A hydraulic automatic tensioning system for a belt conveyor

Abstract

The present invention discloses a hydraulic automatic tensioning system for a belt conveyor, which relates to the technical field of conveyor tensioning adjustment and includes a data acquisition module, an image processing module, a belt calibration line acquisition module, a signal determination and generation module, a corrected length value acquisition module, and a corrected regulation module; by calculating the theoretical adjustment length and drawing a vertical line in a two-dimensional coordinate system to obtain the corrected length value, and accordingly adjusting the length of the real-time reference line based on this value, this process reduces the tensioning adjustment deviation caused by position deviation, greatly improves the adjustment accuracy and the adaptive ability of the system, further improves the effect and accuracy of the belt tensioning adjustment of the belt conveyor, ensures the stable operation of the belt conveyor, reduces the risk of equipment failure, improves the production efficiency and the service life of the equipment, and ensures the continuity and stability of production.

Description

Technical Field

[0001] The present invention relates to the technical field of conveyor tension adjustment, and specifically relates to a hydraulic automatic tensioning system for a belt conveyor. Background Art

[0002] With continuous research and development, the hydraulic tensioning device of belt conveyors has become increasingly perfect. Belt conveyors are essential transportation devices in coal mine production, running through the entire process of coal mine production. The conveyor belt is one of the core components of a belt conveyor, and its working state directly affects the overall operation of the belt conveyor.

[0003] A patent with the publication number CN115057167A discloses a hydraulic tensioning device for a belt conveyor, including a tensioning buffer mechanism, a hydraulic station, a capstan winch, a tension sensor, a controller, a plate body, four walking adjustment components, a first distance measuring instrument, a second distance measuring instrument, a baffle, and a roller shaft frame. Among them, the tensioning buffer mechanism is connected to the hydraulic station through a hydraulic pipe; the tensioning buffer mechanism, the capstan winch, the plate body, and the tension sensor are connected by a steel wire rope; the four walking adjustment components are symmetrically installed on the lower surface of the plate body, and the controller, the first distance measuring instrument, and the roller shaft frame are all installed on the upper surface of the plate body; the baffle is arranged on the tensioning buffer mechanism.

[0004] During tension adjustment, the position between the tensioning trolley and the belt deviates, resulting in inaccurate tension adjustment. Analyze the position deviation between the tensioning trolley and the belt, and obtain according to the analysis results;

[0005] However, when the belt is running, the tensioning trolley moves on the corresponding track to adjust the tightness of the belt. Due to various reasons, the actual position of the belt center line may not coincide with the center line position of the conveyor frame. This phenomenon is called the belt deviation phenomenon. The belt deviation phenomenon will cause the belt to rub against the frame, accelerate the wear of the conveyor belt, cause improper belt tension, resulting in unsmooth material transportation and increased belt wear, reducing the service life of the belt conveyor. In severe cases, it may cause the belt to tear, resulting in serious consequences such as the shutdown of the belt conveyor, affecting the normal use of the belt conveyor. Based on this, a hydraulic automatic tensioning system for a belt conveyor is proposed. Summary of the Invention

[0006] The purpose of the present invention is to provide a hydraulic automatic tensioning system for a belt conveyor, which solves the technical problems that due to various reasons, the actual position of the belt center line does not coincide with the center line position of the conveyor frame, resulting in improper belt tension, unsmooth material transportation, and increased belt wear.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] A hydraulic automatic tensioning system for a belt conveyor, comprising:

[0009] A data acquisition module for acquiring a top view image of the tensioning trolley and the belt;

[0010] An image processing module for obtaining the upper and lower boundary lines of the belt in the top view image from the top view image;

[0011] A belt calibration line acquisition module for placing the upper and lower boundary lines of the belt in a two-dimensional coordinate system, generating side lines according to the upper and lower boundary lines, and obtaining a belt calibration line according to the midpoints of the side lines;

[0012] A signal determination and generation module for obtaining a real-time reference line after belt tensioning adjustment, analyzing the real-time reference line of the belt and the belt calibration line, obtaining the deviation angle between the belt calibration line and the real-time reference line, and determining and generating a fault signal or a correction signal according to the magnitude of the deviation angle;

[0013] A correction length value acquisition module for calculating a theoretical adjustment length when a correction signal is generated, and drawing a vertical line of the belt calibration line in the two-dimensional coordinate system to obtain a correction length value;

[0014] A correction control module for correcting and controlling the real-time length of the real-time reference line according to the correction length value to reduce the tensioning adjustment deviation caused by the position deviation of the tensioning trolley.

[0015] As a further solution of the present invention: The specific method for obtaining the upper and lower boundary lines of the belt in the top view image is:

[0016] Obtaining the edge lines of the belt in the top view image through edge detection, feature recognition, and pattern matching image processing technologies, and respectively marking the two edge lines in the length direction of the belt as the upper and lower boundary lines of the belt in the top view image.

[0017] As a further solution of the present invention: The specific method for obtaining the belt calibration line is:

[0018] Place the upper and lower boundary lines of the belt in the top-down image within a two-dimensional coordinate system, and obtain the boundary line endpoint coordinates corresponding to both ends of the upper and lower boundary lines from the two-dimensional coordinate system, A1(Ax1, Ay1), A2(Ax2, Ay2), B1(Bx1, By1), and B2(Bx2, By2). While connecting endpoint A1 and B1, also connect endpoint A2 and B2, thereby generating two side lines C1 and C2 on both sides of the upper and lower boundary lines. At the same time, use the two endpoint coordinates that make up each side line as the component endpoint coordinates of each side line. Obtain the midpoints D1 and D2 corresponding to each side line according to the two endpoint coordinates that make up each side line. Connect the midpoints D1 and D2 corresponding to side lines C1 and C2 respectively to obtain the belt calibration line E. At the same time, use the coordinates of midpoints D1 and D2 as the coordinates of the two endpoints of belt calibration line E.

[0019] As a further solution of the present invention: The specific method for obtaining the coordinates of midpoints D1 and D2 is:

[0020] Calculate the abscissa Dx1 and ordinate Dy1 of the midpoint D1 corresponding to side line C1 through Dx1 = (Ax1 + Bx1) / 2 and Dy1 = (Ay1 + By1) / 2, thereby obtaining the coordinates of midpoint D1 as D1(Dx1, Dy1). Analyze the component endpoint coordinates (Ax2, Ay2) and (Bx2, By2) corresponding to side line C1 in the same way, and then obtain the coordinates of midpoint D2 as D2(Dx2, Dy2).

[0021] As a further solution of the present invention: The specific method for obtaining the deviation angle between the belt calibration line and the real-time reference line is:

[0022] According to the coordinates (Dx1, Dy1) and (Dx2, Dy2) of the two endpoints of the belt calibration line, the calibration length a of the belt calibration line is calculated through the distance calculation formula. After the belt is tensioned and adjusted, the real-time reference line R of the belt is obtained in the same way as obtaining the belt calibration line. The real-time reference line R of the belt is placed in the same two-dimensional coordinate system as the belt calibration line. The end of the real-time reference line away from the tensioning trolley coincides with the end point, i.e., the midpoint D1, of the belt calibration line away from the tensioning trolley. At the same time, the two end points D1(Dx1, Dy1) and D3(Dx3, Dy3) of the real-time reference line are obtained. In the same way as obtaining the calibration length a, the real-time length b of the real-time reference line R is calculated. D2 and D3 are connected to obtain a triangle with D1, D2, and D3 as the endpoints. According to the coordinates of D2 and D3, in the same way as obtaining the calibration length a, the line segment length c between D2 and D3 is calculated. The angle between the real-time reference line and the belt calibration line is marked as the deviation angle θ. According to the cosine theorem, the cosine value cosθ of the deviation angle θ is calculated, and then through the inverse cosine function calculation formula, the corresponding angle value of the deviation angle θ is calculated.

[0023] As a further solution of the present invention: The specific method for determining to generate a fault signal or a correction signal is:

[0024] When θ is greater than the preset angle threshold Y1, a fault signal of the tensioning trolley is generated. When θ is less than or equal to the preset angle threshold Y1, a correction signal is generated, where the preset angle threshold Y1 is set to 5°.

[0025] As a further solution of the present invention: Through the formula: The cosine value cosθ of the deviation angle θ is calculated; through the inverse cosine function calculation formula: The corresponding angle value of the deviation angle θ is calculated.

[0026] As a further solution of the present invention: The specific method for obtaining the correction length value is:

[0027] When generating a correction signal, the difference between the real-time length b of the real-time reference line and the calibrated length a of the belt calibration line is used as the theoretical adjustment length f. In a two-dimensional coordinate system, a perpendicular line F to the belt calibration line E is drawn with D2 as the foot of the perpendicular. At the same time, the real-time reference line R is extended along the direction of the tensioning trolley to obtain the extended real-time reference line R'. The intersection point between the extended real-time reference line R' and the perpendicular line F is taken as the intersection point G. Connect D1, D2, and G to obtain a triangle with D1, D2, and G as endpoints. The coordinates G(Gx, Gy) of the intersection point G are obtained from the two-dimensional coordinate system. According to the coordinates of the intersection point G and D1, in the same way as obtaining the calibrated length a, the distance g between the intersection point G and D1 is calculated. The ratio of the calibrated length a of the belt calibration line to the distance g is defined as the reference proportionality coefficient H between the belt calibration line and the real-time reference line. The sum of the theoretical adjustment length f and the calibrated length a of the belt calibration line is taken as the theoretical length K1 of the belt. According to the required length calculation formula K2 = K1 / H, the required length K2 of the belt is obtained. The difference between the actual length K2 of the belt and the real-time length b of the real-time reference line R is taken as the correction length value XZ.

[0028] As a further solution of the present invention: The specific method for performing corresponding correction and regulation on the real-time length of the real-time reference line is as follows:

[0029] When the correction length value XZ is positive, the tensioning trolley is moved forward by the length value XZ along the real-time reference line, so that the real-time reference line increases by the length XZ;

[0030] When the correction length value XZ is negative, the tensioning trolley is moved backward by the length value XZ along the real-time reference line, so that the real-time reference line decreases by the length XZ;

[0031] When the correction length value XZ is 0, no processing is performed.

[0032] Advantages of the present invention:

[0033] (1) In the present invention, by using a high-definition camera to obtain a top-down image of the tensioning trolley and the belt from directly above, the upper and lower boundary lines of the belt are accurately identified by processing the image through edge detection technology, and these boundary lines are marked in a two-dimensional coordinate system to form the calibration line of the belt. By comparing the deviation angle between the real-time reference line of the belt and the calibration line, it is determined whether adjustment is required. If the deviation angle exceeds the preset threshold, the system will automatically generate a fault signal to prompt the operator to check; if it does not exceed the threshold, a correction signal will be generated for automatic fine-tuning;

[0034] (2) In the present invention, the theoretical adjustment length is calculated, and a vertical line is drawn in the two-dimensional coordinate system to obtain the corrected length value. According to this value, the length of the real-time reference line is adjusted accordingly. This process reduces the tension adjustment deviation caused by position deviation, greatly improves the adjustment accuracy and the system's adaptability, further enhances the effect and accuracy of the belt tension adjustment of the belt conveyor, ensures the stable operation of the belt conveyor, reduces the risk of equipment failure, improves the production efficiency and the service life of the equipment, can timely detect the small position deviation of the tensioning trolley and make precise adjustment, and avoids problems such as unsmooth material transportation and increased belt wear caused by improper belt tension, thereby ensuring the continuity and stability of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings.

[0036] Figure 1 is a schematic diagram of the system framework structure of the present invention;

[0037] Figure 2 is a schematic diagram of the structure of the triangle with D1, D2 and D3 as endpoints in the present invention;

[0038] Figure 3 is a schematic diagram of the structure of the vertical line F of the real-time reference line R' and the belt calibration line E after the extension of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment 1

[0041] Please refer to Figure 1 - Figure 2 as shown, the present invention is a hydraulic automatic tensioning system for a belt conveyor, including;

[0042] A data acquisition module, which is used to acquire the top view image between the tensioning trolley and the belt in the belt conveyor system. The specific method for acquiring the top view image of the tensioning trolley and the belt is:

[0043] Place the installed high-definition camera or other applicable image acquisition device directly above the tensioning trolley and the belt, and then obtain the top-down image of the tensioning trolley and the belt. It should be noted that when obtaining the top-down image of the tensioning trolley and the belt, it is assumed that the tensioning trolley and the belt are in a horizontal position, there is no position offset between the tensioning trolley and the belt, and the belt is in a normal telescopic state without abnormal deformation.

[0044] It should be noted that obtaining the image between the tensioning trolley and the belt by installing a high-definition camera or other applicable image acquisition device further ensures that the real-time image between the tensioning trolley and the belt can be clearly captured. The above technologies are existing and mature technologies, so they will not be elaborated here.

[0045] The image processing module obtains the top-down image of the tensioning trolley and the belt, processes the obtained top-down image, and obtains the upper and lower boundary lines of the belt in the top-down image. The specific method is as follows:

[0046] Obtain the edge lines of the belt in the top-down image through image processing technologies such as edge detection, feature recognition, and pattern matching, and mark the two edge lines in the length direction of the belt as the upper and lower boundary lines of the belt in the top-down image. Here, image processing technologies such as edge detection, feature recognition, and pattern matching are all existing technologies, so no further elaboration will be made here.

[0047] The belt calibration line acquisition module places the upper and lower boundary lines of the belt in the top-down image in a two-dimensional coordinate system, obtains the boundary line endpoint coordinates corresponding to both ends of the upper and lower boundary lines from the two-dimensional coordinate system, connects the endpoints on the same side of the upper and lower boundary lines, and then obtains two side lines located on both sides of the upper and lower boundary lines respectively. At the same time, take the two endpoint coordinates that make up each side line as the component endpoint coordinates of each side line. Obtain the midpoint corresponding to each side line and the coordinates of the midpoint according to the two endpoint coordinates that make up each side line. Obtain the belt calibration line according to the midpoints corresponding to each side line. Specifically:

[0048] Obtain the boundary line endpoint coordinates corresponding to both ends of the upper and lower boundary lines from the two-dimensional coordinate system. Mark the endpoint coordinates at both ends of the upper boundary line as A1(Ax1,Ay1) and A2(Ax2,Ay2) respectively, and mark the endpoint coordinates at both ends of the lower boundary line as B1(Bx1,By1) and B2(Bx2,By2) respectively. Among them, endpoint A1 and B1 are both on the side of the upper and lower boundary lines close to the origin of the two-dimensional coordinate system, so endpoint A1 and B1 are on the same side of the upper and lower boundary lines, and endpoint A2 and B2 are both on the side of the upper and lower boundary lines far from the origin of the two-dimensional coordinate system, so endpoint A2 and B2 are on the same side of the upper and lower boundary lines.

[0049] While connecting endpoints A1 and B1, endpoints A2 and B2 are also connected, thereby generating two side lines C1 and C2 on both sides of the upper and lower boundary lines. The coordinates of endpoints A1 and B1 are simultaneously the component endpoint coordinates of side line C1, and the coordinates of endpoints A2 and B2 are simultaneously the component endpoint coordinates of side line C2;

[0050] According to the component endpoint coordinates (Ax1, Ay1) and (Bx1, By1) corresponding to side line C1, through Dx1 = (Ax1 + Bx1) / 2 and Dy1 = (Ay1 + By1) / 2, the abscissa Dx1 and ordinate Dy1 of the midpoint D1 corresponding to side line C1 are calculated, and then the coordinates D1(Dx1, Dy1) of midpoint D1 are obtained. In the same way, the component endpoint coordinates (Ax2, Ay2) and (Bx2, By2) corresponding to side line C1 are analyzed, and then the coordinates D2(Dx2, Dy2) of midpoint D2 are obtained;

[0051] Connect the midpoints D1 and D2 corresponding to side lines C1 and C2 respectively, thereby obtaining the belt calibration line E. At the same time, the coordinates of midpoints D1 and D2 are used as the coordinates of the two endpoints of belt calibration line E;

[0052] The signal determination and generation module, after tension adjustment of the belt, obtains the real-time reference line of the belt. Place the real-time reference line of the belt in the same two-dimensional coordinate system as the belt calibration line, obtain the endpoint coordinates of the belt calibration line and the real-time reference line, analyze the endpoint coordinates of the belt calibration line and the real-time reference line, and then obtain the deviation angle between the belt calibration line and the real-time reference line. Compare the deviation angle with the preset angle threshold, and determine and generate a tensioning trolley fault signal or a correction signal according to the analysis result. The specific method is as follows:

[0053] According to the coordinates (Dx1, Dy1) and (Dx2, Dy2) of the two endpoints of the belt calibration line, through the distance calculation formula: Calculate the calibration length a of belt calibration line E;

[0054] After tension adjustment of the belt, obtain the real-time reference line R of the belt in the same way as obtaining the belt calibration line. Place the real-time reference line R of the belt in the same two-dimensional coordinate system as the belt calibration line. Coincide the end of the real-time reference line away from the tensioning trolley with the end of the belt calibration line away from the tensioning trolley, that is, midpoint D1. At the same time, obtain the coordinates D1(Dx1, Dy1) and D3(Dx3, Dy3) of the two endpoints D1 and D3 of the real-time reference line. At the same time, through the distance calculation formula: Calculate the real-time length b of the real-time reference line R;

[0055] Connect D2 and D3 to obtain a triangle with D1, D2, and D3 as endpoints. According to the coordinates of D2 and D3, use the distance calculation formula: Calculate the length c of the line segment between D2 and D3;

[0056] Mark the angle between the real-time reference line and the belt calibration line as the deviation angle θ. According to the cosine theorem, use the formula: Calculate the cosine value cosθ of the deviation angle θ, and then use the inverse cosine function calculation formula: Calculate the corresponding angle value of the deviation angle θ;

[0057] When θ is greater than the preset angle threshold Y1, a tensioning trolley fault signal is generated. When θ is less than or equal to the preset angle threshold Y1, a correction signal is generated. The specific value of the preset angle threshold Y1 is determined by relevant personnel according to actual needs. Here, Y1 is taken as 5°;

[0058] When θ is greater than the preset angle threshold Y1, it indicates that the position deviation of the tensioning trolley is large, resulting in a large deviation in the belt tension adjustment effect. The tensioning trolley should be checked and maintained in a timely manner. When θ is less than or equal to the preset angle threshold Y1, it indicates that the position deviation of the tensioning trolley is small, resulting in a small deviation in the belt tension adjustment effect, which can be temporarily ignored;

[0059] Use a high-definition camera to obtain a top-down image of the tensioning trolley and the belt from directly above. Process the image through edge detection technology and accurately identify the upper and lower boundary lines of the belt. Mark these boundary lines in a two-dimensional coordinate system to form the belt calibration line. By comparing the deviation angle between the real-time reference line of the belt and the calibration line, determine whether adjustment is required. If the deviation angle exceeds the preset threshold, the system will automatically generate a fault signal to prompt the operator to check; if it does not exceed the threshold, a correction signal will be generated for automatic fine-tuning.

[0060] Embodiment 2

[0061] As Embodiment 2 of the present invention, please refer to Figure 1 - Figure 3 As shown, when the present application is specifically implemented, compared with Embodiment 1, the technical solution of this embodiment is only different from that of Embodiment 1 in that this embodiment further includes a correction length value acquisition module and a correction control module;

[0062] Corrected length value acquisition module: When generating a correction signal, obtain the theoretical adjustment length based on the calibrated length of the belt calibration line and the real-time length of the real-time reference line. Then, draw a vertical line to the belt calibration line in the two-dimensional coordinate system, and obtain the coordinates of the intersection point between the extended belt calibration line and the vertical line. Analyze the coordinates of the intersection point and the endpoint coordinates of the belt calibration line comprehensively to obtain the corrected length value. The specific method is as follows:

[0063] When generating a correction signal, take the difference between the real-time length b of the real-time reference line and the calibrated length a of the belt calibration line as the theoretical adjustment length f;

[0064] In the two-dimensional coordinate system, draw a vertical line F to the belt calibration line E with D2 as the foot of the perpendicular. At the same time, extend the real-time reference line R in the direction of the tensioning trolley to obtain the extended real-time reference line R'. Take the intersection point between the extended real-time reference line R' and the vertical line F as the intersection point G. Connect D1, D2, and G to obtain a triangle with D1, D2, and G as endpoints. Obtain the coordinates G(Gx, Gy) of the intersection point G from the two-dimensional coordinate system. According to the coordinates of the intersection point G and D1, through the distance calculation formula: Calculate the distance g between the intersection point G and D1. Define the ratio of the calibrated length a of the belt calibration line to the distance g as the reference proportionality coefficient H between the belt calibration line and the real-time reference line;

[0065] Take the sum of the theoretical adjustment length f and the calibrated length a of the belt calibration line as the theoretical belt length K1. According to H = K1 / K2 = a / g, obtain the required belt length calculation formula K2 = K1 / H, and then obtain the required belt length K2;

[0066] Take the difference between the actual length K2 of the belt and the real-time length b of the real-time reference line R as the corrected length value XZ;

[0067] Correction control module: According to the specific value corresponding to the corrected length value, perform corresponding correction control on the real-time length b of the real-time reference line. The specific method is as follows;

[0068] When the corrected length value XZ is positive, make the tensioning trolley move forward by the length value XZ along the real-time reference line direction, so that the real-time reference line increases by the length XZ;

[0069] When the corrected length value XZ is negative, make the tensioning trolley move backward by the length value XZ along the real-time reference line direction, so that the real-time reference line decreases by the length XZ;

[0070] When the corrected length value XZ is 0, do not perform any processing;

[0071] According to the specific value corresponding to the correction length value, the real-time length of the baseline is corrected and regulated accordingly, thereby reducing the deviation of the tension adjustment caused by the position deviation of the tensioning trolley and further improving the tension adjustment effect;

[0072] The theoretical adjustment length is calculated and a vertical line is drawn in the two-dimensional coordinate system to obtain the corrected length value. The length of the real-time baseline is adjusted accordingly based on this value. This process reduces the tension adjustment deviation caused by position deviation, greatly improving the adjustment accuracy and the system's adaptability. By accurately monitoring and automatically adjusting the belt tension, the system effectively avoids equipment loss and failure rate caused by improper tension, ensures the efficient and stable operation of the conveying system, and achieves the goal of improving overall operating efficiency and equipment service life. It ensures the appropriate tension of the belt, improves the stability and efficiency of the system, reduces operation and maintenance costs, enhances the reliability and safety of the system, further improves the effect and accuracy of the belt conveyor belt tensioning adjustment, ensures the stable operation of the belt conveyor, reduces the risk of equipment failure, improves production efficiency and equipment service life, can promptly detect small position deviations of the tensioning trolley and make precise adjustments, avoids problems such as poor material transportation and increased belt wear due to improper belt tensioning, thereby ensuring the continuity and stability of production.

[0073] Example 3

[0074] As the third embodiment of the present invention, when this application is specifically implemented, compared with the first and second embodiments, the technical solution of this embodiment is to combine the solutions of the first and second embodiments.

[0075] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters and thresholds in the formulas are set by technicians in this field according to actual conditions.

[0076] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A hydraulic automatic tensioning system for a belt conveyor, characterized in that, Including: A data acquisition module, which acquires the top view image of the tensioning trolley and the belt; An image processing module, which acquires the upper and lower boundary lines of the belt in the top view image from the top view image; A belt calibration line acquisition module, which places the upper and lower boundary lines of the belt in a two-dimensional coordinate system, generates side lines according to the upper and lower boundary lines, and obtains the belt calibration line according to the midpoints of the side lines; A signal determination and generation module, which obtains a real-time reference line after the belt tension adjustment, analyzes through the real-time reference line of the belt and the belt calibration line, obtains the deviation angle between the belt calibration line and the real-time reference line, and determines and generates a fault signal or a correction signal according to the magnitude of the deviation angle; A corrected length value acquisition module, when generating a correction signal, takes the non-coincident endpoint D2 of the belt calibration line and the real-time reference line as the foot of the perpendicular point to make a perpendicular line F to the belt calibration line, and extends the real-time reference line to intersect with the perpendicular line F at the intersection point G; Calculates the distance g between G and the coincident endpoint D1 of the belt calibration line and the real-time reference line, and marks the ratio of the length of the belt calibration line to g as the reference proportionality coefficient; Divides the theoretical length K1 of the belt by the reference proportionality coefficient to obtain the required length K2 of the belt, and marks the difference between the actual length of the belt and the real-time length of the real-time reference line as the corrected length value; A correction and regulation module, according to the corrected length value, corrects and regulates the real-time length of the real-time reference line, and controls the hydraulic actuator to adjust the displacement of the tensioning trolley.

2. The hydraulic automatic tensioning system of a belt conveyor according to claim 1, characterized in that, The specific method for obtaining the upper and lower boundary lines of the belt in the top view image is: Obtain the edge lines of the belt in the top view image through edge detection, feature recognition and pattern matching image processing technologies, and respectively mark the two edge lines in the length direction of the belt as the upper and lower boundary lines of the belt in the top view image.

3. The hydraulic automatic tensioning system of a belt conveyor according to claim 2, characterized in that, The specific method for obtaining the belt calibration line is: Place the upper and lower boundary lines of the belt in the top view image in a two-dimensional coordinate system, obtain the boundary line endpoint coordinates corresponding to both ends of the upper and lower boundary lines from the two-dimensional coordinate system, A1(Ax1,Ay1), A2(Ax2,Ay2), B1(Bx1,By1) and B2(Bx2,By2), connect the endpoints A1 and B1 while also connecting the endpoints A2 and B2, thereby generating two side lines C1 and C2 on both sides of the upper and lower boundary lines. At the same time, take the two endpoint coordinates of each side line as the component endpoint coordinates of each side line. Obtain the corresponding midpoints D1 and D2 of each side line according to the two endpoint coordinates of each side line, connect the corresponding midpoints D1 and D2 of the side lines C1 and C2 to obtain the belt calibration line E, and at the same time take the coordinates of the midpoints D1 and D2 as the coordinates of both ends of the belt calibration line E.

4. The hydraulic automatic tensioning system of a belt conveyor according to claim 3, characterized in that, The specific method for obtaining the coordinates of the midpoints D1 and D2 is: The abscissa Dx1 and ordinate Dy1 of the midpoint D1 corresponding to the side line C1 are calculated through Dx1 = (Ax1 + Bx1) / 2 and Dy1 = (Ay1 + By1) / 2, and then the coordinates of the midpoint D1, D1(Dx1, Dy1), are obtained. The coordinates of the constituent end points (Ax2, Ay2) and (Bx2, By2) corresponding to the side line C1 are analyzed in the same way, and then the coordinates of the midpoint D2, D2(Dx2, Dy2), are obtained.

5. The hydraulic automatic tensioning system of a belt conveyor according to claim 4, characterized in that, The specific method for obtaining the deviation angle between the belt calibration line and the real-time reference line is as follows: According to the coordinates (Dx1, Dy1) and (Dx2, Dy2) of the two end points of the belt calibration line, the calibration length a of the belt calibration line is calculated through the distance calculation formula. After the belt is tensioned and adjusted, the real-time reference line R of the belt is obtained in the same way as the belt calibration line. The real-time reference line R of the belt is placed in the same two-dimensional coordinate system as the belt calibration line. The end point on the side of the real-time reference line away from the tensioning trolley is coincided with the midpoint D1, which is the end point on the side of the belt calibration line away from the tensioning trolley. At the same time, the two end points D1(Dx1, Dy1) and D3(Dx3, Dy3) of the real-time reference line are obtained. The real-time length b of the real-time reference line R is calculated in the same way as the calibration length a is obtained. D2 and D3 are connected to obtain a triangle with D1, D2, and D3 as the end points. According to the coordinates of D2 and D3, the line segment length c between D2 and D3 is calculated in the same way as the calibration length a is obtained. The angle between the real-time reference line and the belt calibration line is marked as the deviation angle θ. According to the cosine theorem, the cosine value cosθ of the deviation angle θ is calculated, and then the corresponding angle value of the deviation angle θ is calculated through the inverse cosine function calculation formula.

6. The hydraulic automatic tensioning system of a belt conveyor according to claim 5, characterized in that, The specific method for determining the generation of a fault signal or a correction signal is as follows: When θ is greater than the preset angle threshold Y1, a fault signal of the tensioning trolley is generated. When θ is less than or equal to the preset angle threshold Y1, a correction signal is generated, where the preset angle threshold Y1 is set to 5°.

7. The hydraulic automatic tensioning system of a belt conveyor according to claim 5, characterized in that, Through the formula: The cosine value cosθ of the deviation angle θ is obtained by calculation; through the inverse cosine function calculation formula: The corresponding angular value of the deviation angle θ is obtained by calculation.

8. The hydraulic automatic tensioning system of a belt conveyor according to claim 7, characterized in that, The specific method for obtaining the correction length value is as follows: When generating a correction signal, the difference between the real-time length b of the real-time reference line and the calibrated length a of the belt calibration line is used as the theoretical adjustment length f. In a two-dimensional coordinate system, a vertical line F of the belt calibration line E is drawn with D2 as the foot of the perpendicular. At the same time, the real-time reference line R is extended along the direction of the tensioning trolley to obtain the extended real-time reference line R'. The intersection point between the extended real-time reference line R' and the vertical line F is taken as the intersection point G. D1, D2, and G are connected to obtain a triangle with D1, D2, and G as endpoints. The coordinates G(Gx, Gy) of the intersection point G are obtained from the two-dimensional coordinate system. According to the coordinates of the intersection point G and D1, in the same way as obtaining the calibrated length a, the distance g between the intersection point G and D1 is calculated. The ratio of the calibrated length a of the belt calibration line to the distance g is defined as the reference proportionality coefficient H between the belt calibration line and the real-time reference line. The sum of the theoretical adjustment length f and the calibrated length a of the belt calibration line is used as the theoretical belt length K1. According to the required length calculation formula K2 = K1 / H, the required length K2 of the belt is obtained. The difference between the actual length K2 of the belt and the real-time length b of the real-time reference line R is used as the correction length value XZ.

9. The hydraulic automatic tensioning system of a belt conveyor according to claim 8, characterized in that, The specific method for corresponding correction and regulation of the real-time length of the real-time reference line is as follows: When the correction length value XZ is positive, the tensioning trolley is moved forward by the length value XZ along the real-time reference line, so that the real-time reference line increases by the length XZ. When the correction length value XZ is negative, the tensioning trolley is moved backward by the length value XZ along the real-time reference line, so that the real-time reference line decreases by the length XZ. When the correction length value XZ is 0, no processing is performed.

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