second reducer 237 and the drive gear 238 are connected in sequence, the second reducer 237 is fixedly mounted on the slide block 232, and the drive gear 238 meshes with the rack 235; the second drive motor 236 is connected to the central controller, and the central controller controls the second drive motor 236 to rotate, thereby driving the slide block 232 to move along the guide rail 231 and driving the bucket 233 to move, so that the bucket 233, which scoops up large foreign objects, is moved above the unloading chute 24, and then the first hydraulic rod 234 is controlled to retract, so that the material output part 2331 in the bucket 233 is perpendicular to the plane where the bottom surface of the conveyor belt in the belt conveyor 100 is located, which can scoop up large foreign objects and release them into the unloading chute 24 and discharge them from the coal level control device.

[0075] Preferably, in order to reduce the deviation of the conveyor belt caused by uneven coal distribution in the belt conveyor 100, the coal level control device further includes a coal leveling unit 3. The coal leveling unit 3 is mounted on the belt conveyor 100 and located downstream of the foreign object removal unit 2. The coal leveling unit 3 is connected to a central controller, which processes and analyzes the coal level image data and controls the coal leveling unit 3 to level the unevenly distributed coal on the conveyor belt of the belt conveyor 100 (i.e., on the cross section perpendicular to the coal flow, there is a large difference between the highest and lowest points of the coal), so that the coal is evenly distributed on the conveyor belt of the belt conveyor 100, thereby making the conveyor belt uniformly stressed, preventing the conveyor belt from deviating, reducing the damage rate of the belt conveyor 100, ensuring the long-term safe and stable operation of the belt conveyor 100, and improving the safety of the conveying of the belt conveyor 100.

[0076] Preferably, such as Figure 9 As shown, the coal leveling unit 3 includes a fixed support 31 and a coal leveling mechanism 32. The fixed support 31 is mounted on the belt conveyor 100. The coal leveling mechanism 32 is installed on the fixed support 31 and located above the belt conveyor 100. It is used to level the unevenly distributed coal on the conveyor belt of the belt conveyor 100 so that the coal is evenly distributed on the conveyor belt.

[0077] Preferably, such as Figure 10As shown, the coal leveling mechanism 32 includes a support frame 321, a coal leveling plate 322, and a second hydraulic rod 323. One end of the support frame 321 is hinged to a fixed bracket 31, and the other end is connected to the coal leveling plate 322. One end of the second hydraulic rod 323 is hinged to the fixed bracket 31, and the other end is hinged to the support frame 321. The second hydraulic rod 323 is connected to a central controller, which controls the extension and retraction of the second hydraulic rod 323, thereby driving the support frame 321 to rotate and causing the coal leveling plate 322 to rise and fall. After the coal leveling plate 322 descends, it is used to level the unevenly distributed coal on the conveyor belt, so that the coal is evenly distributed. Compared to the existing technology that requires manual adjustment of the tensioning device to prevent belt deviation, this embodiment uses a coal leveling mechanism 32 connected to a central controller. The central controller controls the coal leveling mechanism 32 to automatically level the unevenly distributed coal on the conveyor belt, ensuring that the coal is evenly distributed on the conveyor belt. This results in uniform force on the conveyor belt, preventing belt deviation and reducing the probability of safety accidents during repeated manual adjustments. This ensures the long-term safe and stable operation of the belt conveyor 100 and improves the safety of material conveying.

[0078] Preferably, the coal leveling mechanism 32 further includes two gathering plates 324 disposed on the coal leveling plate 322; the two gathering plates 324 are slidably mounted on the coal leveling plate 322 and can extend to both sides of the coal leveling plate 322. The gathering plates 324 are used to gather the coal on the conveyor belt, so that the coal gathers towards the middle of the coal flow, avoiding uneven distribution of coal on both sides of the coal flow, thereby further avoiding uneven force on the conveyor belt and further preventing the conveyor belt from running off-track; in addition, the gathering plates 324 can extend to both sides of the coal leveling plate 322 to extend the length of the coal leveling plate 322, so that the coal leveling mechanism 32 can adapt to different coal conveying volumes of the belt conveyor 100, that is, the coal leveling mechanism 32 can adapt to coal flows of different widths, improving the adaptability of the coal leveling mechanism 32.

[0079] Preferably, the gathering plate 324 includes an extension 3241 and a gathering portion 3242. The extension 3241 is slidably connected to the leveling plate 322. By extending the extension 3241 out to both sides of the leveling plate 322, the effective leveling length of the leveling plate 322 can be extended, thereby enabling the leveling plate 322 to level coal of different widths. The gathering portion 3242 is located at one end of the extension 3241 and is inclined towards the middle of the conveyor belt along the coal flow direction of the belt conveyor 100. The gathering portion 3242 is used to gather the coal located on both sides of the coal flow on the belt conveyor 100. After being gathered, the coal is more evenly distributed on the conveyor belt under the leveling action of the leveling plate 322, thereby making the conveyor belt more evenly stressed and further preventing the conveyor belt from deviating.

[0080] Preferably, the leveling plate 322 and the support frame 321 are hinged; the leveling mechanism 32 further includes an angle adjustment component 325, which is used to adjust the tilt angle of the leveling plate 322, so that the leveling plate 322 tilts along the direction of the coal on the conveyor belt, thereby enabling the leveling plate 322 to both level the coal on the conveyor belt and facilitate the passage of coal through the leveling plate 322, avoiding the accumulation of a large amount of coal in front of the leveling plate 322 during the leveling process, which would affect the leveling effect of the coal.

[0081] Preferably, such as Figure 11 As shown, the angle adjustment component 325 includes a flexible spring 3251 and an angle adjuster. One end of the flexible spring 3251 is hinged to the leveling plate 322, and the other end is fixedly connected to the angle adjuster. The flexible spring 3251 provides a flexible connection to the leveling plate 322, allowing the leveling plate 322 to rotate slightly when in contact with the coal on the conveyor belt. In other words, the leveling plate 322 can automatically adjust its tilt angle according to the amount of coal accumulated in front of it, ensuring both the leveling effect of the coal and facilitating the passage of coal through the leveling plate 322, thus avoiding the accumulation of a large amount of coal in front of the leveling plate 322 and affecting the leveling effect. The angle adjuster is installed on the connecting end of the support frame 321 connected to the leveling plate 322, and is used to adjust the tilt angle of the leveling plate 322. The connecting end is provided with a sliding groove, which is a T-shaped groove.

[0082] Preferably, the angle adjuster includes a slider 3252, a connecting rod 3253, and an angle adjusting disk 3254. The slider 3252 has a T-shaped structure. The slider 3252 is installed in a groove on the support frame 321 and can slide in the groove. One side of the slider 3252 is fixedly connected to a flexible spring 3251, and the other side is hinged to one end of the connecting rod 3253. The other end of the connecting rod 3253 is hinged to the angle adjusting disk 3254. The angle adjusting disk 3254 is mounted in the groove on the support frame 321 and can rotate. The tilt angle of the leveling plate 322 can be adjusted by rotating the angle adjusting disk 3254.

[0083] Preferably, the angle adjustment disk 3254 has a fan-shaped portion, one side of which is hinged to the connecting rod 3253, and the other side is provided with a plurality of locking pin holes; the plurality of locking pin holes are evenly arranged circumferentially with the axis of the angle adjustment disk 3254 as the center; the locking pin holes are located near the edge of the angle adjustment disk 3254, and the locking pin holes are provided with angle scale lines.

[0084] Preferably, the angle adjuster further includes a locking mechanism, which includes a fixing base 3255 and a pressure tongue 3256. The fixing base 3255 is fixedly mounted on the connecting end of the support frame 321 and corresponds to the angle adjustment disk 3254. The fixing base 3255 is provided with a positioning through hole, which is opposite to the locking pin hole on the angle adjustment disk 3254. By rotating the angle adjustment disk 3254, multiple locking pin holes can be made coaxial with the positioning through hole. The pressure tongue 3256 is mounted on the fixing base 3255. The middle part of the pressure tongue 3256 is hinged to the fixing base 3255. One end of the pressure tongue 3256 is provided with a locking pin, which can pass through the positioning through hole and be inserted into the locking pin hole. The other end of the pressure tongue 3256 is a pressing part, which can be moved to insert the locking pin into the locking pin hole or pull it out of the locking through hole, thereby locking or unlocking the angle adjustment disk 3254.

[0085] Preferably, the fixing lock further includes a top-tightening spring 3257, the two ends of which are fixedly connected to the fixing seat 3255 and the pressing part, respectively. The top-tightening spring 3257 always applies an elastic thrust to the pressing part, thereby automatically locking the locking pin in the locking pin hole. This can effectively prevent the locking pin from coming out of the locking pin hole, avoid the angle adjusting disc 3254 from rotating freely, and prevent the leveling plate 322 from losing support and being unable to level the coal on the conveyor belt.

[0086] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A safe material conveying method capable of automatically removing large foreign objects from coal, characterized in that, Includes the following steps: Step 1: The monitoring unit (1) collects images of the coal on the belt conveyor (100), obtains coal level image data, and transmits the collected coal level image data to the central controller; Step 2: The central controller processes and analyzes the coal level image data to determine whether coal pile-up has occurred on the belt conveyor (100), whether the coal is evenly distributed, and whether there are large foreign objects in the coal. Step 2 includes: Step 201: The central controller preprocesses the collected coal position image data, including grayscale change, median filtering and image sharpening processing, and extracts the coal edge information on the belt conveyor (100) through the Canny algorithm; Step 2 further includes: Step 202: Determine whether coal pile-up occurs on the belt conveyor (100), whether the coal is evenly distributed, and whether there are large foreign objects in the coal. The determination of whether there are large foreign objects in the coal on the belt conveyor (100) includes: recording the largest h1 and the smallest h1 within 200ms. If the difference between the largest h1 and the smallest h1 exceeds 0.2H, it is determined that there are large foreign objects in the coal. Step 3: The central controller issues a corresponding alarm based on the judgment result and controls the belt conveyor (100), the coal leveling unit (3) and the foreign object removal unit (2) to perform corresponding actions.

2. The safe material conveying method for automatically removing large foreign objects from coal as described in claim 1, characterized in that, Step 1 includes: a laser emitter (12) emits a laser and projects the laser onto the coal on the conveyor belt; a camera (13) receives the laser reflected by the coal, acquires coal position image data on the conveyor belt, and transmits the acquired coal position image data to the central controller.

3. A safe material conveying method for automatically removing large foreign objects from coal, as described in claim 1, is characterized in that... The median filtering process includes: processing the coal position image after grayscale changes using a 3×3 median filter.

4. A safe material conveying method for automatically removing large foreign objects from coal, as described in claim 3, is characterized in that... The image sharpening process includes: sharpening the coal position image using the Sobel operator.

5. A safe material conveying method for automatically removing large foreign objects from coal as described in claim 4, characterized in that, The extraction of coal edge information on the belt conveyor (100) includes: the central controller determining the highest and lowest points of the coal level based on the extracted coal edge information, and extracting the coal level height h1 at the highest point and the coal level height h2 at the lowest point.

6. A safe material conveying method for automatically removing large foreign objects from coal as described in claim 1, characterized in that, The determination of whether coal pile-up has occurred on the belt conveyor (100) includes: if h1 is greater than the preset coal pile-up height H, then it is determined that coal pile-up has occurred on the belt conveyor (100); the determination of whether the coal material on the belt conveyor (100) is evenly distributed includes: if the difference between h1 and h2 exceeds 0.2H, then it is determined that the coal material is unevenly distributed on the conveyor belt.

7. A safe material conveying method capable of automatically removing large foreign objects from coal, as described in any one of claims 1 to 6, characterized in that, The safe material conveying method employs a coal level control device.

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