Control Method for Large Coal Crushing in Scraper Conveyor Equipment Based on Infrared Laser Ranging

Abstract

A method for controlling the crushing of large coal pieces using a scraper conveyor based on infrared laser ranging is disclosed. This method involves installing multiple length and height rangefinders on the scraper conveyor. When large coal pieces become clogged, their dimensions can be measured. Based on the length of the coal piece, the required number of crushing operations is determined. The crushing point coordinates of the crushing hammer are established based on the number of crushing operations, the length, and the height of the coal piece. The crushing hammer is then controlled according to these coordinates to complete the automatic crushing operation. This invention automatically calculates and generates a crushing operation plan for a rocker-arm hydraulic impact crusher using an algorithm, automatically carrying out the crushing operation without manual intervention or worker experience constraints. It is highly efficient, safe, and meets the requirements for automatic, rapid, and efficient crushing of large coal pieces.

Description

Technical Field

[0001] This invention relates to the field of scraper conveyor equipment technology in underground working faces, and in particular to a method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging. Background Technology

[0002] In medium-thick coal seams, as the mining height of the fully mechanized face increases, coal face spalling and collapse become frequent during mining, leading to increasingly larger lumps of coal on the scraper conveyor. Under certain operating conditions, raw coal may collapse in large slabs during the cutting process by the coal mining machine. Therefore, in medium-thick coal seams, at the unloading points of the conveyor head and the entrance of the transfer conveyor, large lumps of coal are prone to causing blockages at the unloading points of the conveyor head and the transfer conveyor, as the coal flow needs to be guided 90° from the conveyor head to the transfer conveyor. This process prevents the coal flow from continuing to be transported, forcing the conveyor equipment to stop.

[0003] To solve this problem, scraper conveyor equipment currently uses a rocker arm type hydraulic impact crusher, such as... Figure 3 and Figure 4 As shown, the rocker arm hydraulic impact crusher is hydraulically driven and controls the movement of each cylinder through a hydraulic system, achieving multi-degree-of-freedom movement and effectively crushing large pieces of coal and gangue. However, existing rocker arm hydraulic impact crushers are operated manually or remotely on-site, which is limited by the experience of the workers, resulting in low crushing efficiency and potential safety hazards such as collisions due to misoperation. They cannot meet the needs of automatic, rapid, and efficient crushing of large pieces of coal. Summary of the Invention

[0004] In order to solve the technical problems existing in the above-mentioned technologies, it is necessary to provide a method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging.

[0005] A method for controlling the crushing of large coal pieces in a scraper conveyor system based on infrared laser ranging includes the following steps:

[0006] Step S1: Arrange the horizontally positioned distance measuring instruments in order of distance from the camera head, numbering them a1, a2, a3...a... n Then each length rangefinder a1, a2, a3...a n The distances to the nose of the aircraft are x1, x2, x3...x n ;

[0007] The vertically arranged distance measuring instruments are numbered b1, b2, b3...b according to their position from highest to lowest. m The heights from each distance measuring instrument to the center plate of the machine head are y1, y2, y3...y m ;

[0008] Step S2: Obtain the measurement value of the oblique distance from the distance measuring instrument to the center of the conveyor transition trough. The measurement values ​​measured by each distance measuring instrument are w1, w2, w3...w n ; Obtain the measured value of the distance between the height rangefinder and the coal face, then the measured value corresponding to each height rangefinder is successively g1, g2, g3...g m ;

[0009] Step S3: Transfer the acquired measurement values ​​w1, w2, w3...w n The length S of the coal block is determined by comparing it with a constant distance value k; the obtained measurement values ​​g1, g2, g3...g m The height H of the coal block is determined by comparing it with a constant distance value p.

[0010] Step S4: Based on the length S of the coal block to be crushed, determine the number of crushing operations N required for the coal block using the following formula.

[0011] N×ΔS <S<(N+1)×ΔS

[0012] Where: ΔS is the maximum length of coal material that can pass through the machine head;

[0013] Step S5: Based on the length S of the coal block, the number of crushing operations N required for the coal block, and the height H of the coal block, obtain the coordinates of the crushing point of the crushing hammer from the coal plow plate at the machine head during the crushing process. Control the crushing hammer to carry out the crushing operation according to these process coordinates to complete the coal block crushing operation.

[0014] Preferably, the length S of the coal block is obtained in the following way:

[0015] If the measured value corresponding to the length measuring instrument is less than the constant distance value k, it indicates that the coal blockage has occurred;

[0016] Based on the above judgment principles, the measured values ​​w1, w2, w3...w corresponding to each length rangefinder are assigned... n Each is compared with a constant distance value k;

[0017] Based on the comparison results, from x1, x2, x3...x n The specific location of each length rangefinder corresponding to a measured value less than a constant distance value k is obtained sequentially, along with the locations from x1, x2, x3...x n The specific location of each length rangefinder corresponding to a measured value close to a constant distance value k is obtained sequentially.

[0018] The length S of the coal block is equal to half the sum of the positions of the length measuring instruments corresponding to adjacent measured values ​​less than the constant distance value k and the positions of the length measuring instruments corresponding to measured values ​​close to the constant distance value k.

[0019] Preferably, the height H of the coal block is obtained in the following way:

[0020] If the measured value corresponding to the height rangefinder is less than the constant distance value p, it indicates that the coal blockage has occurred.

[0021] Based on the above judgment principle, the measured values ​​corresponding to each altitude rangefinder are sequentially named g1, g2, g3...g m Each of these is compared with a constant distance value p;

[0022] Based on the comparison results, from y1, y2, y3...y m The system sequentially obtains the specific location of each altitude rangefinder corresponding to a measured value less than a constant distance value p, and the positions from y1, y2, y3...y m The specific location of each height rangefinder corresponding to a measured value close to a constant distance value p is obtained sequentially.

[0023] The height dimension H of the coal block is equal to half the sum of the positions of the height measuring instruments corresponding to adjacent measured values ​​less than the constant distance value p and the positions of the height measuring instruments corresponding to measured values ​​close to the constant distance value p.

[0024] Preferably, the coordinates of the breaking point of the breaker hammer are obtained in the following way:

[0025] Theoretically, a coal block of length S needs to be crushed N times:

[0026] During the crushing process, the coordinates of the crushing points of the crushing hammers, starting from the coal plowing plate at the machine head, are as follows:

[0027] First breakage:

[0028] Depend on Exercise to

[0029] Second breakage:

[0030] Depend on Exercise to

[0031] ...

[0032] Nth breakage:

[0033] Depend on Exercise to

[0034] Where h = (H - chain height) × 80%, that is, the impact depth in a single crushing process. This height must be higher than the chain height to protect the scraper chain from interfering with the hammer.

[0035] Preferably, the length measuring instrument is disposed on the upper end of the baffle of the transition trough of the scraper conveyor, and the length measuring instruments are evenly distributed at equal intervals from the head of the machine to the side away from the head of the machine along the length direction of the baffle.

[0036] Preferably, the height measuring instrument is installed on the baffle of the transition trough of the scraper conveyor, and the height measuring instruments are evenly distributed from the upper end of the baffle downward along the longitudinal direction of the baffle, so that the length measuring instrument and the height measuring instrument are arranged in an "L" shape.

[0037] Compared with existing technologies, the large coal crushing control method for scraper conveyor equipment based on infrared laser ranging provided by this invention automatically measures the size of large coal pieces after blockage, and automatically calculates and generates a crushing operation plan for a rocker-arm hydraulic impact crusher through an algorithm, and automatically carries out the crushing operation without manual operation, without being restricted by the experience of workers, and is highly efficient and safe, meeting the needs of automatic, fast and efficient crushing of large coal pieces. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the installation structure of the length rangefinder and height rangefinder of the present invention.

[0040] Figure 2 This is a schematic diagram illustrating the measurement principle of the present invention.

[0041] Figure 3 This is a schematic diagram of a rocker arm hydraulic impact crusher installed at or near the head of a conveyor in the prior art.

[0042] Figure 4 for Figure 3 A top-view structural diagram.

[0043] In the diagram: Length rangefinder 01, Height rangefinder 02, Transition trough 03, Baffle 04, Hydraulic breaker 05, Coal block 06. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "upper", "middle", "outer", "inner", "lower", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0046] Please refer to Figures 1 to 2 This invention provides a method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging, comprising the following steps:

[0047] Step S1: Arrange the horizontally positioned distance measuring instruments 01, sequentially a1, a2, a3...a1 according to their distance from the camera head, from farthest to closest. n Then each length rangefinder is 01a1, a2, a3...a n The distances to the nose of the aircraft are x1, x2, x3...x n ;

[0048] The vertically arranged height measuring instruments 02 are numbered b1, b2, b3...b according to their positions from highest to lowest. m Then the heights from each distance measuring instrument 02 to the center plate of the machine head are y1, y2, y3...y m ;

[0049] Step S2: Obtain the measurement value of the oblique distance from the distance measuring instrument 01 to the center direction of the conveyor transition trough 03. Then, the measurement values ​​measured by each distance measuring instrument 01 are w1, w2, w3...w n The distance between the height measuring instrument 02 and the coal face is measured. The measured values ​​for each height measuring instrument 02 are then assigned as g1, g2, g3…g… m ;

[0050] Step S3: Transfer the acquired measurement values ​​w1, w2, w3...w n The length S of coal block 06 is determined by comparing it with a constant distance value k; the obtained measurement values ​​g1, g2, g3...g m The height dimension H of coal block 06 is determined by comparing it with a constant distance value p.

[0051] Step S4: Based on the length S of the coal block 06 to be crushed, determine the number of crushing times N required for the coal block 06 using the following formula.

[0052] N×ΔS <S<(N+1)×ΔS

[0053] Where: ΔS is the maximum length of coal block 06 material that can pass through the machine head;

[0054] Step S5: Based on the length S of coal block 06, the number of times coal block 06 needs to be crushed N, and the height H of coal block 06, obtain the crushing point coordinates of the breaker hammer 05 from the coal plow plate of the machine head during the crushing process. Control the breaker hammer 05 to carry out the crushing operation according to this process coordinate to complete the crushing operation of coal block 06.

[0055] Among them, the length measuring instrument 01 is set on the upper end of the baffle 04 of the transition trough 03 of the scraper conveyor, and the length measuring instruments 01 are evenly distributed at equal intervals from the head of the machine to the side away from the head of the machine along the length direction of the baffle 04.

[0056] Among them, the height measuring instrument 02 is set on the baffle 04 of the transition trough 03 of the scraper conveyor, and the height measuring instruments 02 are evenly distributed from the upper end of the baffle 04 downward along the longitudinal direction of the baffle 04, so that the length measuring instrument 01 and the height measuring instrument 02 are arranged in an "L" shape.

[0057] In a preferred embodiment, the length S of the coal block 06 is obtained in the following manner.

[0058] If the measured value corresponding to the length measuring instrument 01 is less than the constant distance value k, it indicates that the coal block 06 is blocked;

[0059] Based on the above judgment principle, the measured values ​​w1, w2, w3...w corresponding to each length rangefinder 01 are assigned to... n Each is compared with a constant distance value k;

[0060] Based on the comparison results, from x1, x2, x3...x n The specific positions of each length measuring instrument 01 corresponding to a measured value less than a constant distance value k are obtained sequentially, as well as the positions from x1, x2, x3...x n The specific position of each length rangefinder 01 corresponding to the measured value approaching the constant distance value k is obtained sequentially.

[0061] The length dimension S of coal block 06 is equal to half the sum of the positions of the length measuring instrument 01 corresponding to adjacent measured values ​​less than constant distance value k and the positions of the length measuring instrument 01 corresponding to measured values ​​close to constant distance value k.

[0062] In a preferred embodiment, the height H of the coal block 06 is obtained in the following manner.

[0063] If the measured value corresponding to the height rangefinder 02 is less than the constant distance value p, it indicates that the coal block 06 is blocked;

[0064] Based on the above judgment principle, the measured values ​​corresponding to each altitude rangefinder 02 are sequentially named g1, g2, g3...g m Each of these is compared with a constant distance value p;

[0065] Based on the comparison results, from y1, y2, y3...y m The system sequentially obtains the specific location of each altitude rangefinder 02 corresponding to a measured value less than a constant distance value p, and the positions from y1, y2, y3...y m The specific location of each height rangefinder 02 corresponding to the measured value close to the constant distance value p is obtained sequentially.

[0066] The height dimension H of coal block 06 is equal to half the sum of the positions of the height measuring instruments 02 corresponding to adjacent measured values ​​less than constant distance value p and the positions of the height measuring instruments 02 corresponding to measured values ​​close to constant distance value p.

[0067] In a preferred embodiment, the coordinates of the breaking point of the hydraulic breaker 05 head are obtained in the following way.

[0068] Theoretically, a coal block 06 of length S needs to be crushed N times:

[0069] During the crushing process, the coordinates of the crushing points of the breaker hammer 05 head, starting from the coal plowing plate at the machine head, are as follows:

[0070] First breakage:

[0071] Depend on Exercise to

[0072] Second breakage:

[0073] Depend on Exercise to

[0074] ...

[0075] Nth breakage:

[0076] Depend on Exercise to

[0077] Where h = (H - chain height) × 80%, that is, the impact depth in a single crushing process. This height must be higher than the chain height to protect the scraper chain from interfering with the hammer.

[0078] To better illustrate the technical solution of the present invention, 10 sets of length measuring instruments 01 are arranged horizontally. The horizontally arranged row of length measuring instruments 01 is obliquely aligned with the center direction of the conveyor transition trough 03 and is used to measure the length dimension S of large coal pieces that need to be crushed when material is blocked; 10 sets of height measuring instruments 02 are arranged vertically.

[0079] Following the principle of approaching the nose from farthest point, the distance measuring instruments 01 are sequentially a1, a2, a3...a 10; Assuming the distance from distance measuring instrument 01a1 to the head position is 300mm, and the distance measurement interval for each group is 500mm, then the distance measuring instruments 01a1, a2, a3...a 10 The positions to the machine head are 300, 800, 1300...3300 mm respectively;

[0080] Following the principle of ascending position, the height rangefinders 02 are sequentially named b1, b2, b3...b 10 ; Set the height from the height measuring instrument 02b1 to the center plate of the machine head to be 100mm, and the distance interval between each set of measurements to be 200mm; then the height measuring instruments 02b1, b2, b3...b 10 The heights to the machine head plate are 100, 300, 500...1900mm respectively.

[0081] When the conveying is normal and there is no blockage of lump coal, the measurement value of the length measuring instrument 01 is a constant range value k, k∈(900,1300)mm. During normal conveying, the measurement value k fluctuates within the range of (900,1300)mm.

[0082] When the coal blockage occurs, material conveying stops. The laser emitted by the length measuring instrument 01 is blocked by the obstructing coal, and the measured value remains constant, such as 1050mm. At this time, if the measured values ​​of the four length measuring instruments 01 (a1, a2, a3, a4, a5, ... a4) remain constant, such as 1050mm, and the measured values ​​do not change... 10 If the measured values ​​of the six length measuring instruments 01 fluctuate between (900, 1300) mm, then the length of the lump coal can be determined to be between 1800 mm and 2300 mm, which is approximately equal to (1800 + 2300) ÷ 2 = 2050 mm.

[0083] When the conveying is normal and there is no blockage of lump coal, the measurement value of the height distance measuring instrument 02 is a constant range value p, p∈(200,3500)mm, and the measurement value of the height distance measuring instrument 02 fluctuates within this range.

[0084] When the coal blockage occurs, material conveying stops. The laser emitted by the height measuring instrument 02 is blocked by the obstructing coal, and the measured value remains constant, such as 260mm. At this time, if the eight height measuring instruments 02 (b1...b8) also have a constant measured value, such as 260mm, and the measured value remains unchanged, then the values ​​of b9 and b... 10 The measured values ​​of the two height measuring instruments 02 fluctuate between (900, 1300) mm, so it can be determined that the height of the coal block is between 1500 mm and 1700 mm, which is approximately equal to (1500 + 1700) ÷ 2 = 1600 mm; thus, the length of coal block 06 is 2050 mm and the height is 1600 mm.

[0085] Set h = (H - chain height) × 80%, where H = 1600mm and the chain height is 100mm. Then h = (1600 - 100) × 80% = 1200mm, which is the impact depth in a single crushing process. This height must be higher than the chain height to protect the scraper chain from interfering with the hammer.

[0086] The maximum length of coal block 06 material that can pass through the machine head is set to ΔS = 1000mm.

[0087] For example: 2×1000<S=2050<3×1000

[0088] Theoretically, coal block 06 of length S needs to be crushed twice:

[0089] During the crushing process, the coordinates of the crushing points of the breaker hammer 05 head, starting from the coal plowing plate at the machine head, are as follows:

[0090] First breakage:

[0091] Depend on Exercise to

[0092] That is, the coordinates (683, 1600) move to (683, 400);

[0093] Second breakage:

[0094] Depend on Exercise to

[0095] That is, the coordinates (1367, 1600) move to (1367, 400);

[0096] By controlling the 05 head of the breaker according to this process coordinate, the automatic crushing operation can be completed.

[0097] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging, characterized in that: Includes the following steps, Step S1: Arrange the horizontally positioned distance measuring instruments in order of distance from the camera head, numbering them a1, a2, a3...a... n Then each length rangefinder a1, a2, a3...a n The distances to the nose of the aircraft are x1, x2, x3...x n ; The vertically arranged distance measuring instruments are numbered b1, b2, b3...b according to their position from highest to lowest. m The heights from each distance measuring instrument to the center plate of the machine head are y1, y2, y3...y m ; Step S2: Obtain the measurement value of the oblique distance from the distance measuring instrument to the center of the conveyor transition trough. The measurement values ​​measured by each distance measuring instrument are w1, w2, w3...w n ; Obtain the measured value of the distance between the height rangefinder and the coal face, then the measured value corresponding to each height rangefinder is successively g1, g2, g3...g m ; Step S3: Transfer the acquired measurement values ​​w1, w2, w3...w n The length S of the coal block is determined by comparing it with a constant distance value k; the obtained measurement values ​​g1, g2, g3...g m The height H of the coal block is determined by comparing it with a constant distance value p. Step S4: Based on the length S of the coal block to be crushed, determine the number of crushing operations N required for the coal block using the following formula. N×ΔS <S<(N+1)×ΔS Where: ΔS is the maximum length of coal material that can pass through the machine head; Step S5: Based on the length S of the coal block, the number of crushing operations N required for the coal block, and the height H of the coal block, obtain the crushing point coordinates of the crushing hammer from the coal plow plate at the machine head during the crushing process. Control the crushing hammer to carry out the crushing operation according to these process coordinates to complete the coal block crushing operation. The length S of the coal block is obtained in the following way. If the measured value corresponding to the length measuring instrument is less than the constant distance value k, it indicates that the coal blockage has occurred; Based on the above judgment principles, the measured values ​​w1, w2, w3...w corresponding to each length rangefinder are assigned... n Each is compared with a constant distance value k; Based on the comparison results, from x1, x2, x3...x n The specific location of each length rangefinder corresponding to a measured value less than a constant distance value k is obtained sequentially, along with the locations from x1, x2, x3...x n The specific location of each length rangefinder corresponding to a measured value close to a constant distance value k is obtained sequentially. The length S of the coal block is equal to half the sum of the positions of the length measuring instruments corresponding to adjacent measured values ​​less than the constant distance value k and the positions of the length measuring instruments corresponding to measured values ​​close to the constant distance value k.

2. The method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging according to claim 1, characterized in that: The height H of the coal block is obtained in the following way. If the measured value corresponding to the height rangefinder is less than the constant distance value p, it indicates that the coal blockage has occurred. Based on the above judgment principle, the measured values ​​corresponding to each altitude rangefinder are sequentially named g1, g2, g3...g m Each of these is compared with a constant distance value p; Based on the comparison results, from y1, y2, y3...y m The system sequentially obtains the specific location of each altitude rangefinder corresponding to a measured value less than a constant distance value p, and the positions from y1, y2, y3...y m The specific location of each height rangefinder corresponding to a measured value close to a constant distance value p is obtained sequentially. The height dimension H of the coal block is equal to half the sum of the positions of the height measuring instruments corresponding to adjacent measured values ​​less than the constant distance value p and the positions of the height measuring instruments corresponding to measured values ​​close to the constant distance value p.

3. The method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging according to claim 1, characterized in that: The coordinates of the breaking point of the hydraulic breaker are obtained in the following way: Theoretically, a coal block of length S needs to be crushed N times: During the crushing process, the coordinates of the crushing points of the crushing hammers, starting from the coal plowing plate at the machine head, are as follows: First breakage: Depend on Exercise to Second breakage: Depend on Exercise to …… Nth breakage: Depend on Exercise to Where h = (H - chain height) × 80%, that is, the impact depth in a single crushing process. This height must be higher than the chain height to protect the scraper chain from interfering with the hammer.

4. The method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging according to claim 1, characterized in that: The length measuring instruments are installed on the upper end of the baffle of the transition trough of the scraper conveyor, and the length measuring instruments are evenly distributed at equal intervals from the head of the machine to the side away from the head of the machine along the length direction of the baffle.

5. The method for controlling the crushing of large coal pieces in scraper conveyor equipment based on infrared laser ranging according to claim 1 or 4, characterized in that: The height measuring instrument is installed on the baffle of the transition trough of the scraper conveyor, and the height measuring instruments are evenly distributed from the upper end of the baffle downward along the longitudinal direction of the baffle, so that the length measuring instrument and the height measuring instrument are arranged in an "L" shape.

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