A method and system for ore flow visual detection and belt motor coordinated intelligent control

Abstract

The present invention provides a method and system for visual detection of ore flow and coordinated intelligent control of belt motors. The method of the present invention includes: real-time acquisition of the running video image of the ore belt; detection of the proportion of ore flow on the collected running video image of the ore belt to obtain the detection result of the proportion of ore flow; calculation of the proportion acceleration on the collected running video image of the ore belt to obtain the change speed result of the ore flow; analysis of the obtained detection result and change speed result of the proportion of ore flow, and sending a control signal; changing the actual speed of the corresponding motor according to the control signal, and using the sliding mode control method to intelligently adjust the speed of the belt motor. The technical solution of the present invention improves the detection accuracy and timeliness of the proportion of ore flow on the mining belt, while achieving energy saving and consumption reduction and extending the service life of the equipment, and has the advantages of fast speed and high intelligence.

Description

Technical Field

[0001] The present invention relates to the field of industrial Internet technology, and in particular to a method and system for coordinated intelligent control of ore flow visual detection and belt motor. Background Art

[0002] The belt is a key equipment in mining. During the mining process, there are usually large ore flows at some times and small ore flows at other times. At the same time, the ore flows on the belt are unevenly distributed. At the same time, there are also some sections with large ore flows and some sections with small ore flows. However, the operating speed and frequency of traditional belt motors are relatively fixed, and the ore flow and belt motor speed cannot be matched in real time, which wastes a lot of electric energy and aggravates the mechanical fatigue of the belt. For underground mines, several or dozens of belts are generally required, connected end to end for ore transportation. When several or dozens of belt conveyors are running under light load or no load, the annual electricity consumption of the production enterprise is wasted and the service life of the belt is shortened.

[0003] At present, most belts use variable frequency drive. Depending on production conditions and transportation volume, manual speed adjustment is rarely or even performed, but the degree of intelligence is low and energy-saving is not enough. Summary of the invention

[0004] According to the technical problems raised above, a method and system for ore flow visual detection and belt motor coordinated intelligent control is provided. The present invention mainly uses the ratio of the calculated area of ​​the ore flow to the area of ​​the belt to judge and analyze the actual running state of the belt, and combines the sliding mode to control the motor speed, so that the belt speed and the ore flow can be adaptively matched to achieve the effect of energy saving and consumption reduction.

[0005] The technical means adopted by the present invention are as follows:

[0006] A method for ore flow visual detection and belt motor coordinated intelligent control, comprising:

[0007] S1. Real-time collection of running video images of the ore belt;

[0008] S2. Detect the proportion of ore flow on the collected running video image of the ore belt to obtain the detection result of the proportion of ore flow;

[0009] S3, performing proportional acceleration calculation on the collected video image of the running of the ore belt to obtain the result of the change speed of the ore flow;

[0010] S4, analyzing the detection results of the proportion of the ore flow and the change speed results, and issuing a control signal;

[0011] S5. Change the actual speed of the corresponding motor according to the control signal, and use the sliding mode control method to intelligently adjust the speed of the belt motor.

[0012] Further, step S2 specifically includes:

[0013] S21. Based on the collected ore belt video, extract the belt image at a single time point in the ore belt video;

[0014] S22, detecting and calculating the ore flow ratio of the belt image extracted at a single time point, the ore flow ratio P of the belt image at a single time point i The calculation formula is as follows:

[0015]

[0016] In the formula, S 矿石流 represents the pixel area of ​​the ore flow in the belt image at a single time point, S 皮带 Represents the pixel area of ​​the conveyor belt in the belt image at a single point in time.

[0017] Further, step S3 specifically includes:

[0018] S31, extracting belt images at the starting time point and the ending time point within a continuous unit time T from the ore belt video;

[0019] S32, performing detection and calculation of the ore flow ratio on the belt images extracted at the starting time point and the ending time point within the unit time T; wherein:

[0020] The proportion of ore flow in the belt image at the starting time P 起始 The calculation formula is as follows:

[0021]

[0022] In the formula, S 矿石流(起始) represents the pixel area of ​​the ore flow in the belt image at the starting time, S 皮带(起始) represents the pixel area of ​​the conveyor belt in the belt image at the starting time point;

[0023] The proportion of ore flow in the belt image at the end time P 结束 The calculation formula is as follows:

[0024]

[0025] In the formula, S 矿石流(结束) represents the pixel area of ​​the ore flow in the belt image at the end time, S 皮带(结束) represents the pixel area of ​​the conveyor belt in the belt image at the end time point;

[0026] S33, according to the calculated starting time point of the belt image ore flow proportion P 起始 and the proportion of ore flow in the belt image at the end time point P 结束 Calculate the proportional acceleration, the proportional acceleration P of the belt image ore flow A The calculation formula is as follows:

[0027]

[0028] Further, step S4 specifically includes:

[0029] S41, when the proportion of the ore flow exceeds the set proportion threshold and the proportion acceleration does not exceed the set acceleration threshold, issuing an instruction to increase the belt motor speed;

[0030] S42, when the proportion of the ore flow does not exceed the set proportion threshold and the proportion acceleration does not exceed the set acceleration threshold, issuing an instruction to reduce the belt motor speed;

[0031] S43, when the proportion of the ore flow exceeds the set proportion threshold and the proportion acceleration exceeds the set acceleration threshold, an instruction to quickly reduce the belt motor speed until it stops is issued;

[0032] S44. When the proportion of the ore flow is 0 and the proportion acceleration is 0, a belt motor idle speed command is issued.

[0033] Furthermore, step S5 specifically includes:

[0034] S51, establishing a mathematical model of the belt motor in a synchronous rotating coordinate system;

[0035] S52, combining the mathematical model established in step S51, designing a speed controller based on the exponential reaching law;

[0036] S53, driving the belt motor through the speed signal generated by the speed controller.

[0037] The present invention also provides an ore flow visual detection and belt motor coordinated intelligent control system based on the ore flow visual detection and belt motor coordinated intelligent control method, comprising: an ore belt video and image module, an ore flow proportion detection module, an ore flow proportion acceleration detection module, an ore flow intelligent control module and a motor coordination module, wherein:

[0038] The ore belt video and image module is used to collect the running video image of the ore belt in real time;

[0039] The ore flow ratio detection module is used to detect the ore flow ratio of the collected ore belt running video image to obtain the ore flow ratio detection result;

[0040] The ore flow ratio acceleration detection module is used to calculate the ratio acceleration of the collected ore belt running video image to obtain the change speed result of the ore flow;

[0041] The ore flow intelligent control module is used to analyze the detection results of the proportion and the change speed of the ore flow and issue a control signal;

[0042] The motor coordination module is used to change the actual rotation speed of the corresponding motor according to the control signal, and adopts the sliding mode control method to intelligently adjust the speed of the belt motor.

[0043] The present invention also provides a storage medium, which includes a stored program, wherein when the program is run, the ore flow visual detection and belt motor coordinated intelligent control method is executed.

[0044] Compared with the prior art, the present invention has the following advantages:

[0045] 1. The present invention provides a method for visual detection of ore flow and coordinated intelligent control of belt motors, which respectively detects and calculates the proportion of ore flow and adjusts the speed of belt motors. The present invention uses the ratio of the area of ​​ore flow to the area of ​​belt to judge and analyze the actual running state of the belt, and combines the sliding mode to control the motor speed, so that the belt speed and ore flow can be adaptively matched to achieve the effect of energy saving and consumption reduction.

[0046] 2. The method of ore flow visual detection and belt motor coordinated intelligent control provided by the present invention has the advantages of fast detection speed and high intelligence compared with other detection methods.

[0047] Based on the above reasons, the present invention can be widely promoted in fields such as industrial Internet. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0049] Figure 1 The figure is a flow chart of the method of the present invention.

[0050] Figure 2 This is a system structure block diagram of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] like Figure 1 As shown, the present invention provides a method for ore flow visual detection and belt motor coordinated intelligent control, comprising:

[0054] S1. Real-time collection of running video images of the ore belt;

[0055] S2. Detect the proportion of ore flow on the collected running video image of the ore belt to obtain the detection result of the proportion of ore flow;

[0056] S3, performing proportional acceleration calculation on the collected video image of the running of the ore belt to obtain the result of the change speed of the ore flow;

[0057] S4, analyzing the detection results of the proportion of the ore flow and the change speed results, and issuing a control signal;

[0058] S5. Change the actual speed of the corresponding motor according to the control signal, and use the sliding mode control method to intelligently adjust the speed of the belt motor.

[0059] In specific implementation, as a preferred embodiment of the present invention, step S2 specifically includes:

[0060] S21. Based on the collected ore belt video, extract the belt image at a single time point in the ore belt video;

[0061] S22, detecting and calculating the ore flow ratio of the belt image extracted at a single time point, the ore flow ratio P of the belt image at a single time point i The calculation formula is as follows:

[0062]

[0063] In the formula, S 矿石流 represents the pixel area of ​​the ore flow in the belt image at a single time point, S 皮带 Represents the pixel area of ​​the conveyor belt in the belt image at a single point in time.

[0064] In specific implementation, as a preferred embodiment of the present invention, step S3 specifically includes:

[0065] S31, extracting belt images at the starting time point and the ending time point within a continuous unit time T from the ore belt video;

[0066] S32, performing detection and calculation of the ore flow ratio on the belt images extracted at the starting time point and the ending time point within the unit time T; wherein:

[0067] The proportion of ore flow in the belt image at the starting time P 起始 The calculation formula is as follows:

[0068]

[0069] In the formula, S 矿石流(起始) represents the pixel area of ​​the ore flow in the belt image at the starting time, S 皮带(起始) represents the pixel area of ​​the conveyor belt in the belt image at the starting time point;

[0070] The proportion of ore flow in the belt image at the end time P 结束 The calculation formula is as follows:

[0071]

[0072] In the formula, S 矿石流(结束) represents the pixel area of ​​the ore flow in the belt image at the end time, S 皮带(结束) represents the pixel area of ​​the conveyor belt in the belt image at the end time point;

[0073] S33, according to the calculated starting time point of the belt image ore flow proportion P 起始 and the proportion of ore flow in the belt image at the end time point P 结束 Calculate the proportional acceleration, the proportional acceleration P of the belt image ore flow A The calculation formula is as follows:

[0074]

[0075] In specific implementation, as a preferred embodiment of the present invention, step S4 specifically includes:

[0076] S41, when the proportion of the ore flow exceeds the set proportion threshold and the proportion acceleration does not exceed the set acceleration threshold, issuing an instruction to increase the belt motor speed;

[0077] S42, when the proportion of the ore flow does not exceed the set proportion threshold and the proportion acceleration does not exceed the set acceleration threshold, issuing an instruction to reduce the belt motor speed;

[0078] S43, when the proportion of the ore flow exceeds the set proportion threshold and the proportion acceleration exceeds the set acceleration threshold, an instruction to quickly reduce the belt motor speed until it stops is issued;

[0079] S44. When the proportion of the ore flow is 0 and the proportion acceleration is 0, a belt motor idle speed command is issued.

[0080] In specific implementation, as a preferred embodiment of the present invention, step S5 specifically includes:

[0081] S51, establishing a mathematical model of the belt motor in a synchronous rotating coordinate system;

[0082] S52, combining the mathematical model established in step S51, designing a speed controller based on the exponential reaching law;

[0083] S53, driving the belt motor through the speed signal generated by the speed controller.

[0084] The embodiment of the present invention also provides an ore flow visual detection and belt motor coordinated intelligent control system based on the above-mentioned ore flow visual detection and belt motor coordinated intelligent control method, such as Figure 2 As shown, it includes: an ore belt video and image module, an ore flow ratio detection module, an ore flow ratio acceleration detection module, an ore flow intelligent control module and a motor coordination module, wherein:

[0085] The ore belt video and image module is used to collect the running video image of the ore belt in real time;

[0086] The ore flow ratio detection module is used to detect the ore flow ratio of the collected ore belt running video image to obtain the ore flow ratio detection result;

[0087] The ore flow ratio acceleration detection module is used to calculate the ratio acceleration of the collected ore belt running video image to obtain the change speed result of the ore flow;

[0088] The ore flow intelligent control module is used to analyze the detection results of the proportion and the change speed of the ore flow and issue a control signal;

[0089] The motor coordination module is used to change the actual rotation speed of the corresponding motor according to the control signal, and adopts the sliding mode control method to intelligently adjust the speed of the belt motor.

[0090] As for the embodiments of the present invention, since they correspond to the embodiments above, the description is relatively simple. For the relevant similarities, please refer to the description of the above embodiments, which will not be described in detail here.

[0091] The embodiments of the present application also disclose a computer-readable storage medium, which stores a computer instruction set. When the computer instruction set is executed by a processor, the method for visual detection of ore flow and coordinated intelligent control of belt motor as provided in any of the embodiments above is implemented.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0093] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0094] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0095] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for ore flow visual detection and belt motor coordinated intelligent control, characterized in that: include: S1. Real-time collection of running video images of the ore belt; S2. Detect the proportion of ore flow on the collected running video image of the ore belt to obtain the detection result of the proportion of ore flow; S3, performing proportional acceleration calculation on the collected video image of the running of the ore belt to obtain the result of the change speed of the ore flow; Step S3 specifically includes: S31, extracting belt images at the starting time point and the ending time point within a continuous unit time T from the ore belt video; S32, performing detection and calculation of the ore flow ratio on the belt images extracted at the starting time point and the ending time point within the unit time T; wherein: The proportion of ore flow in the belt image at the starting time P 起始 The calculation formula is as follows: In the formula, S 矿石流(起始) represents the pixel area of ​​the ore flow in the belt image at the starting time, S 皮带(起始) represents the pixel area of ​​the conveyor belt in the belt image at the starting time point; The proportion of ore flow in the belt image at the end time P 结束 The calculation formula is as follows: In the formula, S 矿石流(结束) represents the pixel area of ​​the ore flow in the belt image at the end time, S 皮带(结束) represents the pixel area of ​​the conveyor belt in the belt image at the end time point; S33, according to the calculated starting time point of the belt image ore flow proportion P 起始 and the proportion of ore flow in the belt image at the end time point P 结束 Calculate the proportional acceleration, the proportional acceleration P of the belt image ore flow A The calculation formula is as follows: S4, analyzing the detection results of the proportion of the ore flow and the change speed results, and issuing a control signal; Step S4 specifically includes: S41, when the proportion of the ore flow exceeds the set proportion threshold and the proportion acceleration does not exceed the set acceleration threshold, issuing an instruction to increase the belt motor speed; S42, when the proportion of the ore flow does not exceed the set proportion threshold and the proportion acceleration does not exceed the set acceleration threshold, issuing an instruction to reduce the belt motor speed; S43, when the proportion of the ore flow exceeds the set proportion threshold and the proportion acceleration exceeds the set acceleration threshold, an instruction to quickly reduce the belt motor speed until it stops is issued; S44, when the proportion of the ore flow is 0 and the proportion acceleration is 0, the belt motor idle speed command is issued; S5. Change the actual speed of the corresponding motor according to the control signal, and use the sliding mode control method to intelligently adjust the speed of the belt motor.

2. The method of ore flow visual detection and belt motor coordinated intelligent control according to claim 1 is characterized in that: Step S2 specifically includes: S21. Based on the collected ore belt video, extract the belt image at a single time point in the ore belt video; S22, detecting and calculating the ore flow ratio of the belt image extracted at a single time point, the ore flow ratio P of the belt image at a single time point i The calculation formula is as follows: In the formula, S 矿石流 represents the pixel area of ​​the ore flow in the belt image at a single time point, S 皮带 Represents the pixel area of ​​the conveyor belt in the belt image at a single point in time.

3. The method for ore flow visual detection and belt motor coordinated intelligent control according to claim 1 is characterized in that: Step S5 specifically includes: S51, establishing a mathematical model of the belt motor in a synchronous rotating coordinate system; S52, combining the mathematical model established in step S51, designing a speed controller based on the exponential reaching law; S53, driving the belt motor through the speed signal generated by the speed controller.

4. An ore flow visual detection and belt motor coordinated intelligent control system based on the ore flow visual detection and belt motor coordinated intelligent control method according to any one of claims 1 to 3, characterized in that: include: Ore belt video and image module, ore flow ratio detection module, ore flow ratio acceleration detection module, ore flow intelligent control module and motor coordination module, including: The ore belt video and image module is used to collect the running video image of the ore belt in real time; The ore flow ratio detection module is used to detect the ore flow ratio of the collected ore belt running video image to obtain the ore flow ratio detection result; The ore flow ratio acceleration detection module is used to calculate the ratio acceleration of the collected ore belt running video image to obtain the change speed result of the ore flow; The ore flow intelligent control module is used to analyze the detection results of the proportion and the change speed of the ore flow and issue a control signal; The motor coordination module is used to change the actual rotation speed of the corresponding motor according to the control signal, and adopts the sliding mode control method to intelligently adjust the speed of the belt motor.

5. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is run, the method according to any one of claims 1 to 3 is executed.

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