Laser ranging-based positioning method and system for a displacement conveyor

Abstract

The application provides a displacement type conveyor positioning system and method based on laser ranging, which is characterized by the following: the first driving unit, the second driving unit, the first adjusting unit and the second adjusting unit are arranged to ensure that the inclination angles of the gantry head end and the body end in the X direction are the same, the horizontal states are consistent, and the inclination angles of the belts at the head end and the body end of the gantry in the length direction are the same; the left front oil cylinder and the left rear oil cylinder are arranged and adjusted respectively to make the gantry restore the same horizontal state in the Z axis direction, and the horizontal direction is restored, so that the real-time distance of the laser sensor for measuring the target position is a correct value, and the measurement error caused by uneven ground, especially the unevenness in the Z axis direction, is avoided.

Description

Technical Field

[0001] This invention relates to the field of open-pit mine moving belt conveyor technology, and in particular to a positioning method and system for moving conveyors based on laser ranging. Background Technology

[0002] In open-pit mining, belt conveyors are required to move laterally to ensure continuous operation. Transferable belt conveyors are easy to move, significantly reducing installation time. Transferable belt conveyors can be divided into two main parts (such as...). Figure 1 The first part consists of multiple trusses (each approximately 30 meters long), which are carried by a drive unit for lateral movement. The second part consists of a belt conveyor, which is placed on the trusses to form a high-efficiency moving belt conveyor. Based on the needs of open-pit mining, the moving belt conveyor moves 50 meters laterally each time. The moving belt conveyor is composed of multiple trusses, resulting in a long distance, large size, and complex structure. Furthermore, the unevenness of the actual mining area ground can cause directional deviations during the movement due to different ground conditions and other factors, preventing the belt conveyor from reaching its target location and affecting open-pit mining and transportation.

[0003] This system divides the moving belt conveyor into a head truss 200 and a body truss 100. This invention is mainly used for the movement and alignment of the head truss of the moving belt conveyor, and the internal movement and alignment of the body truss. For reference, see "202111105078.6 Method for Calculating the Angle of Trusses and Alignment Method for Moving Multi-Section Truss Belt Conveyors". When the body moves, it is aligned with the head truss. Therefore, the movement of the head truss must not only consider its own situation, but also serve as a reference for the body. Since the body and head trusses form the overall support for the belt conveyor, and the belt of the belt conveyor passes through the head truss and the body truss, the movement of the head truss and the body truss must also consider the operation of the belt conveyor. Summary of the Invention

[0004] In view of the above-mentioned shortcomings, the present invention proposes a positioning system for a movable conveyor based on laser ranging, including a control unit and a drive unit. The drive unit includes a first drive unit, a second drive unit, a first adjustment unit, a second adjustment unit, a first distance measuring unit, a second distance measuring unit, a first angle measuring unit, and a second angle measuring unit, all of which are structurally identical and connected to the control unit. The first drive unit and the second drive unit are respectively located below the head truss, near the body end and head end of the truss, respectively. The first adjustment unit is located between the first drive unit and the truss. The first distance measuring unit and the first angle measuring unit are located near the first drive unit. The unit setup includes a second adjustment unit positioned between the second drive unit and the truss, and a second distance measurement unit and a second angle measurement unit positioned close to the second drive unit. The first drive unit is used to move the truss body end, and the second drive unit is used to move the truss head end. The first distance measurement unit and the second distance measurement unit detect the distance from the truss to the target position, and the first angle measurement unit and the second angle measurement unit detect the truss tilt angle. The control unit controls the movement distance of the first drive unit and the second drive unit based on the information detected by the first distance measurement unit, the second distance measurement unit, the second angle measurement unit, and the second angle measurement unit.

[0005] A positioning method for a movable conveyor based on laser ranging includes the following steps:

[0006] S1: Set the head truss movement distance to L0;

[0007] S2: The first drive unit drives the truss body end to move towards the target position, the second drive unit drives the truss head end to move towards the target position, the first distance measurement unit measures the distance L1 from the truss body end to the target position in real time; the second distance measurement unit measures the distance L2 from the truss body end to the target position in real time; and provides the real-time distance information to the control unit;

[0008] S3: The control unit calculates the difference between L1 and L2. When L1-L2>5cm, the control unit controls the speed of the first drive unit to decrease to match the speed of the second drive unit. When L2-L1>5cm, the control unit controls the speed of the second drive unit to decrease to match the speed of the first drive unit. When the difference between L1 and L2 is <1m, and the difference between L1 and L0 is <1m, or the difference between L2 and L0 is <1m, the position movement of the transfer conveyor is completed.

[0009] See Figure 11-13This invention, through the arrangement of a first drive unit, a second drive unit, a first adjustment unit, and a second adjustment unit, ensures that the tilt angles of the truss head end and the fuselage end are the same in the X direction, restoring a consistent horizontal state. This ensures that the belts at the head end and the fuselage end of the truss have the same tilt angle along their length. Furthermore, by setting and adjusting the left front hydraulic cylinder and the left rear hydraulic cylinder, the truss is restored to a consistent horizontal state in the Z-axis direction. This restoration of horizontality ensures that the real-time distance measured by the laser sensor at the target position is accurate, avoiding measurement errors caused by uneven ground, especially unevenness in the Z-axis direction. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a moving conveyor.

[0011] Figure 2 A schematic diagram of the front view orientation of the present invention is provided for the truss machine at the machine head.

[0012] Figure 3 for Figure 2 A schematic diagram of the left side view.

[0013] Figure 4 for Figure 2 A top view diagram.

[0014] Figure 5 This diagram shows the state of the truss body end tilting up when it encounters uneven ground in the Z-axis direction during the relocation process. Assume that after the truss tilts up, the tilt angle detected by the tilt sensor is a1.

[0015] Figure 6 for Figure 5 The enlarged schematic diagram shows the various measurement and calculation relationships.

[0016] Figure 7 for Figure 6 Enlarged view of the adjustment of the left-side front hydraulic cylinder.

[0017] Figure 8 This diagram illustrates the use of a lifting hydraulic cylinder for truss adjustment. The diagram shows the adjustment height H1 as... Figure 7 Twice as much.

[0018] Figure 9 To be Figure 5 A schematic diagram illustrating the adjustment of a truss from a tilted position back to a horizontal position using the method of this invention. The diagram shows how adjusting the left front hydraulic cylinder 211 lowers the front end of the truss and adjusting the left rear hydraulic cylinder 212 raises the rear end, thus lowering the front end and raising the rear end, thereby returning the truss to a horizontal position in the Z-axis direction. The diagram shows the left front hydraulic cylinder 211 and the left rear hydraulic cylinder 212 in different extended states.

[0019] Figure 10 This is a diagram showing the state of the truss when the ground is uneven in the X and Y directions. In this state, since the truss is tilted perpendicular to the Z-axis in the direction of displacement, it does not affect the measurement of the distance when the belt conveyor is moved, and therefore does not affect the control of the adjustment unit.

[0020] Figure 11 This is a schematic diagram of the actual use of the transfer conveyor of the present invention.

[0021] Figure 12 A schematic diagram of the front view orientation of the present invention is provided for the truss machine at the machine head.

[0022] Figure 13 A schematic diagram of the first drive board, which consists of a first drive unit, a first adjustment unit, a first distance measurement unit, and a first angle measurement unit.

[0023] In the figure: First drive unit 21, left front oil cylinder 211, left rear oil cylinder 212, right front oil cylinder 213, right rear oil cylinder 214, second drive unit 22, first adjustment unit 23, second adjustment unit 24, first distance measurement unit 25, second distance measurement unit 26, first angle measurement unit 27, second angle measurement unit 28, fuselage truss 100, nose truss 200. Detailed Implementation

[0024] See Figure 1-10A positioning system for a movable conveyor based on laser ranging includes a control unit and a drive unit. The drive unit includes a first drive unit 21, a second drive unit 22, a first adjustment unit 23, a second adjustment unit 24, a first distance measuring unit 25, a second distance measuring unit 26, a first angle measuring unit 27, and a second angle measuring unit 28, all with identical structures and connected to the control unit. The first drive unit 21 and the second drive unit 22 are respectively located below the head truss, near the body end and head end of the truss, respectively. The first adjustment unit 23 is located between the first drive unit 21 and the truss. The first distance measuring unit 25 and the first angle measuring unit 27 are located near the first drive unit 21. The adjustment unit 24 is disposed between the second drive unit 22 and the truss. The second distance measuring unit 26 and the second angle measuring unit 28 are disposed close to the second drive unit 22. The first drive unit 21 is used to drive the truss body end to move, and the second drive unit 22 is used to drive the truss head end to move. The first distance measuring unit 25 and the second distance measuring unit 26 detect the distance from the truss to the target position. The first angle measuring unit 27 and the second angle measuring unit 28 detect the truss tilt angle. The control unit controls the first drive unit 21 and the second drive unit 22 to move a distance based on the information detected by the first distance measuring unit 25, the second distance measuring unit 26, the second angle measuring unit 28 and the second angle measuring unit 28.

[0025] Furthermore, the ranging sensor is a laser sensor, and the angle sensor is a tilt sensor.

[0026] Furthermore, both the first drive unit 21 and the second drive unit 22 are tracks. The first adjustment unit 23 and the second adjustment unit 24 can be hydraulic cylinders.

[0027] A positioning method for a movable conveyor based on laser ranging includes the following steps:

[0028] S1: Set the movement distance of the machine head truss 200 to L0 (assuming L0 = 50 meters);

[0029] S2: The first drive unit 21 drives the truss body end to move towards the target position, the second drive unit 22 drives the truss head end to move towards the target position, the first distance measurement unit 25 measures the distance L1 from the truss body end to the target position in real time, and provides the real-time distance information to the control unit; the second distance measurement unit 26 measures the distance L2 from the truss body end to the target position in real time, and provides the real-time distance information to the control unit;

[0030] S3: The control unit calculates the difference between L1 and L2. When L1-L2>5cm, the control unit controls the speed of the first drive unit 21 to decrease to match the speed of the second drive unit 22. When L2-L1>5cm, the control unit controls the speed of the second drive unit 22 to decrease to match the speed of the first drive unit 21. When the difference between L1 and L2 is <1m, and the difference between L1 and L0 is <1m, or the difference between L2 and L0 is <1m, the position movement of the transfer conveyor is completed.

[0031] Furthermore, while step S2 is being executed, the first angle measuring unit 27 detects the first angle of inclination of the truss body end along the Z-axis in real time, and the second angle measuring unit 28 is used to detect the second angle of inclination of the truss head end along the Z-axis in real time, and provides the first angle and the second angle to the control unit. The control unit controls the first adjustment unit 23 and the second adjustment unit 24 to adjust the corresponding distance according to the angle information, so that the first angle and the second angle are less than the set threshold (e.g., 5°).

[0032] In this scheme, the forward direction of the conveyor belt is the X-axis direction, the undulation direction of the conveyor belt is the Y-axis direction, and the Z-axis is the direction of translation when the belt conveyor moves. In actual operation, when the belt conveyor of this invention needs to move, it cannot move horizontally due to uneven ground. However, unevenness in the X-axis and Y-axis directions does not affect the movement of the belt conveyor. Only unevenness in the Z-axis will have an impact. Uneven ground will cause the front end of the track to be higher (the front end is the end of the track that moves closer to the target position) or the rear end to be higher (the rear end is the end of the track that moves away from the target position). If the front end is higher, the measured distance L11 will be larger than the actual distance L1, which will lead to a larger difference between L11 and L2. The controller will control the first drive unit 21 to reduce speed because it receives the incorrect difference information L11. After the speed is reduced, the speed of the truss body end is less than the speed of the truss head end, which makes the truss body end slower than the head end, causing the truss to tilt severely. The tilted truss will cause the belt above to run off-center and spill material, or even the belt to detach from the idler roller.

[0033] In this scheme, only when the angle is less than the preset threshold does it indicate that the truss above the adjustment unit has been adjusted to be nearly horizontal. Under this premise, the difference between the measured distance L11 and L1 is small, and the two can be considered the same. Only then can L1 reflect the actual distance. By measuring the angle and adjusting the adjustment unit, L11 is adjusted to be equal to L1. This scheme has a corrective function, avoiding the controller from mistakenly treating L11 as L1 due to uneven ground or the existence of angles, calculating an incorrect difference, and sending incorrect commands to the drive unit.

[0034] The first and second angles are controlled in the same way to ensure that the tilt angles of the truss head end and the fuselage end are the same, so that the belts at the head end and the fuselage end of the truss tilt at the same angle along the length direction.

[0035] See Figure 4-9 Furthermore, the first adjustment unit 23 includes a left front cylinder 211, a left rear cylinder 212, a right front cylinder 213, and a right rear cylinder 214 symmetrically arranged. The left front cylinder 211 and the left rear cylinder 212 constitute a set of adjustment cylinders, and the right front cylinder 213 and the right rear cylinder 214 constitute a set of adjustment cylinders.

[0036] The first angle measuring unit 27 detects the first angles a1 and a2 of the truss body tilt along the Z-axis in real time. The midpoint of the truss along the Z-axis is taken as O. The distance L3 from the midpoint to the left front hydraulic cylinder 211 is equal to the distance L4 from the midpoint to the left rear hydraulic cylinder 212, and is a known value (this has been determined when the hydraulic cylinders and truss are installed and will not change). The height H1 adjusted by the left front hydraulic cylinder 211 is H1=L3*Tan a1 (Tan a1=H1 / L3), and the height H2 adjusted by the left rear hydraulic cylinder 212 is H2==L4*Tan a2 (Tan a2=H2 / L4).

[0037] This solution involves installing front and rear hydraulic cylinders at the front and rear ends of the truss along the Z-axis, respectively. When the ground is uneven, tilt sensors detect the tilt angles a1 and a2 at the front and rear ends of the truss, where a1 = a2.

[0038] The same solution a1 and a2 ensures that the front and rear ends of the truss at the machine body are tilted at the same degree, and thus the lifting height is also the same. This avoids errors in the detection distance caused by truss tilt, or even belt misalignment causing derailment.

[0039] Furthermore, the height adjustment direction of the left front cylinder 211 is opposite to that of the left rear cylinder 212. For example, adjusting the left front cylinder 211 downwards lowers the truss, while adjusting the left rear cylinder 212 raises it. Since the truss height is approximately 1.6 meters, significant height changes during adjustment pose a risk of tipping over. Therefore, this solution simultaneously adjusts the front and rear ends of the truss in opposite directions, reducing the height adjustment of a single cylinder and minimizing height changes when the truss tilts back, thus improving truss stability. If only one or a group of cylinders are installed below the truss, the height adjustment would be twice that of this solution, requiring adjustment of only one cylinder. Figure 8 Adjusting the height H1 is part of this invention. Figure 7 The proposed solution, with H1 doubled, involves a significant adjustment to the height, posing a risk of the truss tipping over.

[0040] The right front cylinder 213, right rear cylinder 214, left front cylinder 211, and left rear cylinder 212 are adjusted synchronously. The adjustment principle of the four cylinders of the second adjustment unit 24 is the same as that of the first adjustment unit 23. Through cylinder lifting compensation, the truss body end and truss head end are made horizontal in the Z-axis direction.

[0041] The embodiments of this solution have been described in detail above with reference to the accompanying drawings. However, this solution is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this patent.

Claims

1. A positioning method for a movable conveyor based on laser ranging, characterized in that... Includes the following steps: The laser ranging movable conveyor includes a control unit and a drive unit. The drive unit includes a first drive unit and a second drive unit with identical structures; a first adjustment unit and a second adjustment unit with identical structures; a first distance measuring unit and a second distance measuring unit with identical structures; and a first angle measuring unit and a second angle measuring unit with identical structures, all connected to the control unit. The first drive unit and the second drive unit are respectively located below the head truss, near the body end and head end of the truss, respectively. The first adjustment unit is located between the first drive unit and the truss, and the first distance measuring unit and the first angle measuring unit are located near the first drive unit. The second adjustment unit is located between the second drive unit and the truss, and the second distance measuring unit and the second angle measuring unit are located near the second drive unit. The first drive unit is used to drive the body end of the truss to move, and the second drive unit is used to drive the head end of the truss to move. The first distance measuring unit and the second distance measuring unit detect the distance from the truss to the target position, and the first angle measuring unit and the second angle measuring unit detect the tilt angle of the truss. The control unit controls the movement distance of the first drive unit and the second drive unit based on the information detected by the first distance measuring unit, the second distance measuring unit, the first angle measuring unit, and the second angle measuring unit. S1: Set the head truss movement distance to L0; S2: The first drive unit drives the truss body end to move towards the target position, the second drive unit drives the truss head end to move towards the target position, the first distance measurement unit measures the distance L1 from the truss body end to the target position in real time; the second distance measurement unit measures the distance L2 from the truss head end to the target position in real time; and provides the real-time distance information to the control unit. S3: The control unit calculates the difference between L1 and L2. When L1-L2>5cm, the control unit controls the speed of the first drive unit to decrease to match the speed of the second drive unit. When L2-L1>5cm, the control unit controls the speed of the second drive unit to decrease to match the speed of the first drive unit. When the difference between L1 and L2 is <1m, and the difference between L1 and L0 is <1m, or the difference between L2 and L0 is <1m, the position movement of the moving conveyor is completed. Steps S1-S3 are implemented based on a laser ranging-based mobile conveyor positioning system; While step S2 is being executed, the first angle measuring unit detects in real time the first angle a1 of the truss machine body tilt around the X-axis, and the second angle measuring unit detects in real time the second angle a2 of the truss machine head tilt around the X-axis. The first angle and the second angle are then provided to the control unit. The control unit controls the first adjustment unit and the second adjustment unit to adjust the corresponding distances based on the angle information, so that the first angle and the second angle are less than the set threshold. The X-axis is the direction of the conveyor belt's forward movement. The first adjustment unit includes a left front cylinder, a left rear cylinder, a right front cylinder, and a right rear cylinder arranged symmetrically. The left front cylinder and the left rear cylinder form a set of adjustment cylinders, and the right front cylinder and the right rear cylinder form a set of adjustment cylinders. Take the midpoint of the truss along the Z-axis as O. The distance L3 from the midpoint to the left front hydraulic cylinder is equal to the distance L4 from the midpoint to the left rear hydraulic cylinder, and these distances are known. Control the adjustment height of the left front hydraulic cylinder to H1, and control the adjustment height of the left rear hydraulic cylinder to H2. The calculation methods for H1 and H2 are as follows: H1 = L3 * Tan a1; H2 = L4 * Tan a2; The height adjustment of the left front hydraulic cylinder is in the opposite direction to the height adjustment of the left rear hydraulic cylinder.

2. The laser ranging-based positioning method for a movable conveyor as described in claim 1, characterized in that: It includes a distance sensor and an angle sensor, wherein the distance sensor is a laser sensor and the angle sensor is a tilt sensor.

3. The laser ranging-based positioning method for a movable conveyor as described in claim 2, characterized in that: Both the first drive unit and the second drive unit are tracks.

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