Material conveying system and transfer positioning method

Abstract

The present application relates to material conveying technical field, disclose material conveying system and transfer positioning method, material conveying system includes: material conveying device, has unloading port;Transfer device, has receiving port;Multiple positioning components, each positioning component includes laser radar positioning unit and radio positioning unit, laser radar positioning unit includes radar part and reflection part, radio positioning unit includes signal transmitting part and two positioning terminals, control component is connected with each positioning component, the material conveying device and transfer device of the present application detect the position information of oneself through laser radar positioning unit and radio positioning unit simultaneously, can effectively guarantee the positioning accuracy under the ring of mine operation, two kinds of positioning mode share complementary, through control component receives position information and adjusts the relative position of material conveying device and transfer device in real time, so that the unloading port and receiving port can continuously keep in the preset cooperation posture, avoid the situation of scattering material in the process of material conveying.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material conveying, in particular to a material conveying system and a transfer positioning method. BACKGROUND

[0002] In mine operation or bulk material transfer operation, there are usually two ways of material handling. One is to use continuous or semi-continuous process to continuously transport the material by excavators, electric shovels, crushing stations, transfer machines, long-distance belt conveyors, and dumpers. The other is the traditional transportation process of excavators, loaders and trucks. Due to the advantages of energy saving, environmental protection and high efficiency, the continuous or semi-continuous conveying process has been widely used.

[0003] At present, in the process of mine operation or bulk material transfer operation by using continuous and semi-continuous operation, since there are two devices simultaneously advancing on the mining face, the relative displacement between the unloading point and the receiving point of the two devices is prone to occur, which further causes the material transfer to be not smooth and the material to be scattered, thereby affecting the working efficiency of the whole conveying system. SUMMARY

[0004] Therefore, the present application provides a material conveying system and a transfer positioning method to solve the problem of low conveying efficiency caused by the unsmooth transfer of the existing mine operation material conveying.

[0005] In a first aspect, the present application provides a material conveying system for conveying material in the process of mine operation, comprising: a material conveying device having a discharge port; a transfer device having a receiving port corresponding to the discharge port; a plurality of positioning assemblies, each positioning assembly comprising a laser radar positioning unit and a radio positioning unit, the laser radar positioning unit comprising a radar part and a reflection part, one of the radar part and the reflection part being arranged on the material conveying device, the other of the radar part and the reflection part being arranged on the transfer device corresponding to the other, the radio positioning unit comprising a signal emitting part and two positioning terminals, the signal emitting part being arranged in the working area of the material conveying device, one of the positioning terminals being arranged on the material conveying device, the other of the positioning terminals being arranged on the transfer device corresponding to the other, the positioning terminal being adapted to receive the signal of the signal emitting part and feed back the position information of itself; a control assembly connected with each positioning assembly, the control assembly being adapted to adjust the position and attitude of the material conveying device and the transfer device according to the information fed back by the plurality of positioning assemblies, so that the discharge port and the receiving port correspond to each other; wherein the number of positioning assemblies is greater than or equal to three, the plurality of positioning terminals of the material conveying device are located on the same plane and form a first positioning plane, and the plurality of positioning terminals of the transfer device are located on the same plane and form a second positioning plane.

[0006] Beneficial effects: through the cooperation of the control assembly and the plurality of positioning assemblies, the material conveying device and the transfer device detect their own position information through two positioning methods of laser radar positioning units and radio positioning units, which can effectively ensure the positioning accuracy under the mine operation ring, the two positioning methods are complementary, the control assembly receives the position information and adjusts the relative position of the material conveying device and the transfer device in real time, so that the discharge port and the receiving port can continuously maintain the preset cooperation posture, avoiding the misalignment of the interface during the material conveying process and the scattering of the material, effectively solving the problem of low carrying efficiency caused by the unsmooth transfer of the existing mine operation material conveying.

[0007] In an optional embodiment, the material conveying device includes a material conveying machine and a discharge hopper, the material conveying machine has a conveying belt for conveying materials and is movable, and the discharge hopper is arranged at one end of the conveying direction of the material conveying machine and has a discharge port at the bottom. The transfer device includes a material transfer machine and a receiving hopper, the material transfer machine has a conveying belt for conveying materials, and the receiving hopper is movably arranged above the conveying belt. The lower end outlet of the receiving hopper is arranged correspondingly with the conveying belt, and the top of the receiving hopper has a receiving port matched with the discharge port.

[0008] Beneficial effects: simple and reliable structure, the discharge hopper can effectively limit the movement trajectory of the material falling, preventing the material from scattering, and the receiving hopper can effectively constrain the material falling position, preventing the material from falling to the area outside the conveying belt.

[0009] In an optional embodiment, the material conveying system further includes a mounting shell, and the plurality of components of each positioning assembly located at the material conveying device are arranged in the discharge hopper through one mounting shell, and the plurality of components of each positioning assembly located at the transfer device are arranged in the receiving hopper through one mounting shell.

[0010] Beneficial effects: the plurality of components in one positioning assembly can be installed simultaneously through one mounting shell corresponding to the position, and the mounting shell can improve the integration of the components of the positioning assembly and protect the internal components.

[0011] In an optional embodiment, the material conveying system further includes a plurality of mounting seats arranged on the material conveying device and the transfer device, the mounting seat has a mounting plane for mounting the corresponding mounting shell, the mounting seat located at the material conveying device is arranged at the lower end of the discharge hopper away from the edge of the discharge port, and the mounting seat located at the transfer device is arranged at the upper end of the receiving hopper away from the edge of the receiving port.

[0012] Beneficial effects: the mounting seat can form a flat mounting plane on the discharge hopper and the receiving hopper, which is more convenient for the installation of the mounting shell. At the same time, the mounting seat is arranged away from the opening for conveying and receiving materials, which can prevent the positioning assembly from being damaged by the falling materials due to being too close to the opening.

[0013] In an alternative embodiment, a first material blocking plate is arranged on the side of the installation shell of the transfer device close to the receiving port to prevent the material from damaging the installation shell.

[0014] Beneficial effects: the first material blocking plate can effectively block the splashing material at the receiving port, further improving the reliability of the positioning assembly on the transfer device.

[0015] In an alternative embodiment, a second material blocking plate is arranged on the side of the installation shell of the material conveying device close to the discharging port to prevent the material from rebounding and damaging the installation shell.

[0016] Beneficial effects: the second material blocking plate can effectively block the rebounding and splashing material at the receiving port, further improving the reliability of the positioning assembly on the material conveying device.

[0017] In an alternative embodiment, the signal transmitting part is a positioning antenna, and / or the material conveying system further comprises a digging device that mines the material and moves the material into the material conveying device.

[0018] Beneficial effects: simple and reliable structure, easy to process and manufacture.

[0019] In a second aspect, the present application also provides a transfer positioning method using the above-mentioned material conveying system, which comprises: detecting the first position information of the discharging port of the material conveying device and the receiving port of the transfer device by the plurality of laser radar positioning units; obtaining the first position information by the control assembly and adjusting the relative positions of the discharging port and the receiving port; detecting the second position information of the discharging port and the receiving port by the plurality of radio positioning units; obtaining the second position information by the control assembly and adjusting the relative positions of the discharging port and the receiving port.

[0020] Beneficial effects: the discharging port and the receiving port are positioned and adaptively adjusted by the laser radar positioning and the regional radio signal positioning at the same time, ensuring that the discharging port and the receiving port are always in the preset working state, preventing the problem of material scattering caused by incorrect docking during material conveying, and ensuring the accuracy and reliability of positioning in the mine operation environment. This positioning method can be more effectively applied to complex operation sites, and can effectively improve the safety redundancy of material conveying.

[0021] In an alternative embodiment, the step of obtaining the first position information by the control assembly and adjusting the relative positions of the discharging port and the receiving port comprises:

[0022] The first position information is acquired by the control component; the first offset is acquired by the control component according to the initial position information of the discharge port and the receiving port and the first position information; the first offset is compared with the preset maximum offset, if the first offset is greater than or equal to the preset maximum offset, the relative position of the discharge port and the receiving port is adjusted by the control component; if the first offset is less than the preset maximum offset, no adjustment is needed.

[0023] Beneficial effects: the laser radar positioning method is simple and fast, can quickly identify whether the relative position of the discharge port and the receiving port is offset, and can sensitively and quickly adjust the position of the discharge port and the receiving port according to the position information.

[0024] In an optional embodiment, the second position information includes the spatial position information of each positioning terminal of the material conveying device and the transfer device, the plurality of positioning terminals of the material conveying device are located on the same plane and form a first positioning plane, the plurality of positioning terminals of the transfer device are located on the same plane and form a second positioning plane, the material conveying device includes a material conveying machine and a discharge hopper, the discharge hopper is arranged at one end of the conveying direction of the material conveying machine and the bottom of the discharge hopper forms a discharge port, the transfer device includes a material conveying machine and a receiving hopper, the lower end outlet of the receiving hopper is arranged correspondingly with the material conveying machine, and the top of the receiving hopper has a receiving port matched with the discharge port;

[0025] The step of acquiring the second position information and adjusting the relative position of the discharge port and the receiving port by the control component includes:

[0026] The current distance between the discharge hopper and the receiving hopper is acquired by the control component according to the second position information; the current distance is compared with the preset distance range, if the current distance is outside the preset distance range, the relative position of the discharge port and the receiving port is adjusted by the control component; the current included angle between the first positioning plane and the second positioning plane is acquired by the control component according to the second position information; the current included angle is compared with the preset maximum included angle, if the current included angle is greater than the preset maximum included angle, the relative position of the discharge port and the receiving port is adjusted by the control component.

[0027] Beneficial effects: the distance and the angle between the material conveying device and the transfer device can be detected by the radio positioning unit, by ensuring that the distance and the angle between the material conveying device and the transfer device meet the preset numerical range, the relative position of the discharge port and the receiving port can be kept in the preset correct working state. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] Figure 1 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application;

[0030] Figure 2 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application; Figure 1

[0031] A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application; Figure 3 Figure 1 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application;

[0032] Figure 4 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application; Figure 3

[0033] A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application; Figure 5 Figure 3 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application;

[0034] Figure 6 Figure 1 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application;

[0035] Figure 7 A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application; Figure 1

[0036] A schematic view of a partial structure arrangement of a material conveying system according to an embodiment of the present application;

[0037] 1, conveying device; 101, discharge port; 102, conveying machine; 103, discharge hopper; 2, transfer device; 201, receiving port; 202, conveying machine; 203, receiving hopper; 3, positioning assembly; 301, radar part; 302, reflecting part; 303, signal emitting part; 304, positioning terminal; 4, mounting shell; 5, mounting seat; 6, first material blocking plate; 7, second material blocking plate; 8, excavating equipment; 9, material yard. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0039] The embodiments of the present application will be described below with reference to the drawings. Figures 1 to 7 The embodiments of the present application will be described below with reference to the drawings.​​​​

[0040] According to an embodiment of the present application, in one aspect, a material conveying system for conveying material during a mining operation is provided, the material conveying system comprising: a material feeding device 1, a material transfer device 2, a plurality of positioning assemblies 3, and a control assembly, the material feeding device 1 having a discharge port 101, the material transfer device 2 having a receiving port 201 corresponding to the discharge port 101; each positioning assembly 3 comprising a laser radar positioning unit and a radio positioning unit, the laser radar positioning unit comprising a radar portion 301 and a reflection portion 302, one of the radar portion 301 and the reflection portion 302 being provided on the material feeding device 1, the other of the radar portion 301 and the reflection portion 302 being provided on the material transfer device 2 corresponding to the one, the radio positioning unit comprising a signal transmitting portion 303 and two positioning terminals 304, the signal transmitting portion 303 being provided on an operation area of the material feeding device 1, the positioning terminals 304 being signal connected to the signal transmitting portion 303, one of the positioning terminals 304 being provided on the material feeding device 1, the other of the positioning terminals 304 being provided on the material transfer device 2 corresponding to the one, the positioning terminals 304 being adapted to receive signals from the signal transmitting portion 303 and feedback position information of the positioning terminals 304, the control assembly being connected to each positioning assembly 3, the control assembly being adapted to adjust positions and postures of the material feeding device 1 and the material transfer device 2 according to information fed back by the plurality of positioning assemblies 3, so that the discharge port 101 and the receiving port 201 correspond to each other, wherein the number of the positioning assemblies 3 is greater than or equal to three, the positioning terminals 304 of the material feeding device 1 are located on the same plane and form a first positioning plane, and the positioning terminals 304 of the material transfer device 2 are located on the same plane and form a second positioning plane.

[0041] The material conveying system of the present embodiment can effectively ensure the positioning accuracy during the mining operation, through the cooperation of the control assembly and the plurality of positioning assemblies 3, the material feeding device 1 and the material transfer device 2 can simultaneously detect their own position information through the laser radar positioning unit and the radio positioning unit, the two positioning methods are complementary, the control assembly can receive the position information and adjust the relative positions of the material feeding device 1 and the material transfer device 2 in real time, so that the discharge port 101 and the receiving port 201 can be kept in the preset matching posture continuously, avoiding the situation of material scattering caused by misalignment during the material conveying process, and effectively solving the problem of low carrying efficiency caused by unsmooth transfer during the material conveying of the existing mining operation.

[0042] In the related art, in the transfer conveying process of bulk materials, positioning is also performed by a single laser radar positioning assembly. This positioning method is suitable for stable and interference-free working environments. However, in places such as wharfs, yards, and mines where dust is raised, or in environments where the weather changes frequently, the laser radar positioning is often affected. Dust, rain, and snow particles in the mine working environment can interfere with the normal operation of the laser radar positioning, causing the laser radar to be unable to work or to have positioning deviation, so that the unloading port 101 and the receiving port 201 cannot be corrected in time when they are misaligned, and thus material transportation accidents can be caused.

[0043] The material conveying system of the embodiment not only sets the laser radar positioning unit, but also sets the radio positioning unit. The radio positioning unit is not affected by dust, rain, and snow, and thus can be reliably performed in the mine working environment. The unloading port 101 and the receiving port 201 are positioned by the laser radar positioning unit and the radio positioning unit at the same time. The two positioning methods are complementary to each other, which can greatly reduce the failure probability of positioning and effectively improve the safety redundancy in the material conveying process.

[0044] It should be noted that the specific working order of the laser radar positioning unit and the radio positioning unit is not limited. The two positioning methods can be performed at the same time until the relative positions of the unloading port 101 and the receiving port 201 are adjusted to be qualified by both positioning methods. Alternatively, the laser radar positioning can be performed first. If the positioning is not accurate or cannot be positioned, the radio positioning is performed.

[0045] Preferably, the laser radar positioning unit and the radio positioning unit perform the two positioning methods at the same time to avoid the situation that the laser radar positioning error cannot be detected.

[0046] Specifically, the control assembly includes a programmable logic controller (PLC-Programmable Logic Controller).

[0047] The radar part 301 of the laser radar positioning unit can emit and receive laser signals, and the reflecting part 302 can reflect the laser signals. The specific installation positions of the radar part 301 and the reflecting part 302 are not limited. The radar part 301 can be installed on the conveying device 1, and the reflecting part 302 can be installed on the transfer device 2. Alternatively, the reflecting part 302 can be installed on the conveying device 1, and the radar part 301 can be installed on the transfer device 2. After the radar part 301 and the reflecting part 302 are installed, the signal emission angle of the radar part 301 and the signal emission angle of the reflecting part 302 need to be adjusted to a preset working angle. Each set of radar part 301 and reflecting part 302 can measure the distance information of the current position. The control assembly can calculate the offset amount of the two material ports at this time according to the data of each set of laser radar positioning unit. When the offset amount exceeds the preset maximum offset amount, one of the conveying device 1 and the transfer device 2 is controlled to move towards the position of the other to correct the deviation.

[0048] The signal emission part 303 of the radio positioning unit can emit radio signals. The two positioning terminals 304 can receive the radio signals and feed back the positions of the two positioning terminals 304. The spatial position information of multiple points of the conveying device 1 and the transfer device 2 can be measured through multiple sets of positioning terminals 304 on the conveying device 1 and the transfer device 2. Multiple position points of the conveying device 1 form a first positioning surface, and multiple position points of the transfer device 2 form a second positioning surface. After the control assembly obtains the spatial position information of each positioning terminal 304, the distance between the conveying device 1 and the transfer device 2 and the included angle between the first positioning surface and the second positioning surface can be calculated according to the spatial geometric principle. When the distance between the conveying device 1 and the transfer device 2 exceeds the preset range, and when the included angle between the first positioning surface and the second positioning surface exceeds the preset range, one of the conveying device 1 and the transfer device 2 is controlled to adjust the posture to match the position state of the other.

[0049] Preferably, the radio positioning unit can be a regional GPS positioning system (Global Positioning System) or a Beidou satellite navigation system (Beidou Navigation Satellite System).

[0050] It should be noted that the specific positioning process of the laser radar positioning unit can refer to the existing laser radar positioning process, which will not be described in detail here.

[0051] In the embodiment, the material conveying device 1 comprises a material conveying machine 102 and a discharge hopper 103, the material conveying machine 102 has a conveying belt for conveying materials and is movable, the discharge hopper 103 is arranged at one end of the conveying direction of the material conveying machine 102 and the bottom of the discharge hopper 103 forms a discharge port 101, the transfer device 2 comprises a material conveying machine 202 and a receiving hopper 203, the material conveying machine 202 has a conveying belt for conveying materials, the receiving hopper 203 is movably arranged above the conveying belt, the lower end outlet of the receiving hopper 203 is arranged corresponding to the conveying belt, and the top of the receiving hopper 203 has a receiving port 201 matched with the discharge port 101, which is simple and reliable in structure, the discharge hopper 103 can effectively limit the movement track of the materials when falling, preventing the materials from scattering, and the receiving hopper 203 can effectively constrain the falling position of the materials, preventing the materials from falling to the area outside the conveying belt.

[0052] Specifically, the material conveying device 1 is used to convey the materials in the mining area to the corresponding transfer device 2, and the number of the material conveying device 1 is not limited, which can be two material conveying devices 1 with different heights and angles as shown in Figure 2 , or one or more than two material conveying devices 1.

[0053] Further, as shown in Figure 6 , the material conveying machine 102 is a conveying device with a track or tire as a moving component and can move and adjust the posture by itself, the material conveying machine 102 comprises a machine body and a conveying arm arranged on the machine body, at least a part of the conveying belt extends along the conveying arm, and the position and posture of the discharge hopper 103 in space can be changed by adjusting the positions of the machine body and the conveying arm of the material conveying machine 102.

[0054] It should be noted that the conveying arm of the material conveying machine 102 is adjusted more conveniently and quickly, so the position of the discharge hopper 103 is usually changed by adjusting the position of the conveying arm, so that the discharge hopper 103 is adjusted corresponding to the position of the receiving hopper 203.

[0055] In the embodiment, the material conveying system further comprises a mounting shell 4, the components of each positioning assembly 3 located at the material conveying device 1 are arranged on the discharge hopper 103 through one mounting shell 4, and the components of each positioning assembly 3 located at the transfer device 2 are arranged on the receiving hopper 203 through one mounting shell 4, so that the components in one positioning assembly 3 can be installed at the same time through one mounting shell 4 at the corresponding position, and the mounting shell 4 can improve the integration of the components of the positioning assembly 3 and protect the internal components.

[0056] Specifically, the mounting shell 4 has an installation space inside and openings at the corresponding positions to facilitate the components of the laser radar positioning unit to receive or reflect signals, as shown in Figure 3As shown, it is a top view of the discharge hopper 103 when the mounting shell 4 is set separately. The top of the mounting shell 4 is provided with an opening, and the radar part 301 and one of the reflecting parts 302 and a positioning terminal 304 are simultaneously installed inside the mounting shell 4.

[0057] In this embodiment, the material conveying system also includes a plurality of mounting seats 5 arranged on the feeding device 1 and the transfer device 2. The mounting seats 5 have mounting surfaces for installing corresponding mounting shells 4. The mounting seats 5 located on the feeding device 1 are arranged at the lower end of the discharge hopper 103 away from the edge of the discharge port 101. The mounting seats 5 located on the transfer device 2 are arranged at the upper end of the receiving hopper 203 away from the edge of the receiving port 201. The mounting seats 5 can form a flat mounting surface on the discharge hopper 103 and the receiving hopper 203, which is more convenient for installing the mounting shell 4. At the same time, the mounting seats 5 are arranged away from the opening for conveying and receiving materials, which can prevent the positioning component 3 from being damaged by falling materials because it is too close to the opening.

[0058] It is understandable that, as an alternative embodiment, the mounting shell 4 may not be provided, and the components of each positioning assembly 3 may be individually mounted on the corresponding mounting seat 5 .

[0059] Specifically, there is no limitation on the specific structural form of the mounting base 5 , and it can be flexibly selected according to needs, as long as a mounting plane can be formed.

[0060] In this embodiment, a first material baffle plate 6 is provided on the side of the mounting shell 4 of the transfer device 2 close to the receiving port 201 to prevent the material from damaging the mounting shell 4. The first material baffle plate 6 can effectively block the material splashing at the receiving port 201, further improving the reliability of the positioning component 3 on the transfer device 2.

[0061] Specifically, if Figure 5 As shown, the mounting shell 4 may not be provided, and the components of each positioning assembly 3 may be separately installed on the corresponding mounting seat 5, and a first baffle plate 6 may be provided on the side close to the receiving port 201, which can also ensure the reliability of the positioning assembly 3.

[0062] Furthermore, there is no limitation on the specific form of the first baffle plate 6, which may be: Figure 5 The vertical plate-like structure shown in the figure may also be an outwardly curved arc-shaped plate, or a bent baffle with a bent section, as long as it can effectively block the flying materials.

[0063] In this embodiment, a second material baffle plate 7 is provided on the side of the mounting shell 4 of the feeding device 1 close to the discharge port 101 to prevent material rebound from damaging the mounting shell 4. The second material baffle plate 7 can effectively block the material rebounding and splashing at the receiving port 201, further improving the reliability of the positioning component 3 on the feeding device 1.

[0064] Specifically, the specific form of the second baffle plate 7 is not limited, which can be a vertical plate structure as shown in the figure, or an outwardly curved arc-shaped plate, or a bent baffle plate with a bent section, as long as it can effectively block the rebounding materials. Figure 5

[0065] In the embodiment, the signal transmitting part 303 is a positioning antenna, and / or the material conveying system further comprises a digging device 8 which belongs to mining materials and moves the materials into the material conveying device 1, which is simple and reliable in structure and convenient to process and manufacture.

[0066] Specifically, Figure 2 As shown in the figure, the function of the material conveying device 1 is to transport the materials dug by the digging device 8 from the material yard 9 to the corresponding transfer device 2, wherein the number of the material conveying device 1 can be multiple, and multiple levels of different direction material conveying devices 1 are used to adapt to the corresponding mine terrain and convey materials.

[0067] According to the embodiment of the present application, on the other hand, a transfer positioning method is provided, which uses the above-mentioned material conveying system, comprising: detecting the first position information of the discharge port 101 of the material conveying device 1 and the receiving port 201 of the transfer device 2 by a plurality of laser radar positioning units; obtaining the first position information by the control assembly and adjusting the relative position of the discharge port 101 and the receiving port 201; detecting the second position information of the discharge port 101 and the receiving port 201 by a plurality of radio positioning units; obtaining the second position information by the control assembly and adjusting the relative position of the discharge port 101 and the receiving port 201.

[0068] By using the laser radar positioning and the regional radio signal positioning to simultaneously position and adaptively adjust the position of the discharge port 101 and the receiving port 201, it is ensured that the discharge port 101 and the receiving port 201 are always in the preset working state, preventing the problem of material scattering caused by misalignment during material conveying, and ensuring the accuracy and reliability of positioning in the mine working environment. This positioning method can be more effectively applied to complex working sites, and can effectively improve the safety redundancy of material conveying.

[0069] In the embodiment, the step of obtaining the first position information by the control assembly and adjusting the relative position of the discharge port 101 and the receiving port 201 comprises:

[0070] ​The first position information is acquired by the control component; the first offset is acquired by the control component according to the initial position information of the discharge port 101 and the receiving port 201 and the first position information; the first offset is compared with the preset maximum offset, if the first offset is greater than or equal to the preset maximum offset, the relative position of the discharge port 101 and the receiving port 201 is adjusted by the control component; if the first offset is less than the preset maximum offset, no adjustment is needed.

[0071] The laser radar positioning method is simple and fast, which can quickly identify whether the relative position of the discharge port 101 and the receiving port 201 is offset, and can adjust the position of the discharge port 101 and the receiving port 201 according to the position information.

[0072] It should be noted that when the relative position of the discharge port 101 and the receiving port 201 is adjusted, one of the discharge port 101 and the receiving port 201 is stationary, and the other is adjusted to follow to make the relative position of the two meet the working requirements. This adjustment method can effectively reduce the complexity of the adjustment process.

[0073] Further, the other component moves in the direction of reducing the first offset when following adjustment.

[0074] In the embodiment, the second position information includes the spatial position information of each positioning terminal 304 of the material conveying device 1 and the transfer device 2. The plurality of positioning terminals 304 of the material conveying device 1 are located on the same plane and form a first positioning plane. The plurality of positioning terminals 304 of the transfer device 2 are located on the same plane and form a second positioning plane. The material conveying device 1 includes a material conveying machine 102 and a discharge hopper 103. The discharge hopper 103 is arranged at one end of the conveying direction of the material conveying machine 102 and the bottom of the discharge hopper 103 forms a discharge port 101. The transfer device 2 includes a material conveying machine 202 and a receiving hopper 203. The lower end of the receiving hopper 203 is arranged corresponding to the material conveying machine 202. The top of the receiving hopper 203 has a receiving port 201 matched with the discharge port 101.

[0075] The step of acquiring the second position information and adjusting the relative position of the discharge port 101 and the receiving port 201 by the control component includes: acquiring the current distance between the discharge hopper 103 and the receiving hopper 203 according to the second position information by the control component; comparing the current distance with the preset distance range, if the current distance is outside the preset distance range, adjusting the relative position of the discharge port 101 and the receiving port 201 by the control component; acquiring the current included angle between the first positioning plane and the second positioning plane according to the second position information by the control component; comparing the current included angle with the preset maximum included angle, if the current included angle is greater than the preset maximum included angle, adjusting the relative position of the discharge port 101 and the receiving port 201 by the control component.

[0076] The distance and angle between the material conveying device 1 and the transfer device 2 can be detected by the radio positioning unit, and by ensuring that the distance and angle between the material conveying device 1 and the transfer device 2 meet the preset value range, the relative position of the discharge port 101 and the receiving port 201 can be kept in the preset correct working state.

[0077] Specifically, the number of the positioning terminals 304 arranged on the material conveying device 1 and the transfer device 2 is more than three, for example, Figure 7 As shown in the figure, taking three positioning terminals 304 as an example, wherein A0, B0 and C0 represent the positioning terminals 304 on the material conveying device 1, the plane formed by A0, B0 and C0 is plane 0, the spatial coordinates of A0 are (x01, y01, z01), the spatial coordinates of B0 are (x02, y02, z02), and the spatial coordinates of C0 are (x03, y03, z03); A1, B1 and C1 represent the positioning terminals 304 on the transfer device 2, the plane formed by A1, B1 and C1 is plane 1, the spatial coordinates of A1 are (x11, y11, z11), the spatial coordinates of B1 are (x12, y12, z12), and the spatial coordinates of C1 are (x13, y13, z13);

[0078] According to the spatial geometry principle, the plane equation ax+by+cz+d=0 of the plane 1 can be obtained according to A1, B1 and C1;

[0079] The distance H1 of A0 to the plane 1 can be calculated according to the following formula:

[0080]

[0081] The distance H2 of B0 to the plane 1 can be calculated according to the following formula:

[0082]

[0083] The distance H3 of C0 to the plane 1 can be calculated according to the following formula:

[0084]

[0085] The distance L between the material conveying device 1 and the transfer device 2 can be calculated according to the formula L=(H1+H2+H3) / 3;

[0086] Take the maximum difference MAXΔL, MAXΔL=MAX(ABS(L-H1), ABS(L-H2), ABS(L-H3));

[0087] Suppose the distance between the three points (A0, B0, C0) in the plane 0 is X, then the angle between the plane 0 and the plane 1 is

[0088] Wherein, L is the current distance, when L is not in the preset distance range, such as not between 600-1000mm, then the position of the conveying arm of the feeding device 1 needs to be adjusted; the angle Φ is the current angle, when the angle Φ is greater than the preset maximum angle, such as 6°, then the conveying arm needs to be adjusted.

[0089] It should be noted that the above-mentioned preset distance range and preset maximum angle are only one way of illustration, and are not limited to the above-mentioned numerical range or value.

[0090] In addition, the adjustment direction of the conveying arm is the direction of weakening the angle Φ and making L tend to return to the preset distance range.

[0091] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A material conveying system for conveying materials during mining operations, characterized in that: include: A material conveying device (1) having a discharge port (101); A transfer device (2) having a receiving port (201) corresponding to the discharge port (101); A plurality of positioning components (3), each positioning component (3) includes a laser radar positioning unit and a radio positioning unit, the laser radar positioning unit includes a radar part (301) and a reflecting part (302), one of the radar part (301) and the reflecting part (302) is arranged on the feeding device (1), and the other of the radar part (301) and the reflecting part (302) is correspondingly arranged on the transfer device (2), the radio positioning unit includes a signal transmitting part (303) and two positioning terminals (304), the signal transmitting part (303) is arranged in the working area of ​​the feeding device (1), the positioning terminals (304) are signal-connected to the signal transmitting part (303), one of the positioning terminals (304) is arranged on the feeding device (1), and the other of the positioning terminals (304) is correspondingly arranged on the transfer device (2), and the positioning terminals (304) are suitable for receiving signals from the signal transmitting part (303) and feeding back their own position information; a control component connected to each of the positioning components (3), the control component being adapted to adjust the position and posture of the feeding device (1) and the transfer device (2) according to information fed back by the plurality of positioning components (3), so as to enable the discharge port (101) to correspond to the receiving port (201); The number of the positioning components (3) is greater than or equal to three, the plurality of positioning terminals (304) of the feeding device (1) are located on the same plane and form a first positioning surface, and the plurality of positioning terminals (304) of the transfer device (2) are located on the same plane and form a second positioning surface; Among them, the transfer positioning method using the material conveying system includes: Detecting first position information of a discharge port (101) of a feeding device (1) and a receiving port (201) of a transfer device (2) using a plurality of laser radar positioning units; Acquiring the first position information through a control component and adjusting the relative positions of the discharge port (101) and the receiving port (201); detecting second position information of the discharge port (101) and the receiving port (201) by using a plurality of radio positioning units; Acquiring the second position information through the control component and adjusting the relative positions of the discharge port (101) and the receiving port (201); The steps of obtaining the first position information through the control component and adjusting the relative positions of the discharge port (101) and the receiving port (201) include: acquiring the first location information through the control component; Obtaining a first offset through the control component according to initial position information of the discharge port (101) and the receiving port (201) and the first position information; Comparing the first offset with a preset maximum offset, If the first offset is greater than or equal to the preset maximum offset, the relative positions of the discharge port (101) and the receiving port (201) are adjusted by the control component; If the first offset is smaller than the preset maximum offset, no adjustment is required.

2. The material conveying system according to claim 1, characterized in that: The feeding device (1) includes a feeding machine (102) and a discharge hopper (103), wherein the feeding machine (102) has a conveyor belt for conveying materials and is movable, and the discharge hopper (103) is arranged at one end of the feeding direction of the feeding machine (102) and has a discharge port (101) formed at the bottom, and the transfer device (2) includes a conveyor (202) and a receiving hopper (203), wherein the feeding machine (202) has a conveyor belt for conveying materials, and the receiving hopper (203) is movably arranged above the conveyor belt, and the lower end outlet of the receiving hopper (203) is arranged corresponding to the conveyor belt, and the top of the receiving hopper (203) has a receiving port (201) that cooperates with the discharge port (101).

3. The material conveying system according to claim 2, characterized in that: The material conveying system further includes a mounting shell (4), wherein the multiple components of each positioning assembly (3) located in the feeding device (1) are arranged in the discharge hopper (103) through one of the mounting shells (4), and the multiple components of each positioning assembly (3) located in the transfer device (2) are arranged in the receiving hopper (203) through one of the mounting shells (4).

4. The material conveying system according to claim 3, characterized in that: The material conveying system further comprises a plurality of mounting seats (5) arranged on the feeding device (1) and the transfer device (2), wherein the mounting seats (5) have mounting planes for mounting the corresponding mounting shells (4). The mounting seat (5) located on the feeding device (1) is arranged at the lower end of the discharge hopper (103) away from the edge of the discharge port (101), and the mounting seat (5) located on the transfer device (2) is arranged at the upper end of the receiving hopper (203) away from the edge of the receiving port (201).

5. The material conveying system according to claim 4, characterized in that: A first material blocking plate (6) is provided on a side of the mounting shell (4) of the transfer device (2) close to the material receiving port (201) to prevent the material from damaging the mounting shell (4).

6. The material conveying system according to claim 5, characterized in that: A second material baffle (7) is provided on a side of the mounting shell (4) of the feeding device (1) close to the discharge port (101) to prevent the material from rebounding and damaging the mounting shell (4).

7. The material conveying system according to any one of claims 1 to 6, characterized in that: The signal transmitting unit (303) is a positioning antenna, and / or the material conveying system further comprises an excavating device (8), wherein the excavating device (8) is used to excavate materials and move the materials into the conveying device (1).

8. The material conveying system according to claim 1, characterized in that: The second position information includes spatial position information of each positioning terminal (304) of the feeding device (1) and the transfer device (2), the plurality of positioning terminals (304) of the feeding device (1) are located in the same plane and form a first positioning surface, the plurality of positioning terminals (304) of the transfer device (2) are located in the same plane and form a second positioning surface, the feeding device (1) includes a feeding machine (102) and a discharge hopper (103), the discharge hopper (103) is arranged at one end of the conveying direction of the feeding machine (102) and forms a discharge port (101) at the bottom, the transfer device (2) includes a conveying machine (202) and a receiving hopper (203), the lower end outlet of the receiving hopper (203) is arranged corresponding to the feeding machine (202), and the top of the receiving hopper (203) has a receiving port (201) that cooperates with the discharge port (101); The steps of obtaining the second position information through the control component and adjusting the relative positions of the discharge port (101) and the receiving port (201) include: Obtaining, by the control component, a current distance between the discharge hopper (103) and the receiving hopper (203) according to the second position information; Comparing the current spacing with a preset spacing range, and if the current spacing is outside the preset spacing range, adjusting the relative positions of the discharge port (101) and the receiving port (201) through the control component; obtaining, by the control component, a current angle between the first positioning surface and the second positioning surface according to the second position information; The current angle is compared with a preset maximum angle, and if the current angle is greater than the preset maximum angle, the relative positions of the discharge port (101) and the receiving port (201) are adjusted by the control component.

Images